Flexible board capacitance value automatic detection equipment and detection method

Abstract

The invention relates to a flexible board capacitance value automatic detection device and a detection method. The equipment comprises an equipment frame, a flexible board feeding and receiving assembly, a flexible board taking and placing assembly and a flexible board capacitance value detection assembly, the flexible plate feeding and receiving assembly comprises a material disc lifting discharging mechanism, a material disc lifting storing mechanism and a material disc transferring mechanism which are arranged on the equipment frame. The flexible board taking and placing assembly comprises a flexible board taking and placing mechanical arm arranged on the equipment frame. The flexible board capacitance value detection assembly comprises a flexible board detection positioning table mechanism arranged on the equipment frame and a capacitance value detection instrument connected with the flexible board detection positioning table mechanism. The flexible board taking and placing mechanical arm is correspondingly located above the charging tray lifting discharging mechanism, the charging tray lifting storage mechanism and the flexible board detection positioning table mechanism. According to the invention, the problems that the flexible plate is wrinkled and bent, the surface of the flexible plate is polluted and the detection is inaccurate due to inaccurate positioning when the flexible plate is manually loaded, unloaded, positioned and detected can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit board detection, and in particular to an automatic detection device and method for the capacitance value of a flexible board. Background Art

[0002] During the production process of flexible circuit boards (flexible boards for short), various electrical properties need to be tested. When testing the electrical properties of the separator paper of the flexible board, one of the tests is to test the capacitance value of the flexible board. In traditional technology, when performing a capacitance test on a flexible board, the operator is required to take the waste part of the flexible board from the test area (i.e., the loading station), place the flexible board on the machine table of the capacitance detection instrument, and manually position the flexible board, and then start the capacitance value detection instrument to perform a capacitance test on the flexible board. After completing the capacitance test on the flexible board, the operator needs to take the waste part of the flexible board from the machine table of the capacitance value detection instrument and place the flexible board into the measured area (i.e., the unloading station). However, this manual loading, unloading, and positioning test of the flexible board will not only cause wrinkles and bending of the flexible board, but will also cause contamination on the surface of the flexible board, and will also cause inaccurate positioning resulting in inaccurate detection. Summary of the Invention

[0003] The present invention provides an automatic detection device and method for the capacitance value of a flexible plate, which can solve the technical problems in the traditional technology of manually loading, unloading, and positioning detection of the flexible plate, which not only causes wrinkles and bending of the flexible plate, but also contaminates the surface of the flexible plate and causes inaccurate positioning and detection.

[0004] In order to solve the above technical problems, the present invention provides a device for automatically detecting the capacitance value of a flexible plate, comprising:

[0005] Equipment racks;

[0006] The flexible plate feeding and receiving assembly includes a tray lifting and discharging mechanism provided on the equipment frame, a tray lifting and storing mechanism provided side by side with the tray lifting and discharging mechanism, a tray transfer mechanism provided on the sides of the tray lifting and discharging mechanism and the tray lifting and storing mechanism, and a material loading visual detection mechanism provided above the tray lifting and discharging mechanism and the tray lifting and storing mechanism;

[0007] A flexible plate picking and unloading assembly includes a flexible plate picking and unloading manipulator provided on the equipment frame, and a picking and unloading visual detection mechanism provided on the equipment frame, wherein the flexible plate picking and unloading manipulator is correspondingly located above the picking and unloading visual detection mechanism, the tray lifting and unloading mechanism, and the tray lifting and storing mechanism; and

[0008] The flexible plate capacitance value detection component includes a flexible plate detection positioning platform mechanism arranged on the equipment rack, a capacitance value detection instrument connected to the flexible plate detection positioning platform mechanism, and a positioning visual detection mechanism arranged above the flexible plate detection positioning platform mechanism. The flexible plate material picking and unloading robot is correspondingly located above the flexible plate detection positioning platform mechanism.

[0009] The beneficial effects brought about by the technical solution provided by the present invention include:

[0010] The stacked trays can be lifted to a preset height by the tray lifting and discharging mechanism of the flexible plate feeding and receiving assembly, and the empty trays on the top of the tray lifting and discharging mechanism can be transferred to the tray lifting and storing mechanism by the tray transfer mechanism, and the tray lifting and storing mechanism can be stacked, stored and lowered. The tray lifting and discharging mechanism and the trays and the flexible plates in the trays can be visually inspected by the loading visual inspection mechanism; the flexible plate picking and discharging robot of the flexible plate picking and discharging assembly can grab the flexible plate to be inspected in the tray lifted and discharged by the tray lifting and discharging mechanism, and when the grabbed flexible plate is transferred through the picking and discharging visual inspection mechanism, the picking and discharging visual inspection mechanism can visually inspect the flexible plate to be inspected.

[0011] Moreover, the flexible board can be transferred to the flexible board detection positioning platform mechanism of the flexible board capacitance value detection component by the flexible board picking and unloading robot. The flexible board to be detected can be positioned by the flexible board detection positioning platform mechanism, and the flexible board to be detected can be connected to the capacitance value detection instrument, so as to facilitate the detection of the capacitance value of the flexible board by the capacitance value detection instrument. The flexible board positioned by the flexible board detection positioning platform mechanism can also be visually inspected by the positioning visual inspection mechanism. After the detection of the flexible board is completed by the capacitance value detection instrument, the flexible board detection positioning platform mechanism can release the positioning and connection of the flexible board (connected to the capacitance value detection instrument), and then the flexible board after detection can be grabbed by the flexible board picking and unloading robot and transferred to the material tray on the top of the material tray lifting and storage mechanism.

[0012] In this way, the flexiplate can be automatically discharged, taken, discharged and collected through the tray lifting and discharging mechanism, the tray transferring mechanism, the tray lifting and storing mechanism and the flexiplate taking and discharging robot, and the flexiplate can also be automatically positioned through the flexiplate detection and positioning platform mechanism, and the flexiplate is automatically connected to the capacitance value detection instrument. There is no need to manually load, unload and position the flexiplate, and the flexiplate will not be wrinkled or bent, nor will the surface of the flexiplate be contaminated. In addition, the positioning of the flexiplate is accurate and reliable, so that the capacitance value detection of the flexiplate is accurate and reliable, and the detection efficiency can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 Schematic diagram of the three-dimensional structure of the automatic detection device for the capacitance value of the flexible plate according to the embodiment of the present invention Figure 1 ;

[0015] Figure 2 Schematic diagram of the three-dimensional structure of the automatic detection device for the capacitance value of the flexible plate according to the embodiment of the present invention Figure 2 ;

[0016] Figure 3 Schematic diagram of the three-dimensional structure of the automatic detection device for the capacitance value of the flexible plate according to the embodiment of the present invention Figure 3 ;

[0017] Figure 4 The three-dimensional structure diagram of the flexible plate feeding and receiving assembly and the flexible plate taking and unloading assembly of the flexible plate capacitance automatic detection device according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0018] Figure 5 The three-dimensional structure diagram of the flexible plate feeding and receiving assembly and the flexible plate taking and unloading assembly of the flexible plate capacitance automatic detection device according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0019] Figure 6 The three-dimensional structure diagram of the flexible plate feeding and receiving assembly and the flexible plate taking and unloading assembly of the flexible plate capacitance automatic detection device according to the embodiment of the present invention is shown in FIG. Figure 3 ;

[0020] Figure 7 Schematic diagram of the three-dimensional structure of the flexible plate capacitance value detection component of the flexible plate capacitance value automatic detection device according to the embodiment of the present invention Figure 1 ;

[0021] Figure 8 Schematic diagram of the three-dimensional structure of the flexible plate capacitance value detection component of the flexible plate capacitance value automatic detection device according to the embodiment of the present invention Figure 2 ;

[0022] Figure 9 Schematic diagram of the three-dimensional structure of the flexible plate capacitance value detection component of the flexible plate capacitance value automatic detection device according to the embodiment of the present invention Figure 3 ;

[0023] Figure 10 Schematic diagram of the three-dimensional structure of the flexible plate capacitance value detection component of the flexible plate capacitance value automatic detection device according to the embodiment of the present invention Figure 4 ;

[0024] Figure 11 1 is a schematic flow chart of the steps of the method for automatically detecting the capacitance value of a flexible plate according to an embodiment of the present invention.

[0025] In the figure: 10, automatic detection equipment for flexible plate capacitance value; 100, equipment frame; 200, flexible plate feeding and receiving assembly; 210, material tray lifting and discharging mechanism; 212, first material tray lifting drive member; 2122, material tray lifting drive motor; 2124, material tray transmission belt structure; 2126, material tray linear lifting transmission structure; 2128, material tray lifting bracket; 214, first material tray storage structure; 2142, material tray storage seat; 2144, material tray limiting plate; 220, material tray lifting and storing mechanism; 222, second material tray Lifting drive member; 224, second tray storage structure; 230, tray transfer mechanism; 232, tray transfer drive structure; 2322, transfer motor linear drive structure; 2324, transfer lifting drive structure; 234, tray transfer rack; 2342, transfer frame; 2344, transfer nozzle; 240, loading visual inspection mechanism; 250, defective product storage rack; 300, flexible plate pick-up and unloading assembly; 310, flexible plate pick-up and unloading manipulator; 312, manipulator base; 314, manipulator arm; 316, Flexible plate pick-up and unpour structure; 3162, pick-up and unpour mounting bracket; 3164, flexible plate pick-up adsorption plate; 3166, flexible plate unpour adsorption plate; 320, pick-up and unpour visual inspection mechanism; 322, pick-up and unpour visual inspection frame; 324, pick-up and unpour inspection camera module; 400, flexible plate capacitance value detection component; 402, flexible plate detection positioning platform mechanism; 404, capacitance value detection instrument; 406, positioning visual inspection mechanism; 408, dotting mechanism; 410, positioning platform base; 420, flexible plate loading rack; 422, loading Support frame; 424, loading support plate; 426, loading limit plate; 428, support plate lifting drive; 430, flexible plate positioning upper clamp; 432, upper clamp bracket; 434, upper clamp lifting drive; 436, upper clamp structure; 438, upper clamp guide rod; 440, flexible plate positioning lower clamp; 442, lower clamp linear drive; 444, lower clamp bracket; 446, lower clamp structure; 448, lower clamp guide rail; 450, dotting bracket; 460, dotting drive structure; 470, dotting pen. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] like Figures 1 to 3 As shown, the present invention provides an automatic detection device 10 for the capacitance value of a flexible plate, comprising an equipment frame 100, a flexible plate supply and receiving assembly 200, a flexible plate pick-up and discharge assembly 300, and a flexible plate capacitance value detection assembly 400, all of which are arranged on the equipment frame 100. The flexible plate supply and receiving assembly 200 can supply a flexible plate to be tested, and the flexible plate pick-up and discharge assembly 300 can grab and transfer the flexible plate provided by the flexible plate supply and receiving assembly 200 to the flexible plate capacitance value detection assembly 400, and the flexible plate capacitance value detection assembly 400 can test the capacitance value of the flexible plate; after the test is completed, the tested flexible plate can be grabbed by the flexible plate pick-up and discharge assembly 300 and transferred to the flexible plate supply and receiving assembly 200 for storage.

[0028] Furthermore, the flexible plate material supply and receiving assembly 200 may include a tray lifting and discharging mechanism 210 arranged on the equipment frame 100, a tray lifting and discharging mechanism 220 arranged side by side with the tray lifting and discharging mechanism 210, a tray transfer mechanism 230 arranged on the sides of the tray lifting and discharging mechanism 210 and the tray lifting and storage mechanism 220, and a loading visual inspection mechanism 240 arranged above the tray lifting and discharging mechanism 210 and the tray lifting and storage mechanism 220.

[0029] Furthermore, the flexo plate pick-up and unloading assembly 300 may include a flexo plate pick-up and unloading robot 310 disposed on the equipment rack 100, and a pick-up and unloading visual inspection mechanism 320 disposed on the equipment rack 100. The flexo plate pick-up and unloading robot 310 is correspondingly located above the pick-up and unloading visual inspection mechanism 320, the tray lifting and unloading mechanism 210, and the tray lifting and storing mechanism 220. Furthermore, the flexo plate capacitance value detection assembly 400 may include a flexo plate detection positioning platform mechanism 402 disposed on the equipment rack 100, a capacitance value detection instrument 404 connected to the flexo plate detection positioning platform mechanism 402, and a positioning visual inspection mechanism 406 disposed above the flexo plate detection positioning platform mechanism 402. The flexo plate pick-up and unloading robot 310 is correspondingly located above the flexo plate detection positioning platform mechanism 402.

[0030] The stacked trays can be lifted to a preset height by the tray lifting and discharging mechanism 210 of the flexible plate feeding and receiving assembly 200, and the empty trays on the top of the tray lifting and discharging mechanism 210 can be transferred to the tray lifting and storing mechanism 220 by the tray transfer mechanism 230. The trays can be stacked, stored and lowered by the tray lifting and storing mechanism 220, and the tray lifting and discharging mechanism 210 and the tray lifting and storing mechanism 220 and the flexible plates in the trays can be visually inspected by the loading visual inspection mechanism 240; the flexible plate picking and discharging robot 310 of the flexible plate picking and discharging assembly 300 can grab the flexible plate to be inspected in the tray lifted and discharged by the tray lifting and discharging mechanism 210, and when the grabbed flexible plate is transferred through the picking and discharging visual inspection mechanism 320, the picking and discharging visual inspection mechanism 320 can visually inspect the flexible plate to be inspected.

[0031] Moreover, the flexible board can be transferred to the flexible board detection positioning platform mechanism 402 of the flexible board capacitance value detection component 400 through the flexible board picking and unloading robot 310, and the flexible board to be detected can be positioned through the flexible board detection positioning platform mechanism 402, and the flexible board to be detected can be connected to the capacitance value detection instrument 404, so as to facilitate the detection of the capacitance value of the flexible board by the capacitance value detection instrument 404, and the flexible board positioned by the flexible board detection positioning platform mechanism 402 can also be visually inspected by the positioning visual inspection mechanism 406; after the detection of the flexible board is completed by the capacitance value detection instrument 404, the flexible board detection positioning platform mechanism 402 can be released from the positioning and connection of the flexible board (connected to the capacitance value detection instrument 404), and then the tested flexible board can be grabbed by the flexible board picking and unloading robot 310 and transferred to the material tray on the top of the material tray lifting and storage mechanism 220.

[0032] In this way, the flexible board can be automatically discharged, taken in, laid out, and collected through the tray lifting and discharging mechanism 210, the tray transfer mechanism 230, the tray lifting and storing mechanism 220, and the flexible board taking and discharging robot 310, and the flexible board can also be automatically positioned through the flexible board detection and positioning platform mechanism 402, and the flexible board is automatically connected to the capacitance value detection instrument 404. There is no need to manually load, unload, and position the flexible board, and the flexible board will not be wrinkled or bent, nor will the surface of the flexible board be contaminated. In addition, the positioning of the flexible board is accurate and reliable, so that the capacitance value detection of the flexible board is accurate and reliable, and the detection efficiency can be greatly improved.

[0033] Specifically, if Figures 1 to 3As shown, the equipment rack 100 may be provided with a loading station, an unloading station, a pick-up and unloading station, and an inspection station. The loading station and the unloading station may be arranged side by side along the horizontal direction on one side of the equipment rack 100, the inspection station may be arranged on the other side of the equipment rack 100, and the pick-up and unloading station may be arranged in the middle of the equipment rack 100. Furthermore, the tray lifting and unloading mechanism 210 may be arranged at the loading station, the tray lifting and storing mechanism 220 may be arranged at the unloading station, the tray transfer mechanism 230 may be arranged between the loading and unloading stations, the flexible plate inspection and positioning platform mechanism 402 may be arranged at the inspection station, and the flexible plate pick-up and unloading robot 310 may be arranged at the pick-up and unloading station. This makes it easier for the flexo plate pick-up and unloading robot 310 to take the flexo plate from the tray lifting and unloading mechanism 210 and transfer it to the flexo plate detection and positioning platform mechanism 402 for positioning. It also makes it easier for the flexo plate to be taken from the flexo plate detection and positioning platform mechanism 402 and transferred to the tray lifting and storing mechanism 220 for storage. In addition, it also makes it easier for the tray transfer mechanism 230 to transfer the empty tray from the tray lifting and unloading mechanism 210 to the tray lifting and storing mechanism 220 for receiving the tested flexo plate.

[0034] Furthermore, if Figures 4 to 6 As shown, the tray lifting and unloading mechanism 210 of the flexible plate feeding and receiving assembly 200 may include a first tray lifting drive 212 provided in the equipment frame 100, and a first tray storage structure 214 provided on top of the first tray lifting drive 212. The first tray lifting drive 212 is used to drive the first tray storage structure 214 to rise, so as to lift and unload the trays on the first tray storage structure 214 and the flexible plates therein. Furthermore, the tray lifting and storing mechanism 220 may include a second tray lifting drive 222 provided in the equipment frame 100, and a second tray storage structure 224 provided on top of the second tray lifting drive 222. The second tray lifting drive 222 is used to drive the second tray storage structure 224 to descend, so as to descend and collect the trays on the second tray storage structure 224 and the flexible plates therein.

[0035] Furthermore, both the first tray lifting drive member 212 and the second tray lifting drive member 222 may include a tray lifting drive motor 2122 disposed within the equipment frame 100, a tray transmission belt structure 2124 connected to the tray lifting drive motor 2122, a tray linear lifting transmission structure 2126 connected to the tray transmission belt structure 2124, and a tray lifting bracket 2128 connected to the tray linear lifting transmission structure 2126. The first tray storage structure 214 or the second tray storage structure 224 is disposed on the tray lifting bracket 2128. The tray lifting drive motor 2122 can drive the tray transmission belt structure 2124 to operate, so that the tray transmission belt structure 2124 drives the tray linear lifting transmission structure 2126 to operate, so that the tray linear lifting transmission structure 2126 drives the tray lifting bracket 2128 and the first tray storage structure 214 or the second tray storage structure 224 thereon to move up and down. Among them, the material tray linear lifting transmission structure 2126 can be a vertically arranged screw nut transmission structure.

[0036] Furthermore, both the first tray storage structure 214 and the second tray storage structure 224 may include a tray storage seat 2142 disposed on the tray lifting bracket 2128, and a plurality of tray retaining plates 2144 protruding from the tray storage seat 2142. A tray positioning cavity is defined between the plurality of tray retaining plates 2144 and the tray storage seat 2142. The tray positioning cavity of the first and second tray storage structures 214 and 224 allows for stacking and storing trays. The tray retaining plates 2144 may be adjustable, allowing the size of the tray positioning cavity to be adjusted by adjusting the position of the tray retaining plates 2144, thereby accommodating trays of varying sizes.

[0037] In addition, the tray transfer mechanism 230 may include a tray transfer drive structure 232 arranged on one side of the equipment frame 100, and a tray transfer frame 234 connected to the tray transfer drive structure 232. The tray transfer frame 234 is suspended above the first tray storage structure 214 and the second tray storage structure 224. The tray transfer drive structure 232 is used to drive the tray transfer frame 234 to grab the tray on the first tray storage structure 214 of the tray lifting and discharging mechanism 210 and transfer it to the second tray storage structure 224 of the tray lifting and storing mechanism 220. The tray transfer drive structure 232 can drive the tray transfer rack 234 to move to the top of the tray lifting and discharging mechanism 210, and the tray transfer rack 234 can grab the empty trays (referring to pre-placed empty trays or empty trays after the flexible plate is removed) stacked and stored in the first tray storage structure 214 on the top of the tray lifting and discharging mechanism 210, and transfer the trays to the top of the tray lifting storage mechanism 220, and place the trays on the second tray storage structure 224 on the top of the tray lifting storage mechanism 220 to receive the inspected flexible plate transferred by the flexible plate picking and unloading robot 310.

[0038] Furthermore, the tray transfer drive structure 232 may include a transfer motor linear drive structure 2322 provided on the equipment frame 100, and a transfer lifting drive structure 2324 connected to the transfer motor linear drive structure 2322. Furthermore, the tray transfer rack 234 may include a transfer frame 2342 connected to the transfer lifting drive structure 2324, and a plurality of transfer suction nozzles 2344 provided on the transfer frame 2342. The transfer frame 2342 has a material taking-in and putting-out gap in the middle, which facilitates the flexible plate taking-in and putting-out robot 310 to pass through the material taking-in and putting-out gap of the tray transfer rack 234 to take or put materials from the tray storage structures of the tray lifting and discharging mechanism 210 and the tray lifting and storing mechanism 220. Furthermore, the transfer motor linear drive structure 2322 can drive the tray transfer frame 234 to reciprocate between the loading and unloading stations. The transfer lift drive structure 2324 can also drive the tray transfer frame 234 toward or away from the tray lift discharge mechanism 210 or the tray lift storage mechanism 220. Furthermore, the transfer motor linear drive structure 2322 can be configured as a motor linear drive module, while the transfer lift drive structure 2324 can be configured as a cylinder drive structure.

[0039] In addition, the unloading stations on the equipment rack 100 may further include a first unloading station and a second unloading station, and the tray lifting and storage mechanism 220 may be located at the first unloading station. Furthermore, the flexographic board supply and receiving assembly 200 may further include a defective product storage rack 250 located at the second unloading station. The defective product storage rack 250 is used to receive and store unqualified flexographic boards transferred by the flexographic board loading and unloading robot 310, while the tray lifting and storage mechanism 220 is used to receive and store qualified flexographic boards. A defective product tray may be placed on the defective product storage rack 250 to receive and store unqualified flexographic boards.

[0040] Furthermore, the loading visual inspection mechanism 240 may include a loading visual inspection frame located above the equipment frame 100 and a loading inspection camera module suspended from the loading visual inspection frame. The loading inspection camera module can visually inspect the trays and flexible plates on the tray storage structure 214 of the tray lifting and unloading mechanism 210 and / or the tray lifting and storing mechanism 220 from above.

[0041] In addition, the flex plate pick-up and unplacing robot 310 may include a robot base 312 disposed at the pick-up and unplacing station, a robot arm 314 disposed on the robot base 312, and a flex plate pick-up and unplacing structure 316 disposed on the robot arm 314. Furthermore, the flex plate pick-up and unplacing structure 316 may include a pick-up and unplacing mounting bracket 3162 disposed on the robot arm 314, and a flex plate pick-up suction plate 3164 and a flex plate unplacing suction plate 3166 disposed at both ends of the pick-up and unplacing mounting bracket 3162, respectively. The flexible plate material picking adsorption plate 3164 is used to adsorb and grab the flexible plate to be inspected from the material tray in the first material tray storage structure 214 of the material tray lifting and discharging mechanism 210, and place the grabbed flexible plate on the flexible plate detection positioning platform mechanism 402 for positioning; and the flexible plate material discharge adsorption plate 3166 is used to adsorb and grab the inspected flexible plate from the flexible plate detection positioning platform mechanism 402, and place the grabbed flexible plate in the material tray of the second material tray storage structure 224 of the material tray lifting and storing mechanism 220, or in the defective material tray on the defective product storage rack 250.

[0042] Furthermore, the pick-and-place visual inspection mechanism 320 may include a pick-and-place visual inspection frame 322 mounted on the equipment rack 100, and a pick-and-place inspection camera module 324 mounted on the pick-and-place visual inspection frame 322. The pick-and-place inspection camera module 324 enables visual inspection of the flexographic board grasped by the flexographic board pick-and-place robot 310 from below (including scanning the QR code on the flexographic board).

[0043] In addition, if Figures 7 to 10 As shown, the flexible plate detection positioning platform mechanism 402 of the flexible plate capacitance value detection component 400 may include a positioning platform base 410 arranged on the equipment frame 100, a flexible plate loading rack 420 arranged on one side of the positioning platform base 410, a flexible plate positioning upper clamp 430 arranged on the other side of the positioning platform base 410, and a flexible plate positioning lower clamp 440 slidingly arranged on the positioning platform base 410, the flexible plate positioning lower clamp 440 is slidingly arranged between the bottom of the flexible plate positioning upper clamp 430 and the top of the flexible plate loading rack 420, the flexible plate positioning lower clamp 440 and the flexible plate positioning upper clamp 430 are connected to the capacitance value detection instrument 404, and the flexible plate loading rack 420 and the flexible plate material taking and placing robot 310 are arranged correspondingly above and below.

[0044] When the flexible board to be tested is transferred to the flexible board loading rack 420 of the flexible board detection positioning platform mechanism 402 by the flexible board picking and unloading robot 310, the flexible board positioning lower clamp 440 can be slid to the flexible board loading rack 420, so that the flexible board picking and unloading robot 310 places the flexible board to be tested on the flexible board positioning lower clamp 440, and then the flexible board positioning lower clamp 440 can slide the positioned flexible board to the bottom of the flexible board positioning upper clamp 430, and then the flexible board positioning upper clamp 430 can be lowered to position the flexible board from above. After the flexible board is positioned from the upper and lower sides by the flexible board positioning lower clamp 440 and the flexible board positioning upper clamp 430, the flexible board to be tested can be connected to the capacitance value detection instrument 404, and the capacitance value of the flexible board can be detected by the capacitance value detection instrument 404. After completing the capacitance test of the flexible board, the flexible board positioning upper clamp 430 is reset to release the upper positioning of the flexible board, so that the capacitance value detection instrument 404 is disconnected from the flexible board, and then the flexible board positioning lower clamp 440 can carry the tested flexible board and slide to the flexible board loading rack 420, and the tested flexible board can be taken away by the flexible board loading and unloading robot 310.

[0045] Furthermore, the upper fixture 430 for positioning the flexible board may include an upper fixture bracket 432 disposed on the positioning platform base 410, an upper fixture lifting drive 434 suspended below the top of the upper fixture bracket 432, and an upper clamping plate structure 436 connected to the upper fixture lifting drive 434. The upper clamping plate structure 436 may be provided with a first test pin connected to the capacitance value detection instrument 404 and used to electrically contact the flexible board to be tested. The upper fixture lifting drive 434 can be used to drive the upper clamping plate structure 436 to move up and down, so that the upper clamping plate structure 436 positions the flexible board positioned on the lower fixture 440 for positioning the flexible board, and enables the capacitance value detection instrument 404 to communicate with one side of the flexible board through the first test pin on the upper clamping plate structure 436. The upper fixture lifting drive 434 can be configured as a cylinder drive structure or a motor drive structure.

[0046] Furthermore, the flexible plate positioning upper fixture 430 may include a plurality of upper plate guide rods 438 disposed on either side of the upper fixture bracket 432. The plurality of upper plate guide rods 438 extend through the edges of the upper plate. Furthermore, the upper plate structure 436 may include an upper plate main plate movably mounted on the upper plate guide rods 438, and an upper plate test plate detachably mounted on the bottom surface of the upper plate main plate. The first test pin may be disposed on the upper plate test plate.

[0047] In addition, the flex board positioning lower fixture 440 may include a lower fixture linear drive 442 provided on the positioning platform base 410, a lower fixture bracket 444 connected to the lower fixture linear drive 442 and slidably provided on the positioning platform base 410, and a lower clamping plate structure 446 provided on the lower clamping plate bracket 444 and corresponding to the upper clamping plate structure 436. The lower clamping plate structure 446 may be provided with a second test pin connected to the capacitance value detection instrument 404 and used to make electrical contact with the flex board to be tested. The lower fixture linear drive 442 can drive the lower clamping plate structure 446 to move back and forth between the flex board material rack 420 and the flex board positioning upper fixture 430, so that the flex board to be tested can be connected and positioned by the lower clamping plate structure 446, and the positioned flex board can be moved to the bottom of the flex board positioning upper fixture 430. Moreover, after being positioned by the lower clamping plate structure 446 of the lower clamping fixture 440 , the flexible board can be connected to the second test pin on the lower clamping plate structure 446 , so that the flexible board is connected to the capacitance detection instrument 404 through the second test pin.

[0048] Furthermore, the lower fixture linear drive member 442 may include a lower fixture drive motor disposed on the positioning platform base 410, a transmission belt structure connected to the lower fixture drive motor, and a linear transmission structure connected to the transmission belt structure. The lower fixture bracket 444 is connected to the linear transmission structure, and the linear transmission structure extends along the direction of the flexible plate positioning upper fixture 430 and the flexible plate loading rack 420. Moreover, a lower fixture guide rail 448 may be provided on each side of the positioning platform base 410. The lower fixture bracket 444 slides on the two lower fixture guide rails 448 on both sides in a one-to-one correspondence. The lower fixture guide rails 448 are arranged parallel to the linear transmission structure. The lower fixture drive motor drives the transmission belt structure to operate, so that the transmission belt structure drives the linear transmission structure to operate, so that the linear transmission structure drives the lower fixture bracket 444 and the lower clamping plate structure 446 thereon to reciprocate between the flexible plate loading rack 420 and the flexible plate positioning upper fixture 430. Moreover, the linear transmission structure can be set as a screw-nut transmission structure (to drive the lower clamping plate structure 446 accurately and reliably), or as a gear rack transmission structure, or as other types of transmission structures.

[0049] Furthermore, the lower clamping plate structure 446 includes a lower clamping plate frame mounted on top of the lower fixture bracket 444, and a lower clamping plate body mounted on the lower clamping plate frame. The lower clamping plate body is provided with a plurality of flex board positioning pins, and a second test pin is also provided on the lower clamping plate body. When the flex board is placed on the lower clamping plate structure 446, the flex board can be positioned by inserting the plurality of positioning pins into the plurality of positioning holes provided on the flex board to achieve positioning of the flex board.

[0050] In addition, the flexible plate loading rack 420 may include a loading support frame 422 disposed on the positioning platform base 410, a loading support plate 424 disposed on the loading support frame 422, and a loading limit plate 426 disposed around the circumference of the loading support plate 424. The lower clamping plate structure 446 is located above the loading support plate 424. Furthermore, the flexible plate loading rack 420 may also include a support plate lifting drive 428 disposed on the positioning platform base 410, which can lift and lower the loading support plate 424 to adjust its height.

[0051] Furthermore, the positioning visual inspection mechanism 406 may include a positioning stage visual inspection frame located above the equipment rack 100, and a positioning stage detection camera module located on the positioning stage visual inspection frame. The positioning stage detection camera module enables visual inspection of the flexographic board on the flexographic board loading rack 420 from above. Furthermore, it should be noted that the capacitance value detection instrument 404 is conventional technology. Furthermore, the capacitance value detection instrument 404 may be located on the positioning stage base 410 or on the equipment rack 100.

[0052] In addition, if Figures 1 to 3 ,as well as Figure 7 As shown, the flexible plate capacitance value detection assembly 400 may include a dotting mechanism 408 disposed on the equipment frame 100. The dotting mechanism 408 may correspond vertically to the flexible plate loading rack 420 and may perform dotting marks on the flexible plate on the flexible plate loading rack 420. Specifically, the dotting mechanism 408 may include a dotting bracket 450 disposed on the equipment frame 100, a dotting drive structure 460 disposed on the dotting bracket 450, and a dotting pen 470 disposed on the dotting drive structure 460. The dotting pen 470 is disposed vertically corresponding to the flexible plate loading rack 420. Furthermore, the dotting drive structure 460 may include a dotting horizontal drive member disposed on the dotting bracket 450 and a dotting lifting drive member disposed on the dotting horizontal drive member. The dotting pen 470 may be disposed on the dotting lifting drive member. The horizontal dotting drive can drive the dotting pen 470 to move horizontally and / or vertically, while the dotting lift drive can drive the dotting pen 470 to move upward and downward, so that the dotting pen 470 moves closer to or away from the flexographic plate. In addition, the horizontal dotting drive and the dotting lift drive can be configured as motor-driven structures or cylinder-driven structures.

[0053] In addition, if Figure 11 As shown, the present invention also proposes a method for automatically detecting the capacitance value of a flexible plate, which is applied to the above-mentioned automatic detection device 10 for detecting the capacitance value of a flexible plate. Specifically, the method for automatically detecting the capacitance value of a flexible plate may include the following steps:

[0054] S100, controlling the tray lifting and discharging mechanism 210 of the flexible plate feeding and receiving assembly 200 to lift a plurality of pre-stacked trays to a first preset height position, wherein the topmost tray is an empty tray, and the other trays (referring to the trays stacked below the topmost empty tray) are trays loaded with flexible plates to be inspected;

[0055] S200, controlling the tray lifting and discharging mechanism 210 and the tray storage mechanism 220 to be raised to a second preset height position, and controlling the tray transfer mechanism 230 located on the sides of the tray lifting and discharging mechanism 210 and the tray storage mechanism 220 to grab the empty tray on the top of the tray lifting and discharging mechanism 210 and move it to the top of the tray storage mechanism 220;

[0056] S300, controlling the loading visual inspection mechanism 240 above the tray lifting and discharging mechanism 210 to detect and locate the flexiplate to be inspected in the tray on top of the tray lifting and discharging mechanism 210, and controlling the flexiplate taking and discharging manipulator 310 of the flexiplate taking and discharging assembly 300 to move to the top of the tray lifting and discharging mechanism 210, and to grab the flexiplate to be inspected in the tray on top of the tray lifting and discharging mechanism 210;

[0057] S400: Control the positioning visual inspection mechanism 406 to perform positioning inspection on the flexi-plate positioning lower fixture 440, control the flexi-plate picking and unloading robot 310 to transfer the grabbed flexi-plate to the flexi-plate detection positioning platform mechanism 402 of the flexi-plate capacitance value detection assembly 400, and control the flexi-plate detection positioning platform mechanism 402 to receive and position the flexi-plate transferred by the flexi-plate picking and unloading robot 310, control the flexi-plate to be inspected to be connected to the capacitance value detection instrument 404 through the flexi-plate detection positioning platform mechanism 402, and control the capacitance value detection instrument 404 to detect the capacitance value of the flexi-plate to determine whether the flexi-plate is qualified or unqualified; when the flexi-plate to be inspected is moved by the flexi-plate picking and unloading robot 310 to pass through the picking and unloading visual inspection mechanism 320, control the picking and unloading visual inspection mechanism 320 to detect information of the transferred flexi-plate to be inspected;

[0058] S500: After completing the capacitance test on the flexiplate, the flexiplate detection and positioning platform mechanism 402 is controlled to disconnect the flexiplate from the capacitance detection instrument 404 and reset the flexiplate. The flexiplate pick-up and unload robot 310 is controlled to grab the tested flexiplate from the flexiplate detection and positioning platform mechanism 402, transfer and place the flexiplate that has been tested as a qualified product to an empty tray on top of the tray storage mechanism 220, and transfer and place the flexiplate that has been tested as a failed product to a tray on the failed product storage rack 250.

[0059] S600. When the loading visual inspection mechanism 240 detects that the empty tray on the top of the tray lifting and storage mechanism 220 is full of flexible plates, and all the flexible plates in the tray on the top of the tray lifting and storage mechanism 220 are taken away, the tray lifting and storage mechanism 220 is controlled to descend, and the tray lifting and storage mechanism 220 is controlled to ascend. At the same time, the tray transfer mechanism 230 is controlled to grab the empty tray on the top of the tray lifting and discharging mechanism 210, and move and stack it on the tray full of flexible plates on the top of the tray lifting and storage mechanism 220. The flexible plate picking and discharging robot 310 is controlled again to grab and transfer the flexible plate to be tested from the tray on the top of the tray lifting and discharging mechanism 210 to the flexible plate detection positioning platform mechanism 402, and the capacitance value detection instrument 404 is controlled again to detect the capacitance value of the flexible plate.

[0060] Through the automatic detection method of the capacitance value of the flexible plate, the material tray lifting and discharging mechanism 210 can be controlled to automatically lift and discharge the material tray and the flexible plate, the material tray transfer mechanism 230 can be controlled to automatically transfer the empty material tray on the material tray lifting and discharging mechanism 210 to the material tray lifting and discharging mechanism 220, and the flexible plate picking and unloading robot 310 can be controlled to automatically pick up the flexible plate on the material tray lifting and discharging mechanism 210 and transfer it to the flexible plate detection positioning platform mechanism 402, the flexible plate detection positioning platform mechanism 402 can be controlled to automatically position the flexible plate and connect the positioned flexible plate to the capacitance value detection instrument 404, and the capacitance value detection instrument 404 can be controlled to automatically perform capacitance value detection on the positioned flexible plate. Furthermore, after the flex plate is inspected, the flex plate inspection and positioning platform mechanism 402 can be controlled to automatically release the flex plate, and the flex plate loading and unloading robot 310 can be controlled to place the inspected flex plate on the tray of the tray elevator storage mechanism 220, or on the tray of defective product storage rack 250. This eliminates the need for manual loading, unloading, positioning, and inspection of the flex plate, prevents wrinkling and bending of the flex plate, and prevents contamination of the flex plate surface. Furthermore, the flex plate is accurately and reliably positioned, ensuring accurate and reliable capacitance detection of the flex plate, greatly improving inspection efficiency.

[0061] Furthermore, in step S100, controlling the tray lifting and discharging mechanism 210 of the flexible plate feeding and receiving assembly 200 to lift a plurality of pre-stacked trays to a first preset height position may further include the following steps:

[0062] S110, control the first tray lifting drive 212 of the tray lifting and discharging mechanism 210 to lift and drive the first tray storage structure 214 on its top, and lift the multiple trays and the flexible plates therein pre-stacked on the first tray storage structure 214 to a first preset height position for lifting and discharging.

[0063] Specifically, the tray lift drive motor 2122 of the first tray lift drive member 212 can be controlled to operate, causing the tray lift drive motor 2122 to drive the tray transmission belt structure 2124, which in turn drives the tray linear lift transmission structure 2126. This causes the vertically disposed tray linear lift transmission structure 2126 to vertically lift the tray lift bracket 2128, thereby lifting the first tray storage structure 214 disposed on the tray lift bracket 2128. This can lift the first tray storage structure 214, which is disposed on the tray lift bracket 2128, and thereby elevate the plurality of trays stacked and stored in the tray positioning cavity defined between the plurality of tray limiting plates 2144 and the tray storage seat 2142 of the first tray storage structure 214 to a first predetermined height. In an initial state, the topmost tray of the plurality of trays stacked and stored in the first tray storage structure 214 is empty, while the trays below the topmost tray are filled with flexible plates to be inspected.

[0064] Furthermore, in step S200, controlling the tray lifting and discharging mechanism 220 disposed side by side with the tray lifting and discharging mechanism 210 to be lifted to a second preset height position may further include the following steps:

[0065] S210, control the second tray lifting drive member 222 of the tray lifting and discharging mechanism 220 arranged side by side with the tray lifting and discharging mechanism 210 to lift the second tray storage structure 224 on its top, so that the second tray storage structure 224 is lifted to a second preset height position.

[0066] Similarly, the tray lifting drive motor 2122 of the second tray lifting drive member 222 can be controlled to operate, causing the tray lifting drive motor 2122 to drive the tray transmission belt structure 2124 to operate, so that the tray transmission belt structure 2124 drives the tray linear lifting transmission structure 2126 to operate, so that the vertically arranged tray linear lifting transmission structure 2126 drives the tray lifting bracket 2128 to vertically lift and move, thereby driving the second tray storage structure 224 disposed on the tray lifting bracket 2128 to lift and move, thereby raising the tray positioning cavity formed between the multiple tray limiting plates 2144 and the tray storage seat 2142 of the second tray storage structure 224 to a second predetermined height position. In the initial state, the tray positioning cavity of the second tray storage structure 224 is empty (i.e., no tray is contained).

[0067] Furthermore, in step S200, controlling the tray transfer mechanism 230 located on the sides of the tray lifting and discharging mechanism 210 and the tray lifting and storing mechanism 220 to grab the empty tray on the top of the tray lifting and discharging mechanism 210 and move it to the top of the tray lifting and storing mechanism 220 may further include the following steps:

[0068] S220, control the tray transfer driving structure 232 of the tray transfer mechanism 230 located on the side of the tray lifting and discharging mechanism 210 and the tray lifting and storing mechanism 220, drive the tray transfer rack 234 to move horizontally to above the top of the first tray storage structure 214 of the tray lifting and discharging mechanism 210, so that the tray transfer rack 234 and the empty trays on the top surface of the multiple trays stacked on the top of the first tray storage structure 214 are aligned vertically, and then control the tray transfer driving structure 232 to drive the tray transfer rack 234 to descend to absorb the empty trays on the top of the first tray storage structure 214.

[0069] The transfer motor linear drive structure 2322 of the tray transfer drive structure 232 of the tray transfer mechanism 230 can be controlled to drive the transfer frame 2342 of the tray transfer rack 234 and the multiple transfer suction nozzles 2344 thereon to move linearly to the top of the multiple trays stacked and stored in the first tray storage structure 214 of the tray lifting and discharging mechanism 210; then the transfer lifting drive structure 2324 of the tray transfer drive structure 232 can be controlled to drive the transfer frame 2342 of the tray transfer rack 234 and the multiple transfer suction nozzles 2344 thereon to descend vertically, and make the multiple transfer suction nozzles 2344 abut against the empty trays on the top surface of the first tray storage structure 214; then the multiple transfer suction nozzles 2344 on the transfer frame 2342 of the tray transfer rack 234 can be controlled to adsorb and grab the trays from multiple positions.

[0070] S230, then, control the tray transfer drive structure 232 to drive the tray transfer rack 234 and the empty tray it grabs to rise, and then drive the tray transfer rack 234 and the empty tray it grabs to move horizontally to above the second tray storage structure 224 of the tray lifting and storage mechanism 220, so that the empty tray it grabs is aligned with the second tray storage structure 224 up and down, and then control the tray transfer drive structure 232 to drive the tray transfer rack 234 to descend, and place the empty tray on the second tray storage structure 224, and control the tray transfer rack 234 to reset.

[0071] That is, after the empty trays on the first tray storage structure 214 are sucked and grabbed by the multiple transfer nozzles 2344 of the tray transfer rack 234, the transfer lifting drive structure 2324 of the tray transfer drive structure 232 can be controlled to drive the tray transfer rack 234 and the trays grabbed by it to rise vertically, and then the transfer motor linear drive structure 2322 of the tray transfer drive structure 232 can be controlled to drive the tray transfer rack 234 and the trays grabbed by it to move linearly to the second tray storage structure 224. The transfer lifting drive structure 2324 can then be controlled to drive the tray transfer rack 234 and the empty tray it grabs to descend vertically, so that the empty tray grabbed by the tray transfer rack 234 is positioned in the tray positioning cavity of the second tray storage structure 224, and then the multiple transfer suction nozzles 2344 on the transfer frame 2342 of the tray transfer rack 234 are controlled to release the adsorption of the controlled tray, and then the tray transfer drive structure 232 is controlled to drive the tray transfer rack 234 to reset.

[0072] When controlling the tray transfer drive structure 232 to drive the tray transfer frame 234 to grab, place and translate the empty tray, the loading visual inspection mechanism 240 is controlled to detect and locate the empty tray on the first tray storage structure 214 and to detect and locate the second tray storage structure 224.

[0073] That is, before controlling the tray transfer drive structure 232 to drive the tray transfer rack 234 to move to the empty tray on the first tray storage structure 214 to grab it, the loading visual detection mechanism 240 can be controlled to detect and locate the empty tray on the first tray storage structure 214 to obtain the positioning information of the tray, so that the tray transfer drive structure 232 can drive the tray transfer rack 234 to move and pick up materials according to the positioning information of the tray; similarly, before controlling the tray transfer drive structure 232 to drive the tray transfer rack 234 to move the grabbed empty tray to the tray positioning cavity of the second tray storage structure 224, the loading visual detection mechanism 240 can be controlled to detect and locate the tray positioning cavity of the second tray storage structure 224 to obtain the positioning information of the tray positioning cavity, so that the tray transfer drive structure 232 can drive the tray transfer rack 234 to move and discharge materials according to the positioning information of the tray positioning cavity.

[0074] In addition, in step S300, controlling the loading visual inspection mechanism 240 above the tray lifting and unloading mechanism 210 to detect and locate the flexible plate to be inspected in the tray on the top of the tray lifting and unloading mechanism 210 may further include the following steps:

[0075] S310. Before controlling the flexible plate picking and unloading robot 310 to grab the flexible plate to be inspected in the tray on the first tray storage structure 214 of the tray lifting and unloading mechanism 210, control the loading detection camera module of the loading visual inspection mechanism 240 above the tray lifting and unloading mechanism 210 to detect and locate the flexible plate to be inspected in the tray of the first tray storage structure 214 on the top of the tray lifting and unloading mechanism 210, and obtain the positioning information of the flexible plate of one of the multiple flexible plates to be inspected in the tray (i.e., the flexible plate position information).

[0076] Furthermore, in step S300, controlling the flexible plate pick-up and discharge manipulator 310 of the flexible plate pick-up and discharge assembly 300 to move to above the tray lifting and discharge mechanism 210 and grabbing the flexible plate to be inspected from the tray on top of the tray lifting and discharge mechanism 210 may further include the following steps:

[0077] S320. Based on the positioning information of the flexible plate to be inspected in the tray on the first tray storage structure 214 at the top of the tray lifting and unloading mechanism 210, the loading visual inspection mechanism 240 controls the manipulator arm 314 of the flexible plate picking and unloading robot 310 of the flexible plate picking and unloading assembly 300 to drive the flexible plate picking and unloading structure 316 to move above the tray on the first tray storage structure 214, and drives the flexible plate picking and unloading structure 316 to directly descend or pass through the picking and unloading gap of the tray transfer rack 234 to descend to the tray on the first tray storage structure 214, and controls the flexible plate picking and unloading adsorption plate 3164 of the flexible plate picking and unloading structure 316 to grab a flexible plate to be inspected in the tray.

[0078] That is, after obtaining the positioning information of one of the multiple flexible plates to be detected in the material tray on the first material tray storage structure 214 at the top of the material tray lifting and discharging mechanism 210, the flexible plate picking and unloading robot 310 is controlled to move above it according to the positioning information of the flexible plate. When the material tray transfer rack 234 is located above the first material tray storage structure 214, the robot arm 314 of the flexible plate picking and unloading robot 310 can be controlled to drive the flexible plate picking and unloading structure 316 to descend through the picking and unloading gap of the material tray transfer rack 234, and the flexible plate picking and unloading structure 316 can be controlled to move upward. The flexible plate picking adsorption plate 3164 grabs the flexible plate to be inspected positioned in the material tray on the first material tray storage structure 214; and when the material tray transfer rack 234 is located above the second material tray storage structure 224, the robot arm 314 of the flexible plate picking and unloading robot 310 can be controlled to drive the flexible plate picking and unloading structure 316 to directly descend to the material tray on the first material tray storage structure 214, and the flexible plate picking and unloading structure 316 can be controlled. The flexible plate picking adsorption plate 3164 is controlled to grab the flexible plate to be inspected positioned in the material tray on the first material tray storage structure 214.

[0079] Furthermore, in step S400, the positioning visual inspection mechanism 406 is controlled to perform positioning inspection on the flexi-plate positioning lower fixture 440, the flexi-plate picking and unloading robot 310 is controlled to transfer the gripped flexi-plate to the flexi-plate detection positioning platform mechanism 402 of the flexi-plate capacitance value detection assembly 400, and the flexi-plate detection positioning platform mechanism 402 is controlled to receive and position the flexi-plate transferred by the flexi-plate picking and unloading robot 310, and the flexi-plate to be inspected is controlled to be connected to the capacitance value detection instrument 404 via the flexi-plate detection positioning platform mechanism 402. The following steps may be further included:

[0080] S410 , pre-control the flexo plate positioning lower fixture 440 of the flexo plate detection positioning platform mechanism 402 to move to the flexo plate loading rack 420 , and control the positioning visual detection mechanism 406 to perform positioning detection on the flexo plate positioning lower fixture 440 on the flexo plate loading rack 420 .

[0081] Before controlling the flexible plate picking and unloading robot 310 to transfer the grabbed flexible plate to be inspected to the flexible plate detection positioning platform mechanism 402 for positioning, the lower clamp linear drive 442 of the flexible plate positioning lower clamp 440 of the flexible plate detection positioning platform mechanism 402 can be pre-controlled to perform linear translation driving on the lower clamp bracket 444 and the lower clamp structure 446 thereon, so that the lower clamp structure 446 moves from the bottom of the flexible plate positioning upper clamp 430 to the flexible plate loading rack 420 protruding near the material tray lifting and discharging mechanism 210 and the material tray lifting and storing mechanism 220, so as to facilitate the reception of the flexible plate to be inspected transferred by the flexible plate picking and unloading robot 310. Moreover, after controlling the flexible plate positioning lower clamp 440 to move to the flexible plate loading rack 420, the positioning visual detection mechanism 406 can be controlled to perform positioning detection on the lower clamping plate structure 446 of the flexible plate positioning lower clamp 440 located on the flexible plate loading rack 420, and the position information of the positioning protrusion on the lower clamping plate structure 446 of the flexible plate positioning lower clamp 440 can be obtained.

[0082] S420. Based on the positioning detection information of the flexible board positioning lower clamp 440 by the positioning visual detection mechanism 406, the robot arm 314 of the flexible board picking and unloading robot 310 is controlled to drive the flexible board picking and unloading structure 316 and the flexible board it has grasped to rise, and to transfer the grasped flexible board through the picking and unloading visual detection mechanism 320 to the top of the flexible board positioning lower clamp 440 on the flexible board loading rack 420 of the flexible board detection positioning platform mechanism 402 of the flexible board capacitance value detection component 400.

[0083] After obtaining the position information of the positioning protrusion on the lower clamping plate structure 446 of the flexible plate positioning lower clamp 440, the flexible plate picking and unloading robot 310 can be controlled to move the flexible plate to be inspected that it has grasped to directly above the lower clamping plate structure 446 of the flexible plate positioning lower clamp 440 located on the flexible plate loading rack 420.

[0084] S430, control the manipulator arm 314 to drive the flexible board grasped by the flexible board material picking adsorption plate 3164 to descend and place it on the flexible board positioning lower fixture 440, so that the positioning protrusion on the flexible board positioning lower fixture 440 is docked with the positioning hole on the flexible board, and the first test pin on the flexible board positioning lower fixture 440 is connected to the flexible board.

[0085] After the flexible board to be tested is transferred to the upper part of the lower clamping plate structure 446 of the flexible board positioning lower clamp 440 located on the flexible board loading rack 420, the robot arm 314 of the flexible board picking and unloading robot 310 can be controlled to place the flexible board to be tested, which is grabbed by the flexible board picking adsorption plate 3164 of its flexible board picking and unloading structure 316, on the positioning protrusion on the lower clamping plate structure 446 of the flexible board positioning lower clamp 440, so that the positioning protrusion on the lower clamping plate structure 446 is docked with the positioning hole on the flexible board to be tested, and the first test pin on the lower clamping plate structure 446 is electrically connected to the flexible board to be tested.

[0086] S440, control the flex board positioning lower clamp 440 and the flex board positioned by it to move from the flex board loading rack 420 to the bottom of the flex board positioning upper clamp 430, and face the flex board positioning upper clamp 430, control the flex board positioning upper clamp 430 to move downward to clamp and position the flex board positioned by the flex board positioning lower clamp 440 from above, and connect the second test pin of the flex board positioning upper clamp 430 to the flex board, so that the flex board detection positioning platform mechanism 402 receives and positions the flex board transferred by the flex board loading and unloading robot 310, and connects the flex board to the capacitance value detection instrument 404 through the first test pin and the second test pin.

[0087] After the flexible plate to be tested is positioned and connected with the positioning protrusion on the lower clamp structure 446 of the flexible plate positioning lower clamp 440, the lower clamp linear drive part 442 of the flexible plate positioning lower clamp 440 can be controlled to drive the lower clamp structure 446 and the flexible plate to be tested positioned therein linearly, so that the flexible plate to be tested moves along with the lower clamp structure 446 from the flexible plate loading rack 420 to the bottom of the flexible plate positioning upper clamp 430, so that the flexible plate to be tested positioned on the lower clamp structure 446 is directly opposite to the upper clamp structure 436 of the flexible plate positioning upper clamp 430. Then, the upper clamp lifting drive 434 of the flexible board positioning upper clamp 430 can be controlled to drive the upper clamp structure 436 to descend, so that the upper clamp structure 436 clamps the flexible board from above and positions it, and the second test pin of the upper clamp structure 436 is electrically connected to the flexible board to be tested, so that the flexible board to be tested is completely positioned by the flexible board positioning lower clamp 440 and the flexible board positioning upper clamp 430, and the flexible board to be tested is electrically connected to the capacitance value detection instrument 404, so as to facilitate the control of the capacitance value detection instrument 404 to detect the capacitance value of the positioned flexible board to be tested.

[0088] Furthermore, in step S500, after completing the capacitance detection of the flex board, controlling the flex board detection positioning stage mechanism 402 to disconnect the flex board from the capacitance detection instrument 404 and reset the flex board may further include the following steps:

[0089] S510 , after completing the capacitance value test of the flex board, controlling the flex board positioning upper fixture 430 of the flex board detection positioning platform mechanism 402 to move upward, separating the second detection pin of the flex board positioning upper fixture 430 from the flex board, thereby disconnecting the flex board from the capacitance value tester 404 .

[0090] That is, after controlling the capacitance value detection instrument 404 to complete the capacitance value detection of the positioned flexible board to be tested, the upper clamp lifting drive 434 of the flexible board positioning upper clamp 430 can be controlled to drive the upper clamp structure 436 to rise, so that the upper clamp structure 436 is separated from the tested flexible board from above, and the second detection needle on the upper clamp structure 436 is separated from the tested flexible board.

[0091] S520, control the flexible plate positioning lower clamp 440 to move the tested flexible plate from the bottom of the flexible plate positioning upper clamp 430 to the flexible plate loading rack 420 to reset the tested flexible plate; control the flexible plate material picking adsorption plate 3164 of the flexible plate picking and unloading robot 310 to grab and transfer the flexible plate to be tested from the material tray on the top of the first material tray storage structure 214 of the material tray lifting and unloading mechanism 210 to the flexible plate loading rack 420 again.

[0092] S530, control the flexible plate material discharging adsorption plate 3166 of the flexible plate picking and discharging robot 310 to grab the tested flexible plate on the flexible plate positioning upper clamp 430 at the flexible plate loading rack 420, and control the flexible plate material discharging adsorption plate 3164 of the flexible plate picking and discharging robot 310 to place the flexible plate to be tested on the flexible plate positioning upper clamp 430 at the flexible plate loading rack 420 for positioning and connection.

[0093] The lower clamp linear drive member 442 of the flexible plate positioning lower clamp 440 can be controlled to drive the lower clamp structure 446 and the positioned and inspected flexible plate to perform linear translation drive again, so that the inspected flexible plate is moved from the bottom of the flexible plate positioning upper clamp 430 to the flexible plate loading rack 420 again. At the same time, the flexible plate picking and unloading robot 310 can be controlled to grab and transfer the flexible plate to be inspected from the material tray on the top of the first material tray storage structure 214 of the material tray lifting and unloading mechanism 210 to the flexible plate loading rack 420 again, and the flexible plate unloading adsorption plate 3166 of the flexible plate picking and unloading robot 310 can be controlled to adsorb and grab the inspected flexible plate from the flexible plate loading rack 420, and the flexible plate unloading adsorption plate 3166 and the flexible plate picking and unloading robot 310 can be controlled to rotate, so that the flexible plate picking and unloading adsorption plate 3164 will place the grabbed flexible plate to be inspected on the lower clamping plate structure 446 of the flexible plate positioning lower clamp 440 on the flexible plate loading rack 420.

[0094] In addition, in step S600, when it is detected by the loading visual inspection mechanism 240 that the empty material tray on the top of the material tray lifting and stocking mechanism 220 is full of flexible plates and the flexible plates in the material tray on the top of the material tray lifting and stocking mechanism 220 are all taken away, the material tray on the top of the second material tray storage structure 224 of the material tray lifting and stocking mechanism 220 (the fully loaded material tray filled with the inspected flexible plates) is lowered, and the material tray on the top of the first material tray storage structure 214 of the material tray lifting and stocking mechanism 220 (the empty material tray with the flexible plates to be inspected taken away) is lowered. The tray rises, so that the empty trays on the first tray storage structure 214 can be transferred and stacked on the fully loaded trays on the second tray storage structure 224 through the tray transfer mechanism 230, so that the trays on the first tray storage structure 214 that are full of flex plates to be tested can be easily grabbed from the fully loaded trays on the first tray storage structure 214 by the flex plate picking and unloading robot 310, and the tested flex plates can be placed in the empty trays on the second tray storage structure 224. There is no need to manually pick up and place trays, and the trays can be recycled.

[0095] Furthermore, the flex plate capacitance automatic detection device 10 may include a controller connected to the flex plate supply and receiving assembly 200 , the flex plate pick-up and unpick-up assembly 300 , and the flex plate capacitance detection assembly 400 . The above-mentioned flex plate capacitance automatic detection method may be controlled and implemented by the controller.

[0096] It should be noted that, in the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0097] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A device for automatically detecting the capacitance value of a flexible plate, characterized in that: include: Equipment racks; The flexible plate material supply and receiving assembly includes a tray lifting and discharging mechanism arranged on the equipment frame, a tray lifting and storing mechanism arranged side by side with the tray lifting and discharging mechanism, a tray transfer mechanism arranged on the sides of the tray lifting and discharging mechanism and the tray lifting and storing mechanism, and a material loading visual detection mechanism arranged above the tray lifting and discharging mechanism and the tray lifting and storing mechanism; A flexible plate material taking and placing assembly comprises a flexible plate material taking and placing manipulator arranged on the equipment frame, and a material taking and placing visual detection mechanism arranged on the equipment frame, wherein the flexible plate material taking and placing manipulator is correspondingly located above the material taking and placing visual detection mechanism, the material tray lifting and discharging mechanism, and the material tray lifting and storing mechanism; as well as, The flexible plate capacitance value detection component includes a flexible plate detection positioning platform mechanism arranged on the equipment rack, a capacitance value detection instrument connected to the flexible plate detection positioning platform mechanism, and a positioning visual detection mechanism arranged above the flexible plate detection positioning platform mechanism. The flexible plate material picking and placing robot is correspondingly located above the flexible plate detection positioning platform mechanism.

2. The automatic detection device for the capacitance value of a flexible plate according to claim 1, characterized in that: The equipment rack is provided with a loading station, a unloading station, a material taking and placing station, and a testing station, wherein the loading station and the unloading station are arranged side by side in the transverse direction on one side of the equipment rack, the testing station is arranged on the other side of the equipment rack, and the material taking and placing station is arranged in the middle position of the equipment rack; The tray lifting and discharging mechanism is arranged at the loading station, the tray lifting and storing mechanism is arranged at the unloading station, the tray transfer mechanism is arranged between the loading station and the unloading station, the flexible plate detection and positioning platform mechanism is arranged at the detection station, and the flexible plate picking and placing robot is arranged at the picking and placing station.

3. The automatic detection device for the capacitance value of a flexible plate according to claim 1, characterized in that: The tray lifting and unloading mechanism includes a first tray lifting driving member arranged in the equipment frame, and a first tray storage structure arranged on the top of the first tray lifting driving member, the first tray lifting driving member is used to drive the first tray storage structure to rise, so as to lift and unload the tray on the first tray storage structure and the flexible plate therein; The tray lifting and storing mechanism includes a second tray lifting driving member arranged in the equipment frame, and a second tray storage structure arranged on the top of the second tray lifting driving member, the second tray lifting driving member is used to drive the second tray storage structure to descend, so as to descend and collect the tray on the second tray storage structure and the flexible plate therein; The tray transfer mechanism includes a tray transfer drive structure provided on one side of the equipment frame, and a tray transfer frame connected to the tray transfer drive structure, the tray transfer frame is suspended above the first tray storage structure and the second tray storage structure, and the tray transfer drive structure is used to drive the tray transfer frame to grab the tray on the tray lifting and discharging mechanism and transfer it to the tray lifting and storing mechanism; The tray transfer drive structure includes a transfer motor linear drive structure arranged on the equipment frame, and a transfer lifting drive structure connected to the transfer motor linear drive structure; The material tray transfer rack includes a transfer frame connected to the transfer lifting drive structure, and a plurality of transfer suction nozzles arranged on the transfer frame, and a gap for taking and placing materials is provided in the middle of the transfer frame.

4. The automatic detection device for the capacitance value of a flexible plate according to any one of claims 1 to 3, characterized in that: The flexible plate material taking and placing robot comprises a robot base arranged in the middle of the equipment frame, a robot arm arranged on the robot base, and a flexible plate material taking and placing structure arranged on the robot arm; The flexible plate material picking and unloading structure comprises a material picking and unloading mounting bracket arranged on the manipulator arm, and a flexible plate material picking adsorption plate and a flexible plate material unloading adsorption plate respectively arranged at two ends of the material picking and unloading mounting bracket; The material picking and placing visual inspection mechanism includes a material picking and placing visual inspection frame arranged in the middle of the equipment frame, and a material picking and placing inspection camera module arranged on the material picking and placing visual inspection frame. The material picking and placing inspection camera module is arranged correspondingly to the flexible plate material picking and placing structure above and below.

5. The automatic detection device for the capacitance value of a flexible plate according to any one of claims 1 to 3, characterized in that: The flexible plate detection positioning platform mechanism includes a positioning platform base arranged on the other side of the equipment frame, a flexible plate loading rack arranged on one side of the positioning platform base, a flexible plate positioning upper clamp arranged on the other side of the positioning platform base, and a flexible plate positioning lower clamp slidably arranged on the positioning platform base, the flexible plate positioning lower clamp is slidably arranged between the bottom of the flexible plate positioning upper clamp and the top of the flexible plate loading rack, the flexible plate positioning lower clamp and the flexible plate positioning upper clamp are connected to the capacitance value detection instrument, and the flexible plate loading rack and the flexible plate material taking and placing robot are arranged correspondingly up and down; The flexible board positioning upper fixture comprises an upper fixture bracket arranged on the positioning platform base, an upper fixture lifting driving member suspended below the top of the upper fixture bracket, and an upper clamping plate structure connected to the upper clamping plate lifting driving member, wherein the upper clamping plate structure is provided with a first test needle connected to the capacitance value detection instrument and used for electrically contacting the flexible board to be tested; The flexible board positioning lower fixture includes a lower fixture linear drive component arranged on the positioning platform base, a lower fixture bracket connected to the lower fixture linear drive component and slidably arranged on the positioning platform base, and a lower clamping plate structure arranged on the lower clamp bracket and corresponding to the upper clamping plate structure above and below, and the lower clamping plate structure is provided with a second test needle connected to the capacitance value detection instrument and used for electrically contacting the flexible board to be tested.

6. A method for automatically detecting the capacitance value of a flexible plate, applied to the automatic detection device for the capacitance value of a flexible plate as claimed in any one of claims 1 to 5; It is characterized in that The detection method comprises: Control the tray lifting and discharging mechanism of the flexible plate feeding and receiving assembly to lift a plurality of pre-stacked trays to a first preset height position, wherein the topmost tray is an empty tray, and the other trays are trays loaded with the flexible plates to be tested; Control the tray lifting and discharging mechanism arranged side by side with the tray lifting and discharging mechanism to be lifted to a second preset height position, and control the tray transfer mechanism located on the sides of the tray lifting and discharging mechanism and the tray lifting and discharging mechanism to grab the empty tray on the top of the tray lifting and discharging mechanism and move it to the top of the tray lifting and discharging mechanism; Controlling the loading visual inspection mechanism above the tray lifting and discharging mechanism to detect and locate the flexible plate to be detected in the tray on the top of the tray lifting and discharging mechanism, and controlling the flexible plate picking and discharging manipulator of the flexible plate picking and discharging assembly to move to the top of the tray lifting and discharging mechanism to grab the flexible plate to be detected in the tray on the top of the tray lifting and discharging mechanism; Control the positioning visual inspection mechanism to perform positioning inspection on the flexible board positioning lower fixture, control the flexible board picking and unloading robot to transfer the grabbed flexible board to the flexible board detection positioning platform mechanism of the flexible board capacitance value detection component, and control the flexible board detection positioning platform mechanism to receive and position the flexible board transferred by the flexible board picking and unloading robot, control the flexible board to be inspected to be connected with the capacitance value detection instrument through the flexible board detection positioning platform mechanism, and control the capacitance value detection instrument to detect the capacitance value of the flexible board to determine whether the flexible board is qualified or unqualified; when the flexible board to be inspected is moved by the flexible board picking and unloading robot to pass through the picking and unloading visual inspection mechanism, control the picking and unloading visual inspection mechanism to detect the information of the transferred flexible board to be inspected; After completing the detection of the capacitance value of the flexible board, the flexible board detection positioning platform mechanism is controlled to disconnect the connection between the flexible board and the capacitance value detection instrument and reset the flexible board, and the flexible board picking and placing robot is controlled to grab the tested flexible board from the flexible board detection positioning platform mechanism, transfer and place the flexible board detected as a qualified product in an empty tray at the top of the tray lifting and storing mechanism, and transfer and place the flexible board detected as a defective product in a tray on the defective product storage rack; When the feeding visual detection mechanism detects that the empty tray on the top of the tray lifting and storage mechanism is full of flexible plates, and the flexible plates in the tray on the top of the tray lifting and storage mechanism are all taken away, the tray lifting and storage mechanism is controlled to descend, and the tray lifting and storage mechanism is controlled to rise, and at the same time, the tray transfer mechanism is controlled to grab the empty tray on the top of the tray lifting and discharging mechanism, and move and stack it on the tray full of flexible plates on the top of the tray lifting and storage mechanism, and the flexible plate picking and discharging robot is controlled again to grab and transfer the flexible plate to be detected from the tray on the top of the tray lifting and discharging mechanism to the flexible plate detection positioning platform mechanism, and the capacitance value detection instrument is controlled again to detect the capacitance value of the flexible plate.

7. The method for automatically detecting the capacitance value of a flexible plate according to claim 6, characterized in that: The material tray lifting and discharging mechanism of the control flexible plate material supply and receiving assembly lifts a plurality of pre-stacked material trays to a first preset height position, including: The first tray lifting driving member of the tray lifting and discharging mechanism is controlled to lift and drive the first tray storage structure on the top thereof, and lift the multiple trays and the flexible plates therein pre-stacked on the first tray storage structure to a first preset height position for lifting and discharging; The controlling of the tray lifting and discharging mechanism arranged side by side with the tray lifting and discharging mechanism to lift to a second preset height position comprises: The second tray lifting drive member of the tray lifting and discharging mechanism arranged side by side with the tray lifting and discharging mechanism is controlled to lift and drive the second tray storage structure on its top, so that the second tray storage structure is lifted to a second preset height position.

8. The method for automatically detecting the capacitance value of a flexible plate according to claim 7, characterized in that: The control of the tray transfer mechanism located at the side of the tray lifting and discharging mechanism and the tray lifting and storing mechanism to grab the empty tray on the top of the tray lifting and discharging mechanism and move it to the top of the tray lifting and storing mechanism includes: Control the tray transfer driving structure of the tray transfer mechanism located at the sides of the tray lifting and discharging mechanism and the tray lifting and storing mechanism to drive the tray transfer frame to move horizontally to above the top of the first tray storage structure of the tray lifting and discharging mechanism, so that the tray transfer frame and the empty trays on the top surfaces of the multiple trays stacked on the top of the first tray storage structure are vertically aligned, and then control the tray transfer driving structure to drive the tray transfer frame to descend to absorb the empty trays on the top of the first tray storage structure; Then, the tray transfer driving structure is controlled to drive the tray transfer frame and the empty tray it grabs to rise, and then drive the tray transfer frame and the empty tray it grabs to move horizontally to above the second tray storage structure of the tray lifting and storing mechanism, so that the empty tray it grabs is aligned with the second tray storage structure up and down, and then control the tray transfer driving structure to drive the tray transfer frame to descend, and place the empty tray on the second tray storage structure, and control the tray transfer frame to reset; When the tray transfer drive structure is controlled to drive the tray transfer frame to grasp, place and translate the empty tray, the loading visual inspection mechanism is controlled to detect and locate the empty tray on the first tray storage structure, and to detect and locate the second tray storage structure.

9. The method for automatically detecting the capacitance value of a flexible plate according to claim 8, characterized in that: The flexible plate picking and unloading manipulator controlling the flexible plate picking and unloading assembly moves to the top of the tray lifting and unloading mechanism, and grabs the flexible plate to be detected in the tray on the top of the tray lifting and unloading mechanism, including: According to the positioning information of the flexible plate to be detected in the material tray on the first material tray storage structure at the top of the material tray lifting and unloading mechanism by the loading visual detection mechanism, the manipulator arm of the flexible plate material picking and unloading manipulator of the flexible plate material picking and unloading assembly is controlled to drive the flexible plate material picking and unloading structure to move above the material tray on the first material tray storage structure, and the flexible plate material picking and unloading structure is driven to directly descend or pass through the material picking and unloading gap of the material tray transfer rack to descend to the material tray on the first material tray storage structure, and the flexible plate material picking adsorption plate of the flexible plate material picking and unloading structure is controlled to grab a flexible plate to be detected in the material tray; The control positioning visual detection mechanism performs positioning detection on the flexible board positioning lower fixture, controls the flexible board picking and unloading manipulator to transfer the grabbed flexible board to the flexible board detection positioning platform mechanism of the flexible board capacitance value detection component, and controls the flexible board detection positioning platform mechanism to receive and position the flexible board transferred by the flexible board picking and unloading manipulator, and controls the flexible board to be detected to be connected with the capacitance value detection instrument through the flexible board detection positioning platform mechanism, including: Pre-controlling the flexible plate positioning lower fixture of the flexible plate detection positioning platform mechanism to move to the flexible plate loading rack, and controlling the positioning visual detection mechanism to perform positioning detection on the flexible plate positioning lower fixture located on the flexible plate loading rack; According to the positioning detection information of the flexible plate positioning lower fixture by the positioning visual detection mechanism, the manipulator arm of the flexible plate picking and unloading manipulator is controlled to drive the flexible plate picking and unloading structure and the flexible plate grasped by it to rise, and to transfer the grasped flexible plate through the picking and unloading visual detection mechanism to the flexible plate detection positioning platform mechanism of the flexible plate capacitance value detection component to the upper part of the flexible plate positioning lower fixture on the flexible plate loading rack; Control the manipulator arm to drive the flexible board grasped by the flexible board material taking adsorption plate to descend and place it on the flexible board positioning lower fixture, so that the positioning protrusion on the flexible board positioning lower fixture is docked with the positioning hole on the flexible board, and the first test pin on the flexible board positioning lower fixture is connected with the flexible board; Control the flexible board positioning lower clamp and the flexible board positioned by it to move from the flexible board loading rack to the bottom of the flexible board positioning upper clamp and face the flexible board positioning upper clamp, control the flexible board positioning upper clamp to move downward to clamp and position the flexible board positioned by the flexible board positioning lower clamp from above, and connect the second test pin of the flexible board positioning upper clamp to the flexible board, so that the flexible board detection positioning platform mechanism receives and positions the flexible board transferred by the flexible board loading and unloading robot, and connects the flexible board to the capacitance value detection instrument through the first test pin and the second test pin.

10. The method for automatically detecting the capacitance value of a flexible plate according to claim 9, characterized in that: After completing the detection of the capacitance value of the flexible board, controlling the flexible board detection positioning platform mechanism to disconnect the connection between the flexible board and the capacitance value detection instrument and resetting the flexible board includes: After completing the detection of the capacitance value of the flexible board, controlling the flexible board positioning upper fixture of the flexible board detection positioning platform mechanism to move upward, so that the second detection needle of the flexible board positioning upper fixture is separated from the flexible board, so as to disconnect the flexible board from the capacitance value detection instrument; Control the flexible plate positioning lower fixture to move the tested flexible plate from below the flexible plate positioning upper fixture to the flexible plate loading rack to reset the tested flexible plate; control the flexible plate material picking adsorption plate of the flexible plate picking and unloading manipulator to grab and transfer the to-be-tested flexible plate from the material tray at the top of the first material tray storage structure of the material tray lifting and unloading mechanism to the flexible plate loading rack again; The flexible plate material discharging adsorption plate of the flexible plate picking and discharging robot is controlled to grab the inspected flexible plate on the flexible plate positioning upper clamp at the flexible plate loading rack, and the flexible plate material picking adsorption plate of the flexible plate picking and discharging robot is controlled to place the flexible plate to be inspected on the flexible plate positioning upper clamp at the flexible plate loading rack for positioning and connection.

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