Plug-in method of flexible circuit board and plug-in device of flexible circuit board

Abstract

The invention relates to a flexible circuit board plugging method and a flexible circuit board plugging device, and the method comprises the steps: obtaining the first image information of a flexible circuit board and a printed circuit board during plugging, and obtaining a first displacement parameter of a pickup part in a first direction, and a second displacement parameter of the pickup part in a second direction; the picking part moves for a first displacement parameter along the first direction, so that the plugging end of the flexible circuit board and the interface of the printed circuit board are aligned in the second direction; the picking part rotates by a first preset angle alpha 1 in the first plane and moves by a second displacement parameter in the second direction, so that the corner on one side of the plugging end enters the interface at the first preset angle alpha 1; the picking part rotates by a first preset angle alpha 2 in a first plane, so that the corner on the other side of the plugging end rotates to enter the interface; the picking part moves along a second direction by a first preset propulsion parameter, so that the plugging end is plugged in place in the interface; therefore, on the basis of ensuring the plugging efficiency, the plugging yield is improved, and the material loss is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of flexible circuit board assembly, and in particular to a flexible circuit board plugging method and a flexible circuit board plugging device. Background Art

[0002] During the production process of display panels, it is often necessary to light them up for inspection. During the inspection, the display panel needs to be electrically connected to the signal generator to input the detection signal. Usually, the display panel is electrically connected to the signal generator through a PCB (full name in English: Printed Circuit Board, Chinese abbreviation: printed circuit board) module, and the display panel is input with electricity and signals through the signal generator to achieve the purpose of lighting up the display panel and performing various tests. The PCB module of the display panel has an interface for connecting with the FPC (full name in English: Flexible Printed Circuit, Chinese abbreviation: flexible circuit board) used for test connection. At present, the plug-in methods of PCB modules and FPC are divided into two types: manual plug-in and automatic equipment plug-in. Although manual plug-in can guarantee the plug-in yield to a certain extent, it is inefficient; however, the existing plug-in methods are to flip and tilt the FPC along its long side, and directly plug the plug-in end into place with the interface in one step. Compared with manual plug-in, although this can improve efficiency, the plug-in yield is low. Summary of the invention

[0003] The embodiments of the present application provide a flexible circuit board plugging method and a flexible circuit board plugging device, which can extend the service life of the product, improve the plugging yield, and reduce material loss while ensuring the plugging efficiency.

[0004] In order to achieve the above-mentioned object, according to a first aspect of the present application, a method for plugging a flexible circuit board is provided, wherein the flexible circuit board comprises a long side arranged along a first direction, a short side arranged along a second direction, and a first plane defined by the long and short sides thereof, and the method for plugging a flexible circuit board is applied to a flexible circuit board plugging device, wherein the flexible circuit board plugging device comprises a picking-up portion, a first collecting portion, a driving component, and a controller, wherein the picking-up portion is movably arranged to pick up the flexible circuit board and plug it with a printed circuit board, wherein the driving component comprises a driving portion driving the picking-up portion, and the controller is electrically connected to the first collecting portion and the driving component;

[0005] The plug-in method of the flexible circuit board comprises:

[0006] Acquire first image information of the flexible circuit board and the printed circuit board in the same field of view;

[0007] According to the first image information, acquiring a first displacement parameter of the pickup portion in the first direction and a second displacement parameter in the second direction;

[0008] Controlling the driving unit to drive the picking unit to move along the first direction with the first displacement parameter, so that the plug-in end of the flexible circuit board and the interface of the printed circuit board are aligned in the second direction;

[0009] Control the driving unit to drive the picking unit to rotate within the first plane by a first preset angle ɑ1, so that the plug end rotates within the first plane by the first preset angle ɑ1;

[0010] Control the driving unit to drive the picking unit to move along the second direction with the second displacement parameter, so that the corner on one side of the plug end enters the interface at the first preset angle ɑ1;

[0011] Control the driving unit to drive the picking unit to rotate within the first plane at a second preset angle ɑ2, so that the corner on the other side of the plug-in end rotates into the interface, wherein ɑ1=-ɑ2;

[0012] The driving part is controlled to drive the picking part to move along the second direction with a first preset propulsion parameter, so that the plug-in end is plugged into the interface.

[0013] In one embodiment, after the step of controlling the driving unit to drive the picking unit to rotate the first preset angle ɑ1 in the first plane so that the plug end rotates the first preset angle ɑ1 in the first plane, and before the step of controlling the driving unit to drive the picking unit to move along the second direction with the second displacement parameter so that the corner on one side of the plug end enters the interface at the first preset angle ɑ1, the method further includes:

[0014] Acquire second image information of the flexible circuit board and the printed circuit board in the same field of view;

[0015] According to the second image information, an angle ɑ3 between the plug-in end of the flexible circuit board and the interface of the printed circuit board in the first plane is obtained;

[0016] According to the included angle ɑ3 and the first preset angle ɑ1, obtaining the rotation adjustment angle β of the pickup portion;

[0017] When the rotation adjustment angle β is 0, it is determined that the picking part has been rotated into place; when the rotation adjustment angle β is not 0, it is determined that the picking part has not been rotated into place, and the driving part is controlled to drive the picking part to continue rotating the rotation adjustment angle β in the first plane.

[0018] In one embodiment, after the step of controlling the driving unit to drive the picking unit to move along the second direction with a first preset propulsion parameter, the method further includes:

[0019] Acquire first plug-in image information of the plug-in end and the interface;

[0020] Acquire, according to the first plugging image information, a first actual relative position of the plugging end and the interface after the plugging is completed;

[0021] According to the first actual relative position and the preset relative position, determining whether the plug-in terminal and the interface are plugged in place;

[0022] When it is determined that the flexible circuit board is not plugged in place, the driving unit is controlled to drive the pickup unit to move along the second direction with a fourth displacement parameter, so that the plugging end of the flexible circuit board is disengaged from the interface of the printed circuit board;

[0023] Controlling the driving part to drive the picking part to repeat the above plugging steps;

[0024] Acquire second plug-in image information of the plug-in end and the interface;

[0025] Acquiring a second actual relative position of the plugging end and the interface after the plugging is completed according to the second plugging image information;

[0026] According to the second actual relative position and the preset relative position, determining whether the plug-in terminal and the interface are plugged in place;

[0027] When it is determined that the insertion is not in place, the driving part is controlled to drive the picking part to move along the second direction with a fourth displacement parameter, and the material is discarded.

[0028] In one embodiment, the step of acquiring a first displacement parameter of the pickup portion in the first direction and a second displacement parameter of the pickup portion in the second direction according to the first image information comprises:

[0029] According to the first image information, a first position parameter of the plug end and a second position parameter of the interface are acquired, wherein the first position parameter is configured as a first coordinate parameter of a first target point on the plug end, and the second position parameter is configured as a second coordinate parameter of a second target point on the interface;

[0030] According to the first position parameter and the second position parameter, obtaining a first offset parameter of the plug end relative to the interface in the first direction and a second offset parameter in the second direction;

[0031] According to the first offset parameter, obtaining a first displacement parameter of the picking portion in the first direction;

[0032] According to the second preset propulsion parameter and the second offset parameter, a second displacement parameter of the picking portion in the second direction is acquired.

[0033] In one embodiment, after the step of controlling the driving unit to drive the picking unit to move along the second direction with the second displacement parameter and before the step of controlling the driving unit to drive the picking unit to rotate within the first plane by a second preset angle ɑ2, the method further includes:

[0034] The driving part is controlled to drive the picking part to move along a third direction with a preset height parameter, wherein the third direction is configured as a thickness direction of the flexible circuit board.

[0035] In one embodiment, the flexible circuit board is configured to have two plug-in ends protruding from its long side, for respectively plugging into two interfaces on the printed circuit board;

[0036] The flexible circuit board plug-in device comprises two picking-up parts, which pick up the flexible circuit board together and correspond to two plug-in ends respectively; the driving assembly comprises two driving parts, which correspond to and drive the two picking-up parts respectively;

[0037] The plug-in method of the flexible circuit board also includes:

[0038] The two driving parts are controlled to drive synchronously, and drive the two picking parts to move synchronously in the first plane.

[0039] In one embodiment, the flexible circuit board plug-in device further comprises a transfer mechanism electrically connected to the controller, the transfer mechanism comprises a transfer part for transferring between the feeding platform and the plug-in platform, the picking part is arranged on the transfer part, and the first acquisition part is configured as an industrial camera;

[0040] Before the step of acquiring the first image information of the flexible circuit board and the printed circuit board, the method further includes:

[0041] Receiving a plug-in instruction;

[0042] According to the plug-in instruction, the transfer unit is controlled to drive the pick-up unit to move toward the feeding platform to the target material picking position;

[0043] Controlling the driving unit to drive the picking unit to move along the first direction to a preset material picking position;

[0044] Controlling the transfer part to drive the picking part to move along the third direction and approach the feeding platform, so that the picking part picks up the flexible circuit board;

[0045] Control the transfer part to drive the picking part to move toward the plug-in platform to a target plug-in position;

[0046] The first acquisition unit is controlled to synchronously photograph the flexible circuit board and the printed circuit board.

[0047] In one embodiment, the step of controlling the driving unit to drive the picking unit to move along the first direction to a preset material picking position includes:

[0048] Acquiring third image information of the flexible circuit board on the feeding platform;

[0049] According to the third image information, acquiring model information and a third position parameter of the flexible circuit board;

[0050] According to the model information and the third position parameter, a material picking position parameter of the flexible circuit board is acquired, wherein the material picking position parameter is configured as a third coordinate parameter of a target material picking point on the flexible circuit board;

[0051] Acquire a fourth position parameter of the picking portion, wherein the fourth position parameter is configured as a fourth coordinate parameter of the picking portion;

[0052] Calculating a third offset parameter of the picking portion relative to a target material picking point according to the third position parameter and the fourth position parameter;

[0053] According to the third offset parameter, obtaining a third displacement parameter of the pickup portion;

[0054] The driving part is controlled to drive the picking part to move with the third displacement parameter and reach the preset material picking position.

[0055] In one embodiment, the driving assembly includes a first driving unit and a second driving unit, the first driving unit includes a first driving part drivingly connected to the pickup part, the second driving unit includes a second driving part drivingly connected to the pickup part, the driving part includes the first driving part and the second driving part, and the driving part includes the first driving part and the second driving part;

[0056] The plug-in method of the flexible circuit board comprises:

[0057] When picking up materials, controlling the second driving part to drive the picking part to move;

[0058] During plugging, the first driving part is controlled to drive the picking part to move.

[0059] According to a second aspect of the present application, a flexible circuit board plug-in device is provided, wherein the flexible circuit board comprises a long side arranged along a first direction, a short side arranged along a second direction, and a first plane defined by the long and short sides thereof, and the flexible circuit board plug-in device comprises:

[0060] The plug-in assembly comprises two picking-up parts arranged side by side in the first direction, used for picking up the flexible circuit board together, and the two picking-up parts are relatively movable in the first plane;

[0061] A driving assembly, comprising two driving parts, the two driving parts are relatively movable and are respectively connected to the two picking parts;

[0062] A collection component, comprising two first collection parts, each of which is correspondingly arranged on one of the pickup parts, for collecting image information of the plug-in end and the interface on the corresponding side; and

[0063] A controller, which is electrically connected to the driving component and the collecting component, and the controller is configured to execute the above-mentioned method for plugging the flexible circuit board;

[0064] Among them, when plugging in, the two picking parts rotate relative to each other to synchronously drive the corresponding plug-in end to rotate to a first preset angle ɑ1. After the corner on one side of the plug-in end enters the interface corresponding to the printed circuit board at the first preset angle ɑ1, the two picking parts rotate relative to each other at a second preset angle ɑ2 to make the corner on the other side of the plug-in end rotate and enter the interface.

[0065] In the plug-in method of the flexible circuit board of the embodiment of the present application, the plug-in efficiency can be improved by using automatic equipment to plug the flexible circuit board; usually, a plug-in end is protruding along the second direction on the long side of the flexible circuit board, the printed circuit board is located on one side of the flexible circuit board in the second direction, and the interface on the printed circuit board faces the plug-in end; in the plug-in process, the displacement parameters of the picking part are first calculated by acquiring the first image information of the flexible circuit board and the printed circuit board; the picking part moves in the first direction so that the plug-in end and the interface are aligned; then the picking part is rotated in the first plane, and at this time, the plug-in end can be driven to rotate in the first plane by a first preset angle ɑ1; the picking part is pushed toward the printed circuit board so that the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1; the picking part is rotated in the first plane Move the second preset angle ɑ2 to rotate the corner on the other side of the plug-in end into the interface; push the picking part toward the printed circuit board again to complete the plug-in; that is, during plug-in, first enter the interface with the corner on one side of the plug-in end at the first preset angle ɑ1, then rotate the corner on the other side of the plug-in end into the interface, and finally push it into place; and during the plug-in process, the plug-in end and the interface are arranged in parallel in the first plane, and the plug-in end will not be scratched against the periphery of the interface. Compared with the prior art that directly plugs into the interface in one step, the plug-in method of the present application can ensure that the material is not damaged during the plug-in process, thereby extending the service life of the product; and compared with plugging in one step, this method of gradually plugging in after alignment compensation can improve the plug-in success rate, thereby improving the plug-in yield and reducing material loss.

[0066] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0068] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0069] Figure 1 A flow chart of a method for plugging a flexible circuit board provided in an embodiment of the present application;

[0070] Figure 2 A first schematic diagram of a flexible circuit board plugging process provided in an embodiment of the present application;

[0071] Figure 3 A second schematic diagram of the flexible circuit board plugging process provided in an embodiment of the present application;

[0072] Figure 4 A flowchart of the steps for confirming the plug-in is provided in an embodiment of the present application;

[0073] Figure 5 A flowchart of the steps for calculating the pickup portion insertion displacement parameters provided in an embodiment of the present application;

[0074] Figure 6 A flowchart of the steps of raising the picking portion provided in an embodiment of the present application;

[0075] Figure 7 A second schematic diagram of the flexible circuit board plugging process provided in an embodiment of the present application;

[0076] Figure 8 A flow chart of the material picking steps of the picking part provided in the embodiment of the present application;

[0077] Fig. 9 A flow chart of the steps for calculating the displacement parameters of the picking-up part provided in the embodiment of the present application;

[0078] Fig.10 A flowchart of the opening steps provided for an embodiment of the present application;

[0079] Fig.11 A workstation layout diagram of a plug-in production line for a flexible circuit board provided in an embodiment of the present application;

[0080] Fig.12 A schematic diagram of the structure of a flexible circuit board plug-in device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0082] The present application provides a method for plugging in a flexible circuit board A, which is applied to a flexible circuit board plugging device 100. The flexible circuit board plugging device 100 includes a picking portion 11, a first collecting portion 31, a driving component 2 and a controller. The picking portion 11 is movably arranged to pick up the flexible circuit board A and plug it with a printed circuit board B. The driving component 2 includes a driving portion that drives and connects to the picking portion 11. The controller is electrically connected to the first collecting portion 31 and the driving component 2.

[0083] See also Figure 1 and Figure 2 , Figure 1 A flowchart of a method for plugging a flexible circuit board A provided in an embodiment of the present application, Figure 2 The schematic diagram of the plugging process of the flexible circuit board A provided in the embodiment of the present application is as follows. The plugging method of the flexible circuit board A comprises:

[0084] S90: Acquire first image information of the flexible circuit board A and the printed circuit board B in the same field of view;

[0085] S100: acquiring a first displacement parameter of the pickup portion 11 in the first direction F1 and a second displacement parameter in the second direction F2 according to the first image information;

[0086] S110: Control the driving unit to drive the picking unit 11 to move along the first direction F1 with the first displacement parameter, so that the plug-in end of the flexible circuit board A and the interface of the printed circuit board B are aligned in the second direction F2;

[0087] S120: Control the driving unit to drive the picking unit 11 to rotate within the first plane by a first preset angle ɑ1, so that the plug end rotates within the first plane by the first preset angle ɑ1;

[0088] S170: Control the driving unit to drive the picking unit 11 to move along the second direction F2 with the second displacement parameter, so that the corner on one side of the plug end enters the interface at the first preset angle ɑ1;

[0089] S190: Control the driving unit to drive the picking unit 11 to rotate within the first plane at a second preset angle ɑ2, so that the corner on the other side of the plug-in end rotates into the interface, wherein ɑ1=-ɑ2;

[0090] S200: Control the driving unit to drive the picking unit 11 to move along the second direction F2 with a first preset propulsion parameter, so that the plug-in end is plugged into the interface.

[0091] It can be known that the flexible circuit board A includes a long side arranged along the first direction F1, a short side arranged along the second direction F2, and a first plane defined by the long and short sides; usually, a plug-in end is protruding from the long side of the flexible circuit board A along the second direction F2, and the printed circuit board B is located on one side of the flexible circuit board A in the second direction F2, and the interface on the printed circuit board B faces the plug-in end; in the related art, the picking part 11 picks up the flexible circuit board A, flips and tilts the flexible circuit board A along its long side, and directly plugs the plug-in end into place with the interface in one step, but in actual production, due to the low displacement accuracy of each mechanism, the success rate of this plug-in method is low, resulting in a low plug-in yield and a large material loss.

[0092] In the embodiment of the present application, during the plug-in process, firstly, the displacement parameters of the picking portion 11 are calculated by acquiring the first image information of the flexible circuit board A and the printed circuit board B; the picking portion 11 is moved in the first direction F1 so that the plug-in end is aligned with the interface; then the picking portion 11 is rotated in the first plane, and at this time, the plug-in end can be driven to rotate in the first plane by the first preset angle ɑ1; the picking portion 11 is pushed toward the printed circuit board B so that the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1; the picking portion 11 is rotated in the first plane by the second preset angle ɑ2 so that the corner on the other side of the plug-in end rotates to enter the interface; the picking portion 11 is pushed toward the printed circuit board B again to complete the plug-in; that is, please refer to Figure 2 During plugging, the corner on one side of the plug-in end first enters the interface at a first preset angle ɑ1, and then the corner on the other side of the plug-in end is rotated to enter the interface, and finally pushed into place; and during the plug-in process, the plug-in end and the interface are arranged parallel in the first plane, and the plug-in end will not be scratched against the periphery of the interface, ensuring that the material is not damaged during the plug-in process, thereby extending the service life of the product; and compared with one-step plug-in, this method of gradual plug-in after alignment compensation can improve the plug-in success rate, thereby improving the plug-in yield and reducing material loss.

[0093] The present application does not impose any specific limitation on the first preset angle ɑ1 and the second preset angle ɑ2. Generally, 5°≤|α1|=α2|≤10°.

[0094] Continue reading Figure 1 and Figure 2, after the step S120 of controlling the driving unit to drive the picking unit 11 to rotate the first preset angle ɑ1 in the first plane so that the plug end rotates the first preset angle ɑ1 in the first plane, and before the step S170 of controlling the driving unit to drive the picking unit 11 to move along the second direction F2 with the second displacement parameter so that the corner of one side of the plug end enters the interface at the first preset angle ɑ1, the method further includes:

[0095] S130: Acquire second image information of the flexible circuit board A and the printed circuit board B in the same field of view;

[0096] S140: Acquire, according to the second image information, an angle ɑ3 between the plug-in end of the flexible circuit board A and the interface of the printed circuit board B in the first plane;

[0097] S150: Obtaining a rotation adjustment angle β of the picking portion 11 according to the included angle ɑ3 and the first preset angle ɑ1;

[0098] S160: Determine the size of the rotation adjustment angle β. When the rotation adjustment angle β is 0, it is determined that the picking-up part 11 has been rotated into place. When the rotation adjustment angle β is not 0, it is determined that the picking-up part 11 has not been rotated into place. The driving part is controlled to drive the picking-up part 11 to continue rotating the rotation adjustment angle β within the first plane.

[0099] That is to say, in this embodiment, after the plug-in end is rotated by the first preset angle ɑ1 in the first plane, it is necessary to take a second photo of the plug-in end and the interface to obtain the second image information of the flexible circuit board A and the printed circuit board B in the same field of view; according to the second image information, the angle ɑ3 between the plug-in end of the flexible circuit board A and the interface of the printed circuit board B in the first plane is obtained; according to the angle ɑ3 and the first preset angle ɑ1, the rotation adjustment angle β of the picking-up part 11 is obtained; according to the rotation adjustment angle β, it is judged whether the picking-up part 11 is rotated into place; when the rotation adjustment angle β is 0, it is judged that the picking-up part 11 is rotated into place, and when the rotation adjustment angle β is not 0, it is judged that the picking-up part 11 is not rotated into place, and the driving part is controlled to drive the picking-up part 11 to continue to rotate the rotation adjustment angle β in the first plane. In this way, after the picking-up portion 11 rotates, the plug-in end of the flexible circuit board A and the interface of the printed circuit board B are in a preset relative position; then the driving portion is controlled to drive the picking-up portion 11 to move along the second direction F2 with the second displacement parameter, so that the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1.

[0100] See also Figure 4 , Figure 4The flowchart of the step of confirming the plugging in place provided by the embodiment of the present application. After the step S200 of controlling the driving part to drive the picking part 11 to move along the second direction F2 with the first preset propulsion parameter, it also includes:

[0101] S210: Acquire first plug-in image information of the plug-in terminal and the interface;

[0102] S220: Acquire a first actual relative position of the plugging end and the interface after the plugging is completed according to the first plugging image information;

[0103] S230: judging whether the plug-in terminal and the interface are plugged in place according to the first actual relative position and the preset relative position;

[0104] S240: When it is determined that the flexible circuit board A is not plugged in place, the driving unit is controlled to drive the pickup unit 11 to move along the second direction F2 with a fourth displacement parameter, so that the plugging end of the flexible circuit board A is disengaged from the interface of the printed circuit board B;

[0105] S250: Control the driving unit to drive the picking unit 11 to repeat the above plugging steps;

[0106] S270: Acquire second plug-in image information of the plug-in terminal and the interface;

[0107] S280: Acquire a second actual relative position of the plugging end and the interface after the plugging is completed according to the second plugging image information;

[0108] S290: judging whether the plug-in terminal and the interface are plugged in place according to the second actual relative position and the preset relative position;

[0109] S300: When it is determined that the material is not inserted into place, the driving unit is controlled to drive the picking unit to move along the second direction with a fourth displacement parameter, and the material is discarded.

[0110] It can be known that after the pick-up unit 11 moves along the second direction F2 with the first preset propulsion parameter so that the plug-in end is plugged into the interface, it is necessary to determine whether the plug-in end is plugged in place. After the plug-in is completed, the plug-in image information of the plug-in end and the interface is obtained through the first acquisition unit 31, and the actual relative position of the plug-in end and the interface after the plug-in is completed is obtained according to the plug-in image information; according to the actual relative position and the preset relative position, it is determined whether the plug-in end and the interface are plugged in place; when it is determined that the plug-in end and the interface are plugged in place, the plug-in-completed flexible circuit board A and printed circuit board B are conveyed for unloading; when it is determined that the plug-in end and the interface are not plugged in place, the driving unit is controlled to drive the pick-up unit 11 to move along the second direction F2 with the fourth displacement parameter, so that the plug-in end of the flexible circuit board A is detached from the interface of the printed circuit board B.

[0111] After the plug-in end detaches from the interface, the driving unit is controlled to drive the picking-up unit 11 to rotate within the first plane by the first preset angle ɑ1, so that the plug-in end rotates within the first plane by the first preset angle ɑ1; the driving unit is controlled to drive the picking-up unit 11 to move along the second direction F2 with the second displacement parameter, so that the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1; the driving unit is controlled to drive the picking-up unit 11 to rotate within the first plane by the second preset angle ɑ2, so that the corner on the other side of the plug-in end rotates into the interface, wherein ɑ1=-ɑ2; the driving unit is controlled to drive the picking-up unit 11 to move along the second direction F2 with the first preset propulsion parameter, so that the plug-in end completes the plugging in the interface.

[0112] That is to say, when the plug-in end and the interface are not properly plugged in at the first time, the pick-up portion 11 drives the plug-in end to be disengaged from the interface, and then the plug-in end is plugged in again. It should be noted that after the plug-in end is plugged in again, steps S210 to S230 should be repeated to confirm whether it is properly plugged in again. If the plug-in end and the interface still cannot be properly plugged in after the second plug-in, the flexible circuit board A is discarded.

[0113] See also Figure 5 , Figure 5 A flowchart of the steps of calculating the insertion displacement parameters of the pickup unit 11 provided in the embodiment of the present application. According to the first image information, the step S100 of obtaining the first displacement parameter of the pickup unit 11 in the first direction F1 and the second displacement parameter in the second direction F2 includes:

[0114] S1001: Acquire a first position parameter of the plug end and a second position parameter of the interface according to the first image information, wherein the first position parameter is configured as a first coordinate parameter of a first target point on the plug end, and the second position parameter is configured as a second coordinate parameter of a second target point on the interface;

[0115] S1002: Calculate a first offset parameter of the plug end relative to the interface in the first direction F1 and a second offset parameter in the second direction F2 according to the first position parameter and the second position parameter;

[0116] S1003: acquiring a first displacement parameter of the picking portion 11 in the first direction F1 according to the first offset parameter;

[0117] S1004: Acquire a second displacement parameter of the picking portion 11 in the second direction F2 according to a second preset propulsion parameter and the second offset parameter.

[0118] This embodiment provides specific steps for obtaining the first displacement parameter and the second displacement parameter of the pickup part 11 through the first image information. It can be known that the first acquisition part 31 is usually configured as an industrial camera to capture images. Before plugging, the flexible circuit board A and the printed circuit board B are captured by the industrial camera in the same field of view, so as to obtain the first image information of the flexible circuit board A and the printed circuit board B in the same field of view; according to the first image information, the first coordinate parameter of the first target point on the plug-in end and the second coordinate parameter of the second target point on the interface can be obtained. It should be noted here that the first target point and the second target point have a positional correspondence. For example, if the first target point is set to a side corner of the plug-in end, then the second target point is set to a side corner of the corresponding side of the periphery of the interface.

[0119] Through the first coordinate parameter and the second coordinate parameter, the relative position relationship between the first target point and the second target point can be calculated, that is, the first offset parameter of the plug-in end relative to the interface in the first direction F1 and the second offset parameter in the second direction F2 can be obtained; then, according to the first offset parameter, the first displacement parameter of the pickup portion 11 in the first direction F1 is obtained. It can be known that the second offset parameter calculated at this time refers to the distance between the edge of the plug-in end and the interface in the second direction F2, but in order to complete the plug-in, the plug-in end also needs to be pushed into the interface, that is, the second displacement parameter of the pickup portion 11 in the second direction F2 is the sum of the second offset parameter and the first preset push parameter.

[0120] It should be noted that the present application does not specifically limit the type of flexible circuit board A. In some embodiments, a first protrusion is provided on the plug-in end of the flexible circuit board A, and the first protrusion is provided on both sides of the plug-in end in the first direction F1 and close to the corners of the plug-in end; a second protrusion is also provided on the inner wall of the interface of the printed circuit board B. After the plug-in end and the interface are plugged into place, the first protrusion and the second protrusion are mutually limited and fixed, thereby preventing the flexible circuit board A from falling off.

[0121] See also Figure 6 and Figure 7 , Figure 6 A flowchart of the steps of raising the pickup portion 11 provided in an embodiment of the present application. After step S170 of controlling the driving portion to drive the pickup portion 11 to move along the second direction F2 with the second displacement parameter, and before step S190 of controlling the driving portion to drive the pickup portion 11 to rotate within the first plane at a second preset angle ɑ2, the flowchart also includes:

[0122] S180 : Control the driving unit to drive the picking unit 11 to move along a third direction F3 with a preset height parameter, wherein the third direction F3 is configured as a thickness direction of the flexible circuit board A.

[0123] During the plug-in process, the driving part is controlled to drive the picking part 11 to rotate within the first plane at the first preset angle ɑ1, so that the plug-in end rotates within the first plane at the first preset angle ɑ1; the picking part 11 is pushed to move along the second direction F2, so that the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1; since the corner on one side of the plug-in end is inserted at an angle, the movement trajectory of the first protrusion on the corner of this side can avoid the second protrusion; at this time, if the plug-in end is rotated directly, the first protrusion on the corner on the other side of the plug-in end will collide with the second protrusion on the corresponding side, resulting in plug-in failure and material damage.

[0124] See also Figure 7 , by moving the picking portion 11 along the third direction F3 to a preset height, at this time, the first protrusion and the second protrusion are staggered in the third direction F3, and then according to the second preset angle ɑ2, the driving portion is controlled to drive the picking portion 11 to rotate within the first plane, so that the corner on the other side of the plug-in end rotates into the interface; thereby completing the plug-in.

[0125] In this embodiment, after the step S200 of controlling the driving unit to drive the picking unit 11 to move along the second direction F2 with the first preset propulsion parameter so that the plug end completes the plugging in the interface, the method further includes:

[0126] S260: Control the driving unit to drive the picking unit 11 to move and reset along the third direction F3.

[0127] It can be seen from the above steps that after the corner on one side of the plug-in end enters the interface at the first preset angle ɑ1, the picking-up portion 11 is moved along the third direction F3 to a preset height so that the first protrusion and the second protrusion are staggered in the third direction F3, and then the driving portion is controlled to drive the picking-up portion 11 to rotate within the first plane at the second preset angle ɑ2, so that the corner on the other side of the plug-in end is rotated to enter the interface; thereby completing the plug-in.

[0128] After the plugging is completed, the plugging end and the interface need to be inspected to determine whether they are plugged in place. When the plugging end and the interface are plugged in place, at this time, the first protrusion and the second protrusion are misaligned in the third direction F3 and cannot play a limiting role. Therefore, after the plugging is completed, it is necessary to control the driving part to drive the picking part 11 to move and reset along the third direction F3. At this time, the first protrusion and the second protrusion can limit and fix each other, thereby preventing the flexible circuit board A from falling off.

[0129] Typically, two plug-in terminals are protruding from the long side of the flexible circuit board A, and the two plug-in terminals are arranged side by side and spaced in the first direction F1, and each plug-in terminal extends along the second direction F2; two interfaces are correspondingly arranged on the printed circuit board B. In order to achieve synchronous plugging, the flexible circuit board plug-in device 100 includes two pickup parts 11, which pick up the flexible circuit board A together and correspond to the two plug-in terminals respectively, and the driving assembly 2 includes two driving parts, which drive and connect the two pickup parts 11 respectively.

[0130] Based on this, the plugging method of the flexible circuit board A also includes:

[0131] The two driving parts are controlled to drive synchronously, and drive the two picking parts 11 to move synchronously in the first plane.

[0132] See also Figure 2 In this embodiment, the driving unit synchronously drives the two picking parts 11 to move relatively in the first plane. During plugging, the two first image information will be synchronously acquired, and the displacement parameters of the two picking parts 11 will be obtained respectively. After each of the plug-in ends is aligned with the interface on the corresponding side, the two driving units synchronously drive the two picking parts 11 to rotate relative to each other, so that the two plug-in ends present an "inner eight" or "outer eight" shape; the two picking parts 11 are synchronously pushed forward, so that the two adjacent or opposite corners of the two plug-in ends enter the corresponding interface; the two driving units synchronously drive the two picking parts 11 to rotate relative to reset, so that the other two corners of the two plug-in ends rotate and enter the corresponding interface; the two picking parts 11 are synchronously pushed forward, so that the plug-in end is plugged into place in the interface; in this way, the synchronous plugging of the two plug-in ends is completed.

[0133] See also Figure 3 In this embodiment, the driving unit synchronously drives the two picking parts 11 to move in the same direction in the first plane. During plugging, the two first image information will be synchronously acquired, and the displacement parameters of the two picking parts 11 will be obtained respectively. When each of the plug-in ends is aligned with the interface on the corresponding side, the two driving units synchronously drive the two picking parts 11 to rotate in the same direction; the two picking parts 11 are synchronously pushed forward so that the two adjacent or opposite corners of the two plug-in ends enter the corresponding interface; the two driving units synchronously drive the two picking parts 11 to rotate and reset in the same direction so that the other two corners of the two plug-in ends rotate and enter the corresponding interface; the two picking parts 11 are synchronously pushed forward so that the plug-in end is plugged into place in the interface; in this way, the synchronous plugging of the two plug-in ends is completed.

[0134] It can be known that, usually in an actual production line, the picking portion 11 needs to pick up materials on the material supply platform 201 and then transfer to the plug-in platform 301 to plug the picked-up flexible circuit board A with the printed circuit board B on the plug-in platform 301. In order to complete this process, the flexible circuit board plug-in device 100 also includes a transfer mechanism 4 that is electrically connected to the controller, and the transfer mechanism 4 includes a transfer portion 41 for transferring between the material supply platform 201 and the plug-in platform 301, and the picking portion 11 is arranged on the transfer portion 41. Through the transfer portion 41, the picking portion 11 can transfer between the material supply platform 201 and the plug-in platform 301.

[0135] See also Figure 8 , Figure 8 The flowchart of the material picking step of the picking unit 11 provided in the embodiment of the present application. Before the step S90 of acquiring the first image information of the flexible circuit board A and the printed circuit board B, it also includes:

[0136] S10: receiving a plug-in instruction;

[0137] S20: According to the plug-in instruction, the transfer unit 41 is controlled to drive the picking unit 11 to move toward the feeding platform 201 to the target picking position;

[0138] S30: Control the driving unit to drive the picking unit 11 to move along the first direction F1 to a preset material picking position;

[0139] S40: Control the transfer unit 41 to drive the picking unit 11 to move along the third direction F3 and approach the feeding platform 201, so that the picking unit 11 picks up the flexible circuit board A;

[0140] S50: Control the transfer unit 41 to drive the picking unit 11 to move toward the plug-in platform 301 to a target plug-in position;

[0141] S60: Control the first acquisition unit 31 to synchronously photograph the flexible circuit board A and the printed circuit board B.

[0142] In this embodiment, after receiving the plug-in instruction, the transfer part 41 drives the picking part 11 to move toward the feeding platform 201 to the target material picking position; at this time, the picking part 11 is above the feeding platform 201; the driving part drives the picking part 11 to move along the first direction F1 to the preset material picking position; the transfer part 41 drives the picking part 11 to move along the third direction F3 and approach the feeding platform 201, at this time, the picking part 11, driven by the transfer part 41, approaches and picks up the flexible circuit board A on the feeding platform 201; after completing the material picking, the transfer part 41 drives the picking part 11 to move toward the plug-in platform 301 to the target plug-in position; finally, the first acquisition part 31 is used to complete the same-field shooting of the flexible circuit board A and the printed circuit board B.

[0143] See also Fig. 9 , Fig. 9 The flowchart of the steps of calculating the displacement parameters of the picking-up part 11 provided in the embodiment of the present application. The step S30 of controlling the driving part to drive the picking-up part 11 to move along the first direction F1 to a preset picking-up position includes:

[0144] S301: Acquire third image information of the flexible circuit board A on the feeding platform 201;

[0145] S302: Acquire model information and third position parameters of the flexible circuit board A according to the third image information;

[0146] S303: acquiring a material picking position parameter of the flexible circuit board A according to the model information and the third position parameter, wherein the material picking position parameter is configured as a third coordinate parameter of a target material picking point on the flexible circuit board A;

[0147] S304: Acquire a fourth position parameter of the picking portion 11, wherein the fourth position parameter is configured as a fourth coordinate parameter of the picking portion 11;

[0148] S305: Calculating a third offset parameter of the picking portion 11 relative to a target material picking point according to the third position parameter and the fourth position parameter;

[0149] S306: acquiring a third displacement parameter of the pickup portion 11 according to the third offset parameter;

[0150] S307: Control the driving unit to drive the picking unit 11 to move to the preset material picking position with the third displacement parameter.

[0151] In this embodiment, according to the third image information, the model information and the third position parameter of the flexible circuit board A can be obtained; according to the model information of the flexible circuit board A, the size parameters of the flexible circuit board A can be known, and in combination with the third position parameter of the flexible circuit board A, the material picking position parameter of the flexible circuit board A can be obtained; usually, when picking up materials, the picking part 11 grabs the position close to the plug-in end on the flexible circuit board A. In order to ensure accurate material picking, the picking part 11 needs to be aligned with the target material picking point on the flexible circuit board A, and the material picking position parameter is configured as the third coordinate parameter of the target material picking point on the flexible circuit board A.

[0152] It should be noted that the present application does not limit the method for obtaining the third image information. In one embodiment, the third image information is obtained by photographing the first acquisition unit 31; in another embodiment, in order to ensure that the pickup unit 11 accurately picks up the flexible circuit board A, the flexible circuit board plug-in device 100 also includes a second acquisition unit 32 that is electrically connected to the controller, and the second acquisition unit 32 is used to be set on the feeding platform 201; the second acquisition unit 32 is also configured as an industrial camera, and the third image information of the flexible circuit board A on the feeding platform 201 is obtained from the second acquisition unit 32.

[0153] In addition, the transfer part 41 drives the picking part 11 to be located at the target material picking position. The picking part 11 is located above the feeding platform 201. It is necessary to align the picking part 11 with the target material picking point on the flexible circuit board A, obtain the fourth coordinate parameter of the picking part 11, and calculate the third offset parameter of the picking part 11 relative to the target material picking point according to the third coordinate parameter and the fourth coordinate parameter; according to the third displacement parameter, control the driving part to drive the picking part 11 to move to the preset material picking position; then, the transfer part 41 drives the picking part 11 to move toward the side close to the feeding platform 201, so that the picking part 11 can complete the material picking action.

[0154] In combination with the above embodiment, in the present application, the picking work of the flexible circuit board A is completed by two picking parts 11, and the two picking parts 11 correspond to the two plug-in terminals on the flexible circuit board A. By setting the second acquisition part 32, the model information of the flexible circuit board A to be picked up can be obtained before picking up the material, so as to adjust the position of the picking part 11 according to the target picking point of the flexible circuit board A to achieve accurate picking; in this way, on the basis of improving the picking accuracy, the adaptation of multiple models of flexible circuit boards A can be achieved, and the plug-in compatibility of multiple models of products can be achieved.

[0155] The present application does not impose any specific restrictions on the driving unit. In some embodiments, the driving unit is provided with one, and the picking unit 11 is driven by the driving unit to move whether it is to take out materials or to insert.

[0156] In another embodiment, the driving assembly 2 includes a first driving unit 21 and a second driving unit 22, the first driving unit 21 includes a first driving unit drivingly connected to the pickup portion 11, the second driving unit 22 includes a second driving unit drivingly connected to the pickup portion 11, the driving unit includes the first driving unit and the second driving unit, and the driving unit includes the first driving unit and the second driving unit; the plug-in method of the flexible circuit board A includes:

[0157] When picking up materials, the second driving part is controlled to drive the picking part 11 to move;

[0158] During plugging, the first driving unit is controlled to drive the picking unit 11 to move.

[0159] That is to say, in this embodiment, the driving component 2 includes a first driving unit 21 and a second driving unit 22. When taking materials, the second driving unit 22 works; when plugging in, the first driving unit 21 works; in this way, the movement complexity of a single driving unit can be reduced, thereby improving the movement accuracy of the driving component 2.

[0160] It is understandable that the printed circuit board B is provided with a piano cover at the position corresponding to the interface, and the piano cover can be rotated to open and close. By opening the piano cover, the subsequent plugging and unplugging of the plug end can be completed; and after the plug end and the interface are plugged in, the piano cover can be closed to clamp and fix the plug end. The flexible circuit board plug-in device 100 also includes a cover-opening stop arm 51 and a cover-opening drive assembly 2. The cover-opening stop arm 51 is movably arranged on the pickup portion 11. The cover-opening drive assembly 2 is electrically connected to the controller. The cover-opening drive assembly 2 includes a cover-opening drive unit that drives the cover-opening stop arm 51.

[0161] See also Fig.10 , Fig.10 A flowchart of the opening step provided in the embodiment of the present application. Before the step S90 of acquiring the first image information of the flexible circuit board A and the printed circuit board B, it also includes:

[0162] S70: Control the driving unit to drive the picking unit 11 to move to a target opening position with a first opening parameter, wherein at the target opening position, the opening blocking arm 51 contacts the piano cover of the printed circuit board B;

[0163] S80: Control the cover opening driving unit to drive the cover opening blocking arm 51 to move with the second cover opening parameter to open the piano cover of the printed circuit board B.

[0164] In this embodiment, one end of the cover opening stop arm 51 is rotatably mounted on the pick-up portion 11 along the extension axis of the first direction F1, and the other end of the cover opening stop arm 51 can rotate around one end thereof, and the cover opening drive portion can rotate along the extension axis of the first direction F1 to drive the cover opening stop arm 51 to rotate forward and reversely. In combination with the above steps, after the pick-up portion 11 completes the material picking, the transfer portion 41 drives the pick-up portion 11 to move to the target plug-in position; at this time, the first acquisition portion 31 can shoot the flexible circuit board A and the printed circuit board B in the same field of view, and according to the first image information collected, the drive portion drives the pick-up portion 11 to move along the first direction F1, so that the plug-in end of the flexible circuit board A and the interface of the printed circuit board B are aligned in the second direction F2.

[0165] At this time, the other end of the cover opening stop arm 51 is spaced apart from the piano cover of the printed circuit board B; according to the first cover opening parameter, the drive unit is controlled to drive the picking unit 11 to move so that the cover opening stop arm 51 contacts the piano cover of the printed circuit board B; the cover opening drive unit drives the cover opening stop arm 51 to move so as to open the piano cover of the printed circuit board B, and the second cover opening parameter can be configured as the rotation angle of the cover opening drive unit, that is, the cover opening drive unit drives the cover opening stop arm 51 to rotate the preset cover opening angle, so as to rotate and open the piano cover of the printed circuit board B.

[0166] After the flexible circuit board A and the printed circuit board B are plugged in, it is necessary to check whether they are plugged in properly. In order to facilitate the operator to know the plugging status in time, in this embodiment, the flexible circuit board plugging device 100 also includes a prompt component, and the prompt component is electrically connected to the controller.

[0167] Based on the above-mentioned plug-in method of the flexible circuit board A, the present application also provides a flexible circuit board plug-in device 100.

[0168] See also Fig.11 , Fig.11The station layout diagram of the plug-in production line 1000 of the flexible circuit board A provided in the embodiment of the present application. In actual production, the plug-in production line is sequentially arranged with a feeding station, a circulation station and a unloading station; a feeding device 200 is correspondingly arranged at the feeding station, and the feeding device 200 includes a feeding platform 201, on which a flexible circuit board A to be picked up is placed; a unloading device is correspondingly arranged at the unloading station, and the unloading device includes a plug-in platform 301, on which a printed circuit board B to be plugged is placed; a flexible circuit board plug-in device 100 is correspondingly arranged at the circulation station, and the flexible circuit board plug-in device 100 is arranged between the feeding device 200 and the unloading device, and is used to pick up the flexible circuit board A on the feeding platform 201, and transfer the flexible circuit board A to the plug-in platform 301 for plugging with the printed circuit board B.

[0169] In one embodiment, two line groups 1001 are arranged on one side of the unloading station, and each line group 1001 includes the transfer station and the feeding station arranged side by side, and the transfer station is located between the feeding station and the unloading station. The production efficiency is further improved by setting two line groups 1001, and the station layout can save space. The two line groups 1001 are arranged at intervals, and the space between the two line groups 1001 is convenient for operators to enter, so that they can check the material and equipment status at any time to avoid production downtime.

[0170] See also Fig.12 , Fig.12 A structural schematic diagram of a flexible circuit board plug-in device 100 provided in an embodiment of the present application. The flexible circuit board plug-in device 100 includes a transfer mechanism 4, a plug-in mechanism and a controller (not shown in the figure), wherein the transfer mechanism 4 includes a transfer portion 41 for transferring between a feeding platform 201 and a plug-in platform 301, and the plug-in mechanism includes a plug-in component 1, a drive component 2 and a collection component 3, wherein the plug-in component 1 includes two picking-up portions 11 arranged side by side in the first direction F1, for picking up a flexible circuit board A together, and the two picking-up portions 11 can move relative to each other in the first plane; the drive component 2 includes two driving portions, which can move relative to each other and are respectively driven and connected to the two picking-up portions 11; the collection component 3 includes two first collection portions 31, each of which is correspondingly arranged on one of the picking-up portions 11, for collecting image information of the plug-in end and the interface on the corresponding side; the controller is electrically connected to the drive component 2 and the collection component 3.

[0171] The present application does not impose any specific restrictions on the structure of the transfer mechanism 4 , and the transfer mechanism 4 may be configured as a robot; preferably, it may be configured as a 6-axis robot.

[0172] In one embodiment of the present application, the driving part includes a first driving unit 21, a second driving unit 22, a third driving unit and a fourth driving unit, the first driving unit 21 includes a first driving part drivingly connected to the picking part 11, the first driving part can move along the first direction F1, and is used to drive the picking part 11 to move when plugging; the second driving unit 22 includes a second driving part drivingly connected to the picking part 11, the second driving part can move along the first direction F1, and is used to drive the picking part 11 to move when picking up materials; the third driving unit includes a third driving part drivingly connected to the picking part 11, the third driving part can move along the second direction F2; the fourth driving unit includes a fourth driving part drivingly connected to the picking part 11, and the fourth driving part can rotate within the first plane.

[0173] The present application does not make any specific restrictions on the first drive unit 21, the second drive unit 22, the third drive unit and the fourth drive unit. The first drive unit 21, the second drive unit 22 and the third drive unit can be configured as electric push rods, or can be configured as a combination of a motor and a transmission member, as long as they can drive the picking part 11 to move in a straight line; the fourth drive unit can be configured as an angle corrector, as long as it can drive the picking part 11 to rotate within the first plane.

[0174] The controller includes a memory and a processor, the processor is electrically connected to the memory, the memory stores a computer program, and the computer program is executed by the processor to implement the above-mentioned plug-in method of the flexible circuit board A.

[0175] Optionally, the memory is used to store application code for executing the solution of the present application, and the processor controls the execution. The processor is used to execute the application code stored in the memory to implement any one of the plug-in methods of the flexible circuit board A provided in the embodiments of the present application.

[0176] The memory may be a ROM (Read-Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0177] The processor may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0178] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0179] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0180] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0181] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for plugging a flexible circuit board, wherein the flexible circuit board comprises a long side arranged along a first direction, a short side arranged along a second direction, and a first plane defined by the long and short sides, characterized in that: The flexible circuit board plugging method is applied to a flexible circuit board plugging device, which includes a pick-up portion, a first collection portion, a drive component and a controller. The pick-up portion is movably arranged to pick up the flexible circuit board and plug it with the printed circuit board. The drive component includes a drive portion that drives the pick-up portion. The controller is electrically connected to the first collection portion and the drive component. The plug-in method of the flexible circuit board comprises: Acquire first image information of the flexible circuit board and the printed circuit board in the same field of view; According to the first image information, acquiring a first displacement parameter of the pickup portion in the first direction and a second displacement parameter in the second direction; Controlling the driving unit to drive the picking unit to move along the first direction with the first displacement parameter, so that the plug-in end of the flexible circuit board and the interface of the printed circuit board are aligned in the second direction; Control the driving unit to drive the picking unit to rotate within the first plane by a first preset angle ɑ1, so that the plug end rotates within the first plane by the first preset angle ɑ1; Control the driving unit to drive the picking unit to move along the second direction with the second displacement parameter, so that the corner on one side of the plug end enters the interface at the first preset angle ɑ1; Control the driving unit to drive the picking unit to rotate within the first plane at a second preset angle ɑ2, so that the corner on the other side of the plug-in end rotates into the interface, wherein ɑ1=-ɑ2; The driving part is controlled to drive the picking part to move along the second direction with a first preset propulsion parameter, so that the plug-in end is plugged into the interface.

2. The method for plugging a flexible printed circuit board according to claim 1, characterized in that: After the step of controlling the driving unit to drive the picking unit to rotate the first preset angle ɑ1 in the first plane so that the plug end rotates the first preset angle ɑ1 in the first plane, and before the step of controlling the driving unit to drive the picking unit to move along the second direction with the second displacement parameter so that the corner on one side of the plug end enters the interface at the first preset angle ɑ1, the method further includes: Acquire second image information of the flexible circuit board and the printed circuit board in the same field of view; According to the second image information, an angle ɑ3 between the plug-in end of the flexible circuit board and the interface of the printed circuit board in the first plane is obtained; According to the included angle ɑ3 and the first preset angle ɑ1, obtaining the rotation adjustment angle β of the pickup portion; When the rotation adjustment angle β is 0, it is determined that the picking part has been rotated into place; when the rotation adjustment angle β is not 0, it is determined that the picking part has not been rotated into place, and the driving part is controlled to drive the picking part to continue rotating the rotation adjustment angle β in the first plane.

3. The method for connecting a flexible printed circuit board according to claim 1, wherein: After the step of controlling the driving unit to drive the picking unit to move along the second direction with a first preset propulsion parameter, the method further includes: Acquire first plug-in image information of the plug-in end and the interface; Acquire, according to the first plugging image information, a first actual relative position of the plugging end and the interface after the plugging is completed; According to the first actual relative position and the preset relative position, determining whether the plug-in terminal and the interface are plugged in place; When it is determined that the flexible circuit board is not plugged in place, the driving unit is controlled to drive the pickup unit to move along the second direction with a fourth displacement parameter, so that the plugging end of the flexible circuit board is disengaged from the interface of the printed circuit board; Controlling the driving part to drive the picking part to repeat the above plugging steps; Acquire second plug-in image information of the plug-in end and the interface; Acquiring a second actual relative position of the plugging end and the interface after the plugging is completed according to the second plugging image information; According to the second actual relative position and the preset relative position, determining whether the plug-in terminal and the interface are plugged in place; When it is determined that the insertion is not in place, the driving part is controlled to drive the picking part to move along the second direction with a fourth displacement parameter, and the material is discarded.

4. The method for connecting a flexible printed circuit board according to claim 1, wherein: The step of acquiring a first displacement parameter of the pickup portion in the first direction and a second displacement parameter of the pickup portion in the second direction according to the first image information comprises: According to the first image information, a first position parameter of the plug end and a second position parameter of the interface are acquired, wherein the first position parameter is configured as a first coordinate parameter of a first target point on the plug end, and the second position parameter is configured as a second coordinate parameter of a second target point on the interface; According to the first position parameter and the second position parameter, obtaining a first offset parameter of the plug end relative to the interface in the first direction and a second offset parameter in the second direction; According to the first offset parameter, obtaining a first displacement parameter of the picking portion in the first direction; According to the second preset propulsion parameter and the second offset parameter, a second displacement parameter of the picking portion in the second direction is acquired.

5. The method for plugging a flexible printed circuit board according to claim 1, characterized in that: After the step of controlling the driving unit to drive the picking unit to move along the second direction with the second displacement parameter, and before the step of controlling the driving unit to drive the picking unit to rotate within the first plane by a second preset angle ɑ2, the method further includes: The driving part is controlled to drive the picking part to move along a third direction with a preset height parameter, wherein the third direction is configured as a thickness direction of the flexible circuit board.

6. The method for plugging a flexible printed circuit board according to claim 1, characterized in that: The flexible circuit board is configured such that two plug-in terminals are protruding from its long side, and are used to be plugged into two interfaces on the printed circuit board respectively; The flexible circuit board plug-in device comprises two picking-up parts, which pick up the flexible circuit board together and correspond to two plug-in ends respectively; the driving assembly comprises two driving parts, which correspond to and drive the two picking-up parts respectively; The plug-in method of the flexible circuit board also includes: The two driving parts are controlled to drive synchronously, and drive the two picking parts to move synchronously in the first plane.

7. The method for plugging a flexible printed circuit board according to claim 1, characterized in that: The flexible circuit board plug-in device further comprises a transfer mechanism electrically connected to the controller, the transfer mechanism comprises a transfer part for transferring between the feeding platform and the plug-in platform, the picking part is arranged on the transfer part, and the first acquisition part is configured as an industrial camera; Before the step of acquiring the first image information of the flexible circuit board and the printed circuit board, the method further includes: Receiving a plug-in instruction; According to the plug-in instruction, the transfer unit is controlled to drive the pick-up unit to move toward the feeding platform to the target material picking position; Controlling the driving unit to drive the picking unit to move along the first direction to a preset material picking position; Controlling the transfer part to drive the picking part to move along the third direction and approach the feeding platform, so that the picking part picks up the flexible circuit board; Control the transfer part to drive the picking part to move toward the plug-in platform to a target plug-in position; The first acquisition unit is controlled to synchronously photograph the flexible circuit board and the printed circuit board.

8. The method for plugging a flexible printed circuit board according to claim 7, characterized in that: The step of controlling the driving unit to drive the picking unit to move along the first direction to a preset material picking position includes: Acquiring third image information of the flexible circuit board on the feeding platform; According to the third image information, acquiring model information and a third position parameter of the flexible circuit board; According to the model information and the third position parameter, a material picking position parameter of the flexible circuit board is acquired, wherein the material picking position parameter is configured as a third coordinate parameter of a target material picking point on the flexible circuit board; Acquire a fourth position parameter of the picking portion, wherein the fourth position parameter is configured as a fourth coordinate parameter of the picking portion; Calculating a third offset parameter of the picking portion relative to a target material picking point according to the third position parameter and the fourth position parameter; According to the third offset parameter, obtaining a third displacement parameter of the pickup portion; The driving part is controlled to drive the picking part to move with the third displacement parameter and reach the preset material picking position.

9. The method for connecting a flexible printed circuit board according to claim 7, characterized in that: The driving assembly includes a first driving unit and a second driving unit, the first driving unit includes a first driving part drivingly connected to the pickup part, the second driving unit includes a second driving part drivingly connected to the pickup part, the driving part includes the first driving part and the second driving part, and the driving part includes the first driving part and the second driving part; The plug-in method of the flexible circuit board comprises: When picking up materials, controlling the second driving part to drive the picking part to move; During plugging, the first driving part is controlled to drive the picking part to move.

10. A flexible circuit board plug-in device, the flexible circuit board comprising a long side arranged along a first direction, a short side arranged along a second direction, and a first plane defined by the long and short sides, characterized in that: The flexible circuit board plug-in device comprises: The plug-in assembly comprises two picking-up parts arranged side by side in the first direction, used for picking up the flexible circuit board together, and the two picking-up parts are relatively movable in the first plane; A driving assembly, comprising two driving parts, the two driving parts are relatively movable and are respectively connected to the two picking parts; A collection component, comprising two first collection parts, each of which is correspondingly arranged on one of the pickup parts, for collecting image information of the plug-in end and the interface on the corresponding side; and A controller, which is electrically connected to the driving component and the collecting component, and the controller is configured to execute the method for plugging a flexible printed circuit board as described in any one of claims 1 to 9; Among them, when plugging in, the two picking parts rotate relative to each other to synchronously drive the corresponding plug-in end to rotate to a first preset angle ɑ1. After the corner on one side of the plug-in end enters the interface corresponding to the printed circuit board at the first preset angle ɑ1, the two picking parts rotate relative to each other at a second preset angle ɑ2 to make the corner on the other side of the plug-in end rotate and enter the interface.

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