A manipulator execution end and method capable of automatically straightening an FPC

Abstract

The present invention discloses a manipulator execution end and method capable of automatically straightening an FPC, belonging to the technical field of manipulators, including a power module and a nozzle module arranged on the base at the end of the manipulator, and further including a jaw module arranged on the base; the power output end of the power module is connected to the nozzle module and the jaw module, and is used to drive the nozzle module to perform lifting motion and drive the left jaw and the right jaw in the jaw module to open and close; when the left jaw and the right jaw are close to each other in a holding state, the FPC is limited between the gaps of the left jaw and the right jaw in the holding state, so that the FPC is straightened by the left jaw and the right jaw when the FPC descends with the nozzle module during feeding and when the FPC rises with the nozzle module during material taking. The jaw module can straighten the FPC during feeding and material taking, so that the FPC will not deviate during the process of taking and placing materials by the touch button, ensuring that the FPC can smoothly penetrate the through hole without damaging the FPC.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a manipulator execution end and method capable of automatically straightening an FPC. Background Art

[0002] The automated testing of touch buttons involves the processes of material taking and material placing. Referring to Figure 1 and Figure 2 , when placing the material, the manipulator needs to place the touch button on the Holder module (i.e., the support module) for tests such as airtightness. When taking the material, the manipulator needs to pick up the touch button that has been tested on the Holder module. More specifically, during the automated testing process of the touch button, there is a section of FPC (Flexible Printed Circuit, flexible printed circuit board) that plays a connecting role on the touch button. The upper end of the FPC (equivalent to the root of the FPC) is connected to the touch button, and the lower end (equivalent to the head of the FPC) is in a suspended state, similar to a hanging ribbon. When placing the material, it is necessary to first align the lower end of the FPC on the touch button with a very small through hole on the Holder module (the diameter of the through hole is generally only 1 - 3 mm larger than the width of the FPC), and then the execution end of the manipulator controls the FPC to slowly descend and penetrate into the through hole. After the FPC penetrates into the through hole, the touch button just fits into the groove of the Holder module. At this time, the material placement is completed and tests such as airtightness can be performed on the touch button.

[0003] Currently, in the industry, a manipulator with a nozzle module mechanism is used to automatically pick up and place touch buttons. However, the current nozzle module mechanism cannot control the shape of the FPC when picking up and placing touch buttons, which makes the shape of the FPC unfixed during the picking up and placing of touch buttons, and there will be a phenomenon of bending and deformation, resulting in easy bending damage of the FPC and failure of FPC through-hole punching during the automatic picking up and placing of touch buttons, and further leading to failure of material picking and placing. Summary of the Invention

[0004] In view of this, the present invention provides a manipulator execution end and method capable of automatically straightening an FPC, which can automatically straighten the FPC, so that the FPC will not have a yaw phenomenon during the process of picking up and placing the touch button, ensuring that the FPC can smoothly penetrate into the through hole without damaging the FPC.

[0005] The manipulator execution end capable of automatically straightening an FPC provided by the present invention adopts the following technical solutions:

[0006] A manipulator execution end capable of automatically straightening an FPC includes a power module and a nozzle module arranged on the base at the end of the manipulator, and further includes a jaw module arranged on the base;

[0007] The power output end of the power module is connected to the nozzle module and the gripper module, and is used to drive the nozzle module to perform lifting motion and drive the left gripper and the right gripper in the gripper module to open and approach;

[0008] When the left gripper and the right gripper approach to be in a holding state, the FPC is limited between the gaps of the left gripper and the right gripper in the holding state, so that the FPC is straightened by the left gripper and the right gripper when the FPC descends with the nozzle module during feeding and when the FPC ascends with the nozzle module during picking.

[0009] Further, one power module is used for the nozzle module and the gripper module respectively.

[0010] Further, the nozzle module and the gripper module share one power module.

[0011] Further, the gripper module and the nozzle module are stacked on the base to jointly complete the feeding and picking of a touch key;

[0012] The gripper module is the inner layer close to the base, and the nozzle module is the outer layer.

[0013] Further, the gripper module includes a push plate, a top plate, a push block, a first stop block group, a top plate lug, a gripper push rod, a power plate, a vertical guide rail, a fixed block group, a second stop block group, a cam, a right slider, a right limit rod, a left slider, a right spring, a left gripper, a right gripper, a horizontal guide rail, a connecting rod, a power plate upper lug, a first spring group, a power output end, a push rod lower lug, a push block lug, a power plate middle lug, an inclined push plate, an inclined surface, a second spring group;

[0014] The vertical guide rail is fixedly installed on the base;

[0015] The push plate is slidably matched with the vertical guide rail, and the upper end of the push plate is fixedly connected to the power output end of the power module through a connecting plate;

[0016] The top plate is slidably matched with the vertical guide rail, and a top plate lug is fixedly arranged at the lower end of the top plate;

[0017] The push block is fixedly connected to the push plate; a push block lug is fixedly arranged on the push block;

[0018] The first spring group is compressed and pre-tensioned and clamped between the top plate and the push block lug;

[0019] The first stop block group is fixedly installed on the base, and the first stop block group can collide with the top plate lug to limit the upward movement of the top plate;

[0020] The upper end of the jaw push rod is fixedly connected to the top plate; a lower lug of the push rod is fixedly provided at the lower end of the jaw push rod;

[0021] The power plate is slidably matched with the vertical guide rail. An upper lug of the power plate is fixedly provided at the upper end of the power plate, and a middle lug of the power plate is fixedly provided at the middle of the power plate; the lower lug of the push rod can upwardly pull the upper lug of the power plate;

[0022] The fixed block group is fixedly installed on the base, and the fixed block group is located above the middle lug of the power plate. The fixed block group can collide with the middle lug of the power plate, and the fixed block group is used for limiting the upward movement of the power plate;

[0023] The second stop block group is fixedly installed on the base, and the second stop block group is located below the middle lug of the power plate. The second stop block group can collide with the middle lug of the power plate, and the second stop block group is used for limiting the downward movement of the power plate;

[0024] The second spring group is compression-preloaded and clamped between the middle lug of the power plate and the fixed block group;

[0025] One end of the connecting rod is hinged to the power plate, and the other end of the connecting rod is hinged to the left slider;

[0026] The transverse guide rail is fixedly installed on the base, and both the left slider and the right slider are slidably matched with the transverse guide rail;

[0027] The left jaw is fixedly installed on the left slider;

[0028] The right jaw is fixedly installed on the right slider;

[0029] The right limit rod is fixedly installed on the base;

[0030] The right spring is clamped between the right slider and the right limit rod;

[0031] The cam is installed on the right slider;

[0032] The inclined push plate is fixedly installed at the lower end of the power plate, and an inclined surface is arranged on the right side of the inclined push plate;

[0033] When the power plate descends, the inclined push plate squeezes the cam to the right, so that the right slider slides to the right along the transverse guide rail, and drives the right jaw to move to the right and compress the right spring. The left slider slides to the left along the transverse guide rail, and drives the left jaw to move to the left, and the left jaw and the right jaw open;

[0034] In the initial state, the first stop block group abuts against the top plate lug, the push block lug compresses the first spring group and abuts against the top plate, the lower lug of the push rod pulls up the upper lug of the power plate, the middle lug of the power plate compresses the second spring group and abuts against the fixed block group, and the left jaw and the right jaw are close to each other and spaced apart by a set distance, presenting a holding state;

[0035] In the working state, when the power module drives the push block to move downward by a set distance L1, the push block contacts the top of the jaw push rod; when the push block continues to move downward by a set distance L2, the jaw push rod moves downward by a set distance L2, and the power plate also moves downward by a set distance L2 under the elastic force of the second spring group. At this time, the middle lug of the power plate collides with the second stop block group, and the left jaw and the right jaw are in an open state.

[0036] Furthermore, the nozzle module includes a left nozzle slider, a right nozzle slider, a connecting block, a left vertical nozzle guide rail, a right vertical nozzle guide rail, a nozzle push rod, a first limiting rod group, an upper lug of the pulling block, a lug of the nozzle push rod, a pulling spring, a pulling block, a second limiting rod group, a limiting screw, a nozzle mounting block, a positioning rod, a nozzle, and a nozzle spring group;

[0037] The left nozzle slider is slidably matched with the left vertical nozzle guide rail;

[0038] The right nozzle slider is slidably matched with the right vertical nozzle guide rail;

[0039] The left vertical nozzle guide rail and the right vertical nozzle guide rail are symmetrically and fixedly installed on the base;

[0040] The connecting block fixedly connects the left nozzle slider and the right nozzle slider; and the connecting block is fixedly connected to the power output end of the power module through the connecting plate;

[0041] The upper end of the nozzle push rod is fixedly connected to the connecting block;

[0042] The pulling block is slidably matched with the left vertical nozzle guide rail and the right vertical nozzle guide rail. An upper lug of the pulling block is fixedly provided at the upper end of the pulling block, and a lug of the nozzle push rod provided at the lower end of the nozzle push rod can pull the upper lug of the pulling block;

[0043] The nozzle mounting block is located below the pulling block and is slidably matched with the left vertical nozzle guide rail and the right vertical nozzle guide rail;

[0044] The upper end of the pulling spring is fixedly connected to the pulling block, and the lower end of the pulling spring is fixedly connected to the nozzle mounting block;

[0045] The first limiting rod group is located above the pulling block, and the first limiting rod group can collide with the pulling block to limit the upward movement of the pulling block;

[0046] The second limiting rod group is located below the pulling block, and the second limiting rod group can collide with the pulling block to limit the downward movement of the pulling block;

[0047] The nozzle spring group is compressed and pre-tightened and clamped between the first limiting rod group and the pulling block; after the nozzle push rod lug releases the upper lug of the pulling block, the nozzle spring group can push the pulling block downward through the elastic force until the pulling block collides with the second limiting rod group;

[0048] The nozzle push rod lug can hold the upper lug of the pulling block so that the upper lug of the pulling block fits with the first limiting rod group;

[0049] The limiting screw is fixedly installed on the nozzle mounting block, and the nozzle is fixedly installed at the bottom end of the nozzle mounting block;

[0050] The positioning rod is fixedly installed on the base, and the positioning rod can collide with the limiting screw arranged on the nozzle mounting block, and the positioning rod is used to limit the downward movement of the nozzle mounting block;

[0051] The nozzle push rod can push the nozzle mounting block to slide downward until the limiting screw collides with the positioning rod; when the nozzle push rod pushes the nozzle mounting block to slide downward, the tension spring is stretched;

[0052] In the initial state, the nozzle push rod lug holds the upper lug of the pulling block so that the upper lug of the pulling block fits with the first limiting rod group;

[0053] In the working state, when the nozzle push rod moves downward by L1, the nozzle push rod lug is separated from the upper lug of the pulling block, and the pulling block moves downward by L1 together with the nozzle mounting block and the tension spring under the elastic force of the nozzle spring group, and at this time the pulling block collides with the second limiting rod group; when the nozzle push rod continues to move downward by L2, the bottom end of the nozzle push rod moves to contact with the nozzle mounting block; when the nozzle push rod continues to move downward by L3, the nozzle push rod pushes the nozzle mounting block to move downward by L3 and stretches the tension spring, and the bottom end of the limiting screw collides with the positioning rod.

[0054] Further, the power module is a cylinder.

[0055] Further, the gripper module and the nozzle module laminated structures are symmetrically arranged on the left and right sides of the base, so that the execution end of the manipulator can simultaneously complete the feeding and picking of the two touch buttons.

[0056] A method for automatically straightening an FPC provided by the present invention uses the above-mentioned end of the manipulator capable of automatically straightening an FPC, and includes:

[0057] During feeding: The manipulator drives the entire end of the manipulator to descend a set distance. After the head of the FPC on the touch button enters the through hole of the support module, the power module drives the power output end to move downward by L1, and then pushes the nozzle push rod to move downward by L1, so that the pull block moves downward by L1 under the elastic force of the nozzle spring group together with the nozzle mounting block and the tension spring, so that the length L1 between the head and the root of the FPC enters the through hole on the support module in a state where the left clamping jaw and the right clamping jaw are in a holding state; then the power module drives the power output end to continue to move downward by L2, so that the left clamping jaw and the right clamping jaw open, and the bottom end of the nozzle push rod moves to contact the nozzle mounting block; then the power module drives the power output end to continue to move downward by L3, so that the nozzle push rod pushes the nozzle mounting block to move downward by L3, so that the bottom end of the limit screw collides with the positioning rod, the tension spring is stretched, the vacuum suction of the nozzle is disconnected and air is blown to place the touch button in the groove of the support module, and the last section of the FPC near the root also enters the through hole of the support module, completing the feeding action;

[0058] During material taking: The manipulator drives the entire end of the manipulator to descend. After the nozzle contacts the touch button, vacuum suction is used to suck the touch button. The power module drives the power output end to move upward, driving the nozzle push rod to rise until the pull block collides with the first limit rod group and stops, and the nozzle module returns to the initial state. At the same time, the clamping jaw push rod moves upward until the lug on the power plate collides with the fixed block group, the lug of the push block compresses the first spring group and collides with the top plate, and the clamping jaw module also returns to the initial state.

[0059] Beneficial effects:

[0060] 1. The end of the manipulator capable of automatically straightening an FPC is provided with a clamping jaw module, which can straighten the FPC during feeding and material taking, so that the FPC will not be deflected during the process of taking and placing the touch button, ensuring that the FPC can smoothly penetrate into the through hole without damaging the FPC.

[0061] 2. The nozzle module and the clamping jaw module respectively use a power module, so that the nozzle module and the clamping jaw module can be controlled separately, and the nozzle module and the clamping jaw module can perform corresponding actions at the set moment. At this time, the structural correlation between the nozzle module and the clamping jaw module is small, and there is no need to consider too many structures for their mutual cooperation, and the structural design will be simpler.

[0062] 3. The nozzle module and the gripper module share a power module. At this time, the number of power modules is small, and the overall structure will be more compact, enabling the mechanism to perform actions within a limited space.

[0063] 4. The nozzle module and the gripper module are stacked, making the structure of the manipulator more compact.

[0064] 5. The gripper module and the stacked structure of the nozzle module are symmetrically arranged on the left and right sides of the base, enabling the execution end of the manipulator to simultaneously complete the feeding and picking of two touch buttons, improving the feeding and picking efficiency.

[0065] 6. The power module can be an electric push rod, a hydraulic cylinder, a linear motor, a cylinder, a pneumatic slide table, etc., providing a variety of choices. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 Schematic three-dimensional structure diagram of the support module provided by the present invention;

[0067] Figure 2 Top view of the support module provided by the present invention;

[0068] Figure 3 Schematic three-dimensional structure diagram of the execution end of a manipulator capable of automatically straightening an FPC provided by the present invention;

[0069] Figure 4 Side view of the execution end of a manipulator capable of automatically straightening an FPC provided by the present invention;

[0070] Figure 5 Schematic structure diagram after separating the outer nozzle module from the base provided by the present invention;

[0071] Figure 6 Schematic structure diagram of the initial state of the gripper module in the execution end of a manipulator capable of automatically straightening an FPC provided by the present invention;

[0072] Figure 7 For Figure 6 Schematic connection diagram between the first spring group, the pushing block, the pushing plate, the connecting plate, the power output end, and the vertical guide rail in

[0073] Figure 8 Schematic connection diagram between the top plate and the first stop block group in the gripper module provided by the present invention;

[0074] Figure 9 For Figure 8 Schematic installation diagram between the pushing block and the pushing plate in

[0075] Figure 10 For Figure 6 Schematic connection diagram between the power plate, the fixed block group, the inclined push plate, the lower lug of the push rod, and the second spring group in the gripper module in

[0076] Figure 11 For Figure 6 Schematic diagram of the connection relationship between the second stop block group, the power plate, the second spring group, and the fixed block group in

[0077] Figure 12 For Figure 6 Schematic diagram of the connection relationship between the connecting rod, the left jaw, the right jaw, the power plate, the left slider, and the right slider in

[0078] Figure 13 For Figure 12 Explosion schematic diagram of the connecting rod in

[0079] Figure 14 For Figure 12 Explosion schematic diagram of the left jaw, the right jaw, the left extension piece, and the right extension piece in

[0080] Figure 15 Schematic diagram of the initial state structure of the nozzle module provided by the present invention;

[0081] Figure 16 For Figure 15 Schematic diagram of the connection relationship between the nozzle push rod, the connecting plate, the left vertical nozzle guide rail, and the right vertical nozzle guide rail in

[0082] Figure 17 For Figure 15 Schematic diagram of the connection relationship between the lug on the pull block, the pull block, the lug on the nozzle push rod, the first limiting rod group, the second limiting rod group, the left vertical nozzle guide rail, and the right vertical nozzle guide rail in

[0083] Figure 18 For Figure 15 Schematic diagram of the connection relationship between the nozzle mounting block, the tension spring, the left vertical nozzle guide rail, and the right vertical nozzle guide rail in

[0084] Figure 19 Schematic diagram of the state when the pull block collides with the second limiting rod group in the working state of the nozzle module provided by the present invention;

[0085] Figure 20 Schematic diagram of the state when the bottom end of the nozzle push rod touches the convex block on the nozzle mounting block in the working state of the nozzle module provided by the present invention;

[0086] Figure 21 Schematic diagram of the state when the limit screw collides with the positioning rod in the working state of the nozzle module provided by the present invention;

[0087] Wherein:

[0088] 1 - Support module, 101 - Groove, 102 - Through hole;

[0089] 2-Jaw Module, 201 - Push Plate, 202 - Top Plate, 203 - Push Block, 204 - First Stop Block Group, 205 - Top Plate Lug, 206 - Jaw Push Rod, 207 - Power Plate, 208 - Vertical Guide Rail, 209 - Fixed Block Group, 210 - Second Stop Block Group, 211 - Cam, 212 - Right Slide Block, 213 - Right Limit Rod, 214 - Left Slide Block, 215 - Right Spring, 216 - Left Jaw, 217 - Right Jaw, 218 - Horizontal Guide Rail, 219 - Link Rod, 220 - Upper Lug on Power Plate, 221 - First Spring Group, 222 - Power Output End, 223 - Lower Lug on Push Rod, 224 - Lug on Push Block, 225 - Middle Lug on Power Plate, 226 - Inclined Push Plate, 227 - Inclined Plane, 228 - Second Spring Group, 229 - Left Extension, 230 - Right Extension;

[0090] 3 - Nozzle Module, 301 - Left Nozzle Slide Block, 302 - Right Nozzle Slide Block, 303 - Connecting Block, 304 - Left Vertical Nozzle Guide Rail, 305 - Right Vertical Nozzle Guide Rail, 306 - Nozzle Push Rod, 307 - First Limit Rod Group, 308 - Upper Lug on Pull Block, 309 - Lug on Nozzle Push Rod, 310 - Pull Spring, 311 - Pull Block, 312 - Second Limit Rod Group, 313 - Limit Screw, 314 - Nozzle Mounting Block, 315 - Positioning Rod, 316 - Nozzle, 317 - Left Mounting Base, 318 - Right Mounting Base; 319 - Nozzle Spring Group; 320 - Bump;

[0091] 4 - Cylinder, 5 - Base, 6 - Connecting Plate. Detailed Embodiment

[0092] The following examples are given in conjunction with the drawings to describe the present invention in detail.

[0093] Example 1:

[0094] In this example, Figure 1 And Figure 2 The support module 1 in shows two through holes 102, which are determined by the raised structure of the touch button itself. There is only one FPC on the touch button, and the FPC only needs to pass through the left through hole 102 on the support module 1.

[0095] Referring to Figures 1 - 21 , A manipulator end capable of automatically straightening the FPC includes a power module and a nozzle module 3 arranged on the base 5 at the end of the manipulator, and also includes a jaw module 2 arranged on the base 5, where:

[0096] The power output end 222 of the power module is connected to the nozzle module 3 and the jaw module 2, and is used to drive the nozzle module 3 to perform lifting motion and drive the left jaw 216 and the right jaw 217 in the jaw module 2 to open and close;

[0097] When the left jaw 216 and the right jaw 217 approach and are in a holding state, the FPC is limited between the gaps of the left jaw 216 and the right jaw 217 in the holding state, so that the FPC is straightened by the left jaw 216 and the right jaw 217 when the FPC descends with the suction nozzle module 3 during feeding and when the FPC ascends with the suction nozzle module 3 during picking.

[0098] In this way, the end of the robot arm that can automatically straighten the FPC is provided with a jaw module 2 more than the traditional robot arm with a suction nozzle module 3 mechanism. The jaw module 2 can straighten the FPC during feeding and picking, so that the FPC will not be deflected during the process of picking and placing the touch button, ensuring that the FPC can smoothly penetrate the through hole without damaging the FPC.

[0099] It can be understood that the suction nozzle module 3 is used to adsorb the touch button to lift and lower the touch button, which is very easy to implement for those skilled in the art and is also widely used in the prior art. Moreover, it is also very easy for those skilled in the art to make the left jaw 216 and the right jaw 217 of the jaw module 2 approach to form a holding state to straighten the FPC, and this is also widely used in the prior art. Taking the jaw module 2 as an example, for example, the left jaw 216 and the right jaw 217 can be controlled by a motor to perform opening and closing actions at a set time, and remain in the open state and the holding state during a set time period to cooperate with the suction nozzle module 3 to complete the automatic straightening of the FPC in the process of placing and picking the touch button.

[0100] The power module needs to output linear motion. Therefore, the power module can be a combination of a motor and a lead screw. The lead screw is connected to the output shaft of the motor, and the power output end 222 can be a lead screw nut that cooperates with the lead screw. In this way, the rotational motion of the motor output shaft can be converted into the linear motion of the lead screw nut, thereby driving the suction nozzle module 3 and the jaw module 2 to move. It can be understood that the power module can also be an electric push rod, a hydraulic cylinder, a linear motor, a cylinder 4, a pneumatic slide table, etc.

[0101] The suction nozzle module 3 and the jaw module 2 can each use a power module, so that the suction nozzle module 3 and the jaw module 2 can be controlled separately, and the suction nozzle module 3 and the jaw module 2 can perform corresponding actions at a set time. At this time, the structural correlation between the suction nozzle module 3 and the jaw module 2 is small, and there is no need to consider too much the structure of their mutual cooperation, and the structural design will be simpler.

[0102] The suction nozzle module 3 and the jaw module 2 can also share a power module. At this time, the number of power modules is small, and the overall structure will be more compact, and the mechanism actions can be completed in a limited space.

[0103] Taking the example that the nozzle module 3 and the gripper module 2 share a power module, and the cylinder 4 is used as the power module, with the piston rod of the cylinder 4 as the power output end 222, a structure of the gripper module 2 and the nozzle module 3 is respectively exemplified. At this time, the gripper module 2 and the nozzle module 3 are stacked on the base 5 (this stacked arrangement can also be used when the nozzle module 3 and the gripper module 2 each use a power module). Refer to Figure 3 , Figure 5 , the gripper module 2 is the inner layer close to the base 5, and the nozzle module 3 is the outer layer, jointly completing the feeding and picking of a touch button. Specifically as follows:

[0104] Refer to Figure 3 , Figures 5 - 14 , the structure of the gripper module 2 is as follows:

[0105] The gripper module 2 includes a push plate 201, a top plate 202, a push block 203, a first stop block group 204, a top plate lug 205, a gripper push rod 206, a power plate 207, a vertical guide rail 208, a fixed block group 209, a second stop block group 210, a cam 211, a right slider 212, a right limit rod 213, a left slider 214, a right spring 215, a left gripper 216, a right gripper 217, a horizontal guide rail 218, a connecting rod 219, a power plate upper lug 220, a first spring group 221, a power output end 222, a push rod lower lug 223, a push block lug 224, a power plate middle lug 225, an inclined push plate 226, an inclined plane 227, and a second spring group 228, where:

[0106] The vertical guide rail 208 is fixedly installed on the base 5;

[0107] The push plate 201 is slidably matched with the vertical guide rail 208, and the upper end of the push plate 201 is fixedly connected to the power output end 222 of the power module through a connecting plate 6;

[0108] The top plate 202 is slidably matched with the vertical guide rail 208, and a top plate lug 205 is fixedly provided at the lower end of the top plate 202;

[0109] The push block 203 is fixedly connected to the push plate 201; a push block lug 224 is fixedly provided on the push block 203;

[0110] The first spring group 221 is compression-preloaded and clamped between the top plate 202 and the push block lug 224;

[0111] The first stop block group 204 is fixedly installed on the base 5, and the first stop block group 204 can collide with the top plate lug 205 to limit the upward movement of the top plate 202;

[0112] The upper end of the gripper push rod 206 is fixedly connected to the top plate 202; a push rod lower lug 223 is fixedly provided at the lower end of the gripper push rod 206;

[0113] The power plate 207 is in sliding fit with the vertical guide rail 208. The upper end of the power plate 207 is fixedly provided with an upper lug 220 of the power plate, and the middle end of the power plate 207 is fixedly provided with a middle lug 225 of the power plate; the lower lug 223 of the push rod can pull up the upper lug 220 of the power plate.

[0114] The fixed block group 209 is fixedly installed on the base 5, and the fixed block group 209 is located above the middle lug 225 of the power plate. The fixed block group 209 can collide with the middle lug 225 of the power plate, and the fixed block group 209 is used to limit the upward movement of the power plate 207.

[0115] The second stop block group 210 is fixedly installed on the base 5, and the second stop block group 210 is located below the middle lug 225 of the power plate. The second stop block group 210 can collide with the middle lug 225 of the power plate, and the second stop block group 210 is used to limit the downward movement of the power plate 207.

[0116] The second spring group 228 is compression-preloaded and clamped between the middle lug 225 of the power plate and the fixed block group 209.

[0117] One end of the connecting rod 219 is hinged to the power plate 207, and the other end of the connecting rod 219 is hinged to the left slider 214.

[0118] The transverse guide rail 218 is fixedly installed on the base 5. Both the left slider 214 and the right slider 212 are in sliding fit with the transverse guide rail 218.

[0119] The left jaw 216 is fixedly installed on the left slider 214 through the left extension 229; the right jaw 217 is fixedly installed on the right slider 212 through the right extension 230; the right limit rod 213 is fixedly installed on the base 5; the right spring 215 is clamped between the right slider 212 and the right limit rod 213; the cam 211 is installed on the right slider 212; the inclined push plate 226 is fixedly installed at the lower end of the power plate 207, and a slope 227 is provided on the right side of the inclined push plate 226.

[0120] When the power plate 207 descends, the inclined push plate 226 squeezes the cam 211 to the right, causing the right slider 212 to slide to the right along the transverse guide rail 218, and driving the right jaw 217 to move to the right and compress the right spring 215. The left slider 214 slides to the left along the transverse guide rail 218, and drives the left jaw 216 to move to the left. The left jaw 216 and the right jaw 217 open.

[0121] Refer to Figure 6, in the initial state, the first stop block group 204 abuts against the top plate lug 205. The push block lug 224 compresses the first spring group 221 and abuts against the top plate 202. The push rod lower lug 223 pulls up the power plate upper lug 220. The power plate middle lug 225 compresses the second spring group 228 and abuts against the fixed block group 209. The left clamping jaw 216 and the right clamping jaw 217 approach each other and are spaced apart by a set distance (or called a gap, which allows the FPC to pass through). At this time, the left clamping jaw 216 and the right clamping jaw 217 are in a holding state. When the FPC moves up and down with the suction nozzle module 3, the FPC can be straightened by the left clamping jaw 216 and the right clamping jaw 217;

[0122] In the working state, when the power module drives the push block 203 to move downward by a set distance L1, the push block 203 contacts the top of the clamping jaw push rod 206. At this time, the left clamping jaw 216 and the right clamping jaw 217 do not move; when the push block 203 continues to move downward by a set distance L2, the clamping jaw push rod 206 is pushed downward by a set distance L2. The push rod lower lug 223 releases the pull on the power plate upper lug 220, so that the power plate 207 also moves downward by a set distance L2 under the elastic force of the second spring group 228. And at this time, the power plate middle lug 225 collides with the second stop block group 210, and through the action of the connecting rod 219, the left slider 214 slides leftward along the transverse guide rail. The inclined push plate 226 squeezes the cam 211 through the inclined surface 227, so that the right slider 212 slides rightward along the transverse guide rail 218 and squeezes the right spring 215. The left clamping jaw 216 and the right clamping jaw 217 are in an open state.

[0123] The structure of the suction nozzle module 3 is as follows:

[0124] Refer to Figure 3 、 Figure 5 、 Figures 15 - 21 , the suction nozzle module 3 includes a suction nozzle left slider 301, a suction nozzle right slider 302, a connecting block 303, a suction nozzle vertical left guide rail 304, a suction nozzle vertical right guide rail 305, a suction nozzle push rod 306, a first limiting rod group 307, a pull block upper lug 308, a suction nozzle push rod lug 309, a tension spring 310, a pull block 311, a second limiting rod group 312, a limiting screw 313, a suction nozzle mounting block 314, a positioning rod 315, a suction nozzle 316, and a suction nozzle spring group 319, where:

[0125] The suction nozzle left slider 301 is slidably matched with the suction nozzle vertical left guide rail 304; the suction nozzle right slider 302 is slidably matched with the suction nozzle vertical right guide rail 305; the suction nozzle vertical left guide rail 304 is fixedly installed on the base 5 through a left mounting seat 317, and the suction nozzle vertical right guide rail 305 is symmetrically and fixedly installed on the base 5 through a right mounting seat 318;

[0126] The connecting block 303 fixedly connects the left nozzle slider 301 and the right nozzle slider 302; and the connecting block 303 is fixedly connected to the power output end 222 of the power module through the connecting plate 6;

[0127] The upper end of the nozzle push rod 306 is fixedly connected to the connecting block 303;

[0128] The pulling block 311 is in sliding fit with the left vertical nozzle guide rail 304 and the right vertical nozzle guide rail 305. The upper end of the pulling block 311 is fixedly provided with a pulling block upper lug 308, and the nozzle push rod lug 309 provided at the lower end of the nozzle push rod 306 can hold the pulling block upper lug 308;

[0129] The nozzle mounting block 314 is located below the pulling block 311, and the nozzle mounting block 314 is in sliding fit with the left vertical nozzle guide rail 304 and the right vertical nozzle guide rail 305;

[0130] The upper end of the tension spring 310 is fixedly connected to the pulling block 311, and the lower end of the tension spring 310 is fixedly connected to the nozzle mounting block 314;

[0131] The first limiting rod group 307 is located above the pulling block 311. The first limiting rod group 307 can collide with the pulling block 311 and is used for limiting the upward movement of the pulling block 311;

[0132] The second limiting rod group 312 is located below the pulling block 311. The second limiting rod group 312 can collide with the pulling block 311 and is used for limiting the downward movement of the pulling block 311;

[0133] The nozzle spring group 319 is compressed and pre-tightened and clamped between the first limiting rod group 307 and the pulling block 311; after the nozzle push rod lug 309 releases the hold on the pulling block upper lug 308, the nozzle spring group 319 can push the pulling block 311 downward through the elastic force until the pulling block 311 collides with the second limiting rod group 312;

[0134] The nozzle push rod lug 309 can hold the pulling block upper lug 308 so that the pulling block upper lug 308 fits with the first limiting rod group 307;

[0135] The limiting screw 313 is fixedly installed on the nozzle mounting block 314 through the convex block 320, and the nozzle 316 is fixedly installed at the bottom end of the nozzle mounting block 314;

[0136] The positioning rod 315 is fixedly installed on the base 5. The positioning rod 315 can collide with the limiting screw 313, and the positioning rod 315 is used for limiting the downward movement of the limiting screw 313;

[0137] The nozzle push rod 306 can push the nozzle mounting block 314 to slide downward by abutting against the convex block 320 until the limiting screw 313 collides with the positioning rod 315; when the nozzle push rod 306 pushes the nozzle mounting block 314 to slide downward, the tension spring 310 is stretched;

[0138] Referring to Figure 15 , in the initial state, the lug 309 of the nozzle push rod pulls the lug 308 on the pull block, so that the lug 308 on the pull block fits with the first limiting rod group 307;

[0139] In the working state, when the power output end 222 of the air cylinder 4 moves the nozzle push rod 306 downward by L1 through the connecting plate 6, the lug 309 of the nozzle push rod is separated from the lug 308 on the pull block, and the pull block 311 moves downward by L1 together with the nozzle mounting block 314 and the tension spring 310 under the elastic force of the nozzle spring group 319, and at this time the pull block 311 collides with the second limiting rod group 312; when the nozzle push rod 306 continues to move downward by L2, the bottom end of the nozzle push rod 306 moves to contact the bump 320 on the nozzle mounting block 314; when the nozzle push rod 306 continues to move downward by L3, the nozzle push rod 306 pushes the bump 320 on the nozzle mounting block 314 downward to push the nozzle mounting block 314 downward by L3, and the tension spring 310 is stretched, and the bottom end of the limit screw 313 collides with the positioning rod 315.

[0140] Moreover, referring to Figure 3 、 Figure 5 , a laminated structure of the jaw module 2 and the nozzle module 3 is symmetrically arranged on the left and right sides of the base 5, so that the execution end of the manipulator can simultaneously complete the feeding and picking of two touch buttons, improving the feeding and picking efficiency.

[0141] Embodiment 2:

[0142] Based on Embodiment 1, a method for automatically straightening the FPC is provided, including:

[0143] During feeding: The manipulator drives the entire execution end of the manipulator to descend by a set distance. After the FPC head on the touch button enters the through hole 102 of the support module 1, the power module drives the power output end 222 to move downward by L1, thereby pushing the nozzle push rod 306 to move downward by L1. As a result, the pull block 311 moves downward by L1 together with the nozzle mounting block 314 and the tension spring 310 under the elastic force of the nozzle spring group 319, so that the length L1 between the FPC head and the root enters the through hole 102 on the support module 1 when the left jaw 216 and the right jaw 217 are in a holding state; then the power module drives the power output end 222 to continue moving downward by L2, causing the left jaw 216 and the right jaw 217 to open, and the bottom end of the nozzle push rod 306 moves to contact the nozzle mounting block 314; then the power module drives the power output end 222 to continue moving downward by L3, causing the nozzle push rod 306 to push the nozzle mounting block 314 to move downward by L3, so that the bottom end of the limit screw 313 collides with the positioning rod 315, the tension spring 310 is stretched, the vacuum suction of the nozzle 316 is disconnected and air is blown to place the touch button in the groove 101 of the support module 1. At this time, the last section of the FPC near the root also enters the through hole 102 of the support module 1, completing the feeding action;

[0144] During picking: The manipulator drives the entire execution end of the manipulator to descend, so that the nozzle 316 contacts the touch button, then vacuum-sucks the touch button. The power module drives the power output end 222 in the opposite direction to the feeding action, that is, the power output end 222 moves upward, driving the nozzle push rod 306 to rise until the pull block 311 collides with the first limit rod group 307 and stops, and the nozzle module 3 returns to the initial state. At the same time, the jaw push rod 206 moves upward until the lug 225 on the power plate collides with the fixed block group 209, the lug 224 of the push block compresses the first spring group 221 and collides with the top plate 202, and the jaw module 2 also returns to the initial state.

[0145] As an example:

[0146] During material feeding: The manipulator drives the entire execution end of the manipulator to descend by the first stage. After a small section of the FPC head enters the hole, the piston rod of cylinder 4 extends, pushing the nozzle push rod 306 downward by 5.7 mm. The pull block 311 is pushed out and descends by the nozzle spring group 319. Since the pull block 311 and the nozzle mounting block 314 are connected by a tension spring 310, the nozzle mounting block 314 drives the nozzle 316 to descend until the pull block 311 collides with the second limit rod group 312 and is limited, thereby causing the touch button to descend by 5.7 mm. At this time, 2 / 3 of the length of the FPC penetrates into the hole. Since the gripper module 2 and the nozzle module 3 use the same power source, when the piston rod of cylinder 4 extends downward by 5.7 mm, it will also push the push plate 201 downward. However, at this time, the left gripper 216 and the right gripper 217 are not allowed to move and need to maintain the holding state (to protect the FPC and make it easier for the PC to penetrate into the through hole 102). Although the push plate 201 is moving downward at this time, there is a gap between the push block 203 and the top of the gripper push rod 206, and there is a compressed first spring group 221 between the top plate 202 and the lug 224 of the push block. Therefore, the top plate 202 can be held stationary by the first spring group 221, and the push block 203 will not push the gripper push rod 206 (the push block 203 just contacts the top of the gripper push rod 206 after moving downward by 5.7 mm). Thus, during the process of the power output end 222 descending by 5.7 mm, the left gripper 216 and the right gripper 217 maintain the initial holding state. When the power output end 222 just descends by 5.7 mm, the pull block 311 is stopped by the second limit rod group 312. At this time, the lug 309 of the nozzle push rod is separated from the upper lug 308 of the pull block, making the nozzle 316 stationary at this height (the touch button will also be stationary at this height); the power output end 222 descends by 5.After 7 mm, that is, after 2 / 3 of the length of the FPC penetrates into the hole, the left jaw 216 and the right jaw 217 need to open to avoid interference of the left jaw 216 and the right jaw 217 with the nozzle 316 when finally placing the touch button. Therefore, the cylinder 4 continues to descend until the lug 225 on the power plate collides with the second stop block group 210. During this process, the push plate 201 pushes the jaw push rod 206 downward. Due to the downward elastic force of the second spring group 228 between the fixed block 209 and the lug 225 on the power plate, when the jaw push rod 206 descends, the power plate 207 will descend accordingly. Thus, the power plate 207 makes the left slider 214 move to the left along the horizontal guide rail through the connecting rod 219, and accordingly the left jaw 216 opens to the left. At the same time, the inclined surface 227 of the inclined push plate 226 on the power plate 207 will make the right slider 212 move to the right and compress the right spring 215 by pressing the cam 211, and accordingly the right jaw 217 opens to the right, thus completing the opening action of the left jaw 216 and the right jaw 217. During the opening process of the left jaw 216 and the right jaw 217, the bottom end of the nozzle push rod 306 always moves towards the convex block 320. When the left jaw 216 and the right jaw 217 are fully opened, the bottom end of the nozzle push rod 306 just touches the convex block 320; after the left jaw 216 and the right jaw 217 open, when the power output end 222 continues to descend, the nozzle push rod 306 pushes the nozzle mounting block 314 downward, thereby making the nozzle 316 move downward (the touch button also moves downward). When the limit screw 313 is stopped on the positioning rod 315, the touch button is placed in the specified groove 101. Finally, after the vacuum suction of the nozzle 316 is disconnected, blowing air firmly places the touch button in the groove 101, and the manipulator drives the nozzle module 3 to rise and leave, completing the material placing action;.

[0147] Pick-up operation: The manipulator drives the entire execution end of the manipulator to descend. After the suction nozzle 316 contacts the touch button on the support module, the suction nozzle 316 sucks vacuum to pick up the touch button. The power output end 222 drives the suction nozzle push rod 306 to rise. The suction nozzle mounting block 314 moves upward under the action of the tension spring 310 until it stops after contacting the pull block 311 (at this time, the pull block 311 is pressed against the second limit rod group 312 by the suction nozzle spring group 320), making the touch button stationary at the set height. (At this time, the left jaw 216 and the right jaw 217 are at the height of the FPC root. The FPC root is strengthened by steel sheets and will not deflect. It is easier for the left jaw 216 and the right jaw 217 to move closer to each other to hold the FPC). At this time, the jaw push rod 206 on the jaw module 2 contacts the lug 220 on the power plate (at this time, the power plate 207 is still held by the second spring group 228, and the middle lug 225 on the power plate contacts the second stop block group 210). When the power output end 222 continues to rise to make the suction nozzle push rod 306 continue to rise, the lower lug 223 of the push rod pulls the lug 220 on the power plate and drives the power plate 207 to compress the second spring group 228 upward. The upward movement of the power plate 207 drives the linkage rod 219 to make the left jaw 216 move to the right along the horizontal guide rail 218. At the same time, the upward movement of the power plate 207 releases the extrusion of the inclined surface 227 on the inclined push plate 226 against the cam 211, and then the right slider 212 moves to the left along the horizontal guide rail 218 under the action of the right spring 215 ( Figure 3 In the figure, moving along the positive X-axis direction is moving to the left, and moving along the negative X-axis direction is moving to the right), thus completing the movement of the left jaw 216 and the right jaw 217 moving closer to each other. When the power plate 207 rises until the middle lug 225 on the power plate collides with the fixed block 209, the top lug 205 of the top plate collides with the first stop block group 204, making the left jaw 216 and the right jaw 217 reach the initial holding state. After holding the FPC, they remain stationary. At this time, the suction nozzle push rod 306 on the suction nozzle module 2 contacts the upper lug 308 on the pull block. Under the continuous upward power of the power output end 222, the push block 203 separates from the top of the jaw push rod 206. The left jaw 216 and the right jaw 217 maintain the holding state, and the push block 203 moves upward to compress the first spring group 221 until the lug 224 on the push block collides with the top plate 202. The suction nozzle push rod 306 will pull the pull block 311 upward, and at the same time drive the suction nozzle 316 to move upward with the suction nozzle mounting block 314 through the tension spring 310, thereby moving the touch button upward and completing the action of straightening the FPC. The jaw module 2 and the suction nozzle module 3 return to the initial state, and the power module stops working. Finally, the manipulator rises, moves the touch button to the next working station. Using this method to automatically pick up and place the touch button realizes the full automation of production, more reliably transports the touch button, and improves production efficiency.

[0148] It can be seen that during material feeding: the overall descending of the execution end of the manipulator enables the first-section FPC to pass through the through-hole 102 → the descending of the suction nozzle 316 enables the second-section FPC to pass through the through-hole 102 (the clamping jaws remain in the holding state) → the clamping jaws open (the touch button remains stationary at the set height) → the suction nozzle 316 descends to place the touch button into the groove 101 (the clamping jaws remain open) → the vacuum is disconnected and the vacuum is broken → the suction nozzle 316 rises. During material taking: the suction nozzle 316 descends → the vacuum is turned on → the suction nozzle 316 rises for the first section → the clamping jaws hold the FPC (the suction nozzle 316 remains stationary at the set height) → the suction nozzle 316 rises to straighten the FPC → the suction nozzle 316 rises. By designing the suction nozzle module 3 and the clamping jaw module 2, the linkage for taking and placing the touch button is completed, realizing the automatic taking and placing of the touch button, and solving the problem that the FPC is deflected during use, resulting in the folding and injury of the FPC during the taking and placing process of the touch button and the failure of taking and placing the material. Through the linkage of the clamping jaw module 2 and the suction nozzle module 3, a single power is used to complete the movement of the entire mechanism, enabling each movement to be controlled by the mechanism with precision, making the movement of the mechanism more accurate and stable. Moreover, by using the clamping jaws to protect the FPC, even if the FPC is in a bent shape, the FPC can be restricted within a safe space, effectively enabling the FPC to pass through the through-hole 102. At the same time, the clamping jaws can be made of anti-static non-metallic materials to effectively avoid damage to the FPC caused by the material problem of the clamping jaws themselves.

[0149] In summary, the above is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A manipulator execution end capable of automatically straightening an FPC, the upper end of the FPC is connected to a touch button, and the lower end of the FPC is in a suspended state, comprising a power module and a nozzle module (3) arranged on the base (5) at the end of the manipulator, characterized in that, It further includes a jaw module (2) disposed on the base (5); The power output end (222) of the power module is connected to the nozzle module (3) and the jaw module (2), and is used to drive the nozzle module (3) to perform lifting movement and drive the left jaw (216) and the right jaw (217) in the jaw module (2) to open and approach; When the left jaw (216) and the right jaw (217) approach to a holding state, the left jaw (216) and the right jaw (217) are stationary, the nozzle module (3) adsorbs the touch button, the FPC is limited between the gaps of the left jaw (216) and the right jaw (217) in the holding state, avoiding the yaw of the FPC. The gap allows the FPC to pass through, so that the FPC is straightened by the left jaw (216) and the right jaw (217) when the FPC descends with the nozzle module (3) during feeding and when the FPC ascends with the nozzle module (3) during picking; During feeding, the left jaw (216) and the right jaw (217) first remain open. After the end of the mechanical hand descends to make the set length of the head of the FPC first penetrate into the through hole (102) on the support module, the end of the mechanical hand then makes the left jaw (216) and the right jaw (217) approach to a holding state to limit the FPC. After the limitation, the end of the mechanical hand then makes the FPC descend so that the set length between the head and the root of the FPC penetrates into the through hole (102) on the support module under the holding of the left jaw (216) and the right jaw (217). Then, the left jaw (216) and the right jaw (217) open again. Finally, the end of the mechanical hand places the touch button on the support module.

2. The end effector of the manipulator capable of automatically straightening the FPC according to claim 1, characterized in that, The nozzle module (3) and the jaw module (2) respectively use one power module.

3. The end effector of a manipulator capable of automatically straightening an FPC according to claim 1, characterized in that, The nozzle module (3) and the jaw module (2) share one power module.

4. The end effector of a manipulator capable of automatically straightening an FPC according to claim 3, characterized in that, The jaw module (2) and the nozzle module (3) are stacked on the base (5) to jointly complete the feeding and picking of a touch button; The jaw module (2) is the inner layer close to the base (5), and the nozzle module (3) is the outer layer.

5. The end effector of a manipulator capable of automatically straightening an FPC according to claim 4, characterized in that, The jaw module (2) includes a push plate (201), a top plate (202), a push block (203), a first stop block group (204), a top plate lug (205), a jaw push rod (206), a power plate (207), a vertical guide rail (208), a fixed block group (209), a second stop block group (210), a cam (211), a right slider (212), a right limit rod (213), a left slider (214), a right spring (215), a left jaw (216), a right jaw (217), a horizontal guide rail (218), a connecting rod (219), a power plate upper lug (220), a first spring group (221), a power output end (222), a push rod lower lug (223), a push block lug (224), a power plate middle lug (225), an inclined push plate (226), an inclined plane (227), a second spring group (228); The vertical guide rail (208) is fixedly installed on the base (5); The pushing plate (201) is in sliding fit with the vertical guide rail (208), and the upper end of the pushing plate (201) is fixedly connected to the power output end (222) of the power module through a connecting plate (6); The top plate (202) is in sliding fit with the vertical guide rail (208), and a top plate lug (205) is fixedly provided at the lower end of the top plate (202); The pushing block (203) is fixedly connected to the pushing plate (201); a pushing block lug (224) is fixedly provided on the pushing block (203); The first spring group (221) is compressed and pre-tightened and clamped between the top plate (202) and the pushing block lug (224); The first stop block group (204) is fixedly installed on the base (5), and the first stop block group (204) can collide with the top plate lug (205) for limiting the upward movement of the top plate (202); The upper end of the jaw push rod (206) is fixedly connected to the top plate (202); a push rod lower lug (223) is fixedly provided at the lower end of the jaw push rod (206); The power plate (207) is in sliding fit with the vertical guide rail (208), a power plate upper lug (220) is fixedly provided at the upper end of the power plate (207), and a power plate middle lug (225) is fixedly provided at the middle of the power plate (207); the push rod lower lug (223) can pull up the power plate upper lug (220); The fixed block group (209) is fixedly installed on the base (5), and the fixed block group (209) is located above the power plate middle lug (225). The fixed block group (209) can collide with the power plate middle lug (225), and the fixed block group (209) is used for limiting the upward movement of the power plate (207); The second stop block group (210) is fixedly installed on the base (5), and the second stop block group (210) is located below the power plate middle lug (225). The second stop block group (210) can collide with the power plate middle lug (225), and the second stop block group (210) is used for limiting the downward movement of the power plate (207); The second spring group (228) is compressed and pre-tightened and clamped between the power plate middle lug (225) and the fixed block group (209); One end of the connecting rod (219) is hinged to the power plate (207), and the other end of the connecting rod (219) is hinged to the left slider (214); The horizontal guide rail (218) is fixedly installed on the base (5), and both the left slider (214) and the right slider (212) are in sliding fit with the horizontal guide rail (218); The left jaw (216) is fixedly installed on the left slider (214); The right jaw (217) is fixedly installed on the right slider (212); The right limit rod (213) is fixedly installed on the base (5); The right spring (215) is clamped between the right slider (212) and the right limit rod (213); The cam (211) is mounted on the right slider (212); The inclined push plate (226) is fixedly mounted at the lower end of the power plate (207), and an inclined surface (227) is provided on the right side of the inclined push plate (226); When the power plate (207) descends, the inclined push plate (226) squeezes the cam (211) to the right, causing the right slider (212) to slide to the right along the transverse guide rail (218), and driving the right jaw (217) to move to the right and compress the right spring (215). The left slider (214) slides to the left along the transverse guide rail (218), and drives the left jaw (216) to move to the left. The left jaw (216) and the right jaw (217) open; In the initial state, the first stop block group (204) abuts against the top plate lug (205), the push block lug (224) compresses the first spring group (221) and abuts against the top plate (202), the push rod lower lug (223) pulls up the power plate upper lug (220), the power plate middle lug (225) compresses the second spring group (228) and abuts against the fixed block group (209), and the left jaw (216) and the right jaw (217) are close to each other and spaced by a set distance, in a holding state; In the working state, when the power module drives the push block (203) to move downward by a set distance L1, the push block (203) contacts the top of the jaw push rod (206); when the push block (203) continues to move downward by a set distance L2, the jaw push rod (206) moves downward by a set distance L2, and the power plate (207) also moves downward by a set distance L2 under the elastic force of the second spring group (228). At this time, the power plate middle lug (225) collides with the second stop block group (210), and the left jaw (216) and the right jaw (217) are in an open state.

6. The manipulator execution end capable of automatically straightening the FPC according to claim 5, characterized in that, The nozzle module (3) includes a nozzle left slider (301), a nozzle right slider (302), a connecting block (303), a nozzle vertical left guide rail (304), a nozzle vertical right guide rail (305), a nozzle push rod (306), a first limiting rod group (307), a pull block upper lug (308), a nozzle push rod lug (309), a tension spring (310), a pull block (311), a second limiting rod group (312), a limiting screw (313), a nozzle mounting block (314), a positioning rod (315), a nozzle (316), and a nozzle spring group (319); The nozzle left slider (301) is slidably engaged with the nozzle vertical left guide rail (304); The nozzle right slider (302) is slidably engaged with the nozzle vertical right guide rail (305); The nozzle vertical left guide rail (304) and the nozzle vertical right guide rail (305) are symmetrically and fixedly mounted on the base (5); The connecting block (303) fixedly connects the left nozzle slider (301) and the right nozzle slider (302); and the connecting block (303) is fixedly connected to the power output end (222) of the power module through the connecting plate (6); The upper end of the nozzle push rod (306) is fixedly connected to the connecting block (303); The pulling block (311) is slidably matched with the left vertical nozzle guide rail (304) and the right vertical nozzle guide rail (305). The upper end of the pulling block (311) is fixedly provided with the upper lug (308) of the pulling block. The nozzle push rod lug (309) provided at the lower end of the nozzle push rod (306) can hold the upper lug (308) of the pulling block; The nozzle mounting block (314) is located below the pulling block (311). The nozzle mounting block (314) is slidably matched with the left vertical nozzle guide rail (304) and the right vertical nozzle guide rail (305); The upper end of the tension spring (310) is fixedly connected to the pulling block (311), and the lower end of the tension spring (310) is fixedly connected to the nozzle mounting block (314); The first limiting rod group (307) is located above the pulling block (311). The first limiting rod group (307) can collide with the pulling block (311) to limit the upward movement of the pulling block (311); The second limiting rod group (312) is located below the pulling block (311). The second limiting rod group (312) can collide with the pulling block (311) to limit the downward movement of the pulling block (311); The nozzle spring group (319) is compressed and pre-tightened between the first limiting rod group (307) and the pulling block (311); after the nozzle push rod lug (309) releases the upper lug (308) of the pulling block, the nozzle spring group (319) can push the pulling block (311) downward by elastic force until the pulling block (311) collides with the second limiting rod group (312); The nozzle push rod lug (309) can hold the upper lug (308) of the pulling block, so that the upper lug (308) of the pulling block fits with the first limiting rod group (307); The limiting screw (313) is fixedly installed on the nozzle mounting block (314), and the nozzle (316) is fixedly installed at the bottom end of the nozzle mounting block (314); The positioning rod (315) is fixedly installed on the base (5). The positioning rod (315) can collide with the limiting screw (313) provided on the nozzle mounting block (314). The positioning rod (315) is used to limit the downward movement of the nozzle mounting block (314); The nozzle push rod (306) can push the nozzle mounting block (314) to slide downward until the limiting screw (313) collides with the positioning rod (315); when the nozzle push rod (306) pushes the nozzle mounting block (314) to slide downward, the tension spring (310) is stretched; In the initial state, the nozzle push rod lug (309) pulls the upper lug (308) of the pull block, so that the upper lug (308) of the pull block fits with the first limiting rod group (307); In the working state, when the nozzle push rod (306) moves downward by L1, the nozzle push rod lug (309) separates from the upper lug (308) of the pull block, and the pull block (311) moves downward by L1 together with the nozzle mounting block (314) and the tension spring (310) under the elastic force of the nozzle spring group (319), and at this time the pull block (311) collides with the second limiting rod group (312); when the nozzle push rod (306) continues to move downward by L2, the bottom end of the nozzle push rod (306) moves to contact the nozzle mounting block (314); when the nozzle push rod (306) continues to move downward by L3, the nozzle push rod (306) pushes the nozzle mounting block (314) downward by L3, and the tension spring (310) is stretched, and the bottom end of the limit screw (313) collides with the positioning rod (315).

7. The end effector of a manipulator capable of automatically straightening an FPC according to any one of claims 1-6, characterized in that The power module is a cylinder (4).

8. The execution end of a manipulator capable of automatically straightening an FPC according to any one of claims 4-6, characterized in that, The gripper module (2) and the nozzle module (3) are symmetrically arranged on the left and right sides of the base (5) in a stacked structure, so that the execution end of the manipulator can simultaneously complete the feeding and picking of the two touch buttons.

9. A method capable of automatically straightening an FPC, characterized in that, Using the execution end of the manipulator capable of automatically straightening the FPC according to claim 6, including: During feeding: The manipulator drives the entire execution end of the manipulator to descend a set distance. After the FPC head on the touch button enters the through hole (102) of the support module (1), the power module drives the power output end (222) to move downward by L1, and then pushes the nozzle push rod (306) to move downward by L1, so that the pull block (311) moves downward by L1 together with the nozzle mounting block (314) and the tension spring (310) under the elastic force of the nozzle spring group (319), so that the length L1 between the FPC head and the root enters the through hole (102) on the support module (1) when the left gripper (216) and the right gripper (217) are in a holding state; then the power module drives the power output end (222) to continue to move downward by L2, so that the left gripper (216) and the right gripper (217) open, and the bottom end of the nozzle push rod (306) moves to contact the nozzle mounting block (314); then the power module drives the power output end (222) to continue to move downward by L3, so that the nozzle push rod (306) pushes the nozzle mounting block (314) downward by L3, so that the bottom end of the limit screw (313) collides with the positioning rod (315), the tension spring (310) is stretched, the vacuum suction of the nozzle (316) is disconnected and air is blown to place the touch button in the groove (101) of the support module (1), and the last section of the FPC near the root also enters the through hole (102) of the support module (1), completing the feeding action; When picking up the material: The manipulator drives the overall downward movement of the execution end of the manipulator. After the suction nozzle (316) touches the touch button, vacuum is sucked to pick up the touch button. The power module drives the power output end (222) to move upward, driving the suction nozzle push rod (306) to rise until the pull block (311) collides with the first limiting rod group (307) and stops. The suction nozzle module (3) returns to the initial state. At the same time, the jaw push rod (206) moves upward until the lug (225) on the power plate collides with the fixed block group (209), and the push block lug (224) compresses the first spring group (221) and collides with the top plate (202). The jaw module (2) also returns to the initial state.

Images