Semi-automatic plasma feeding and discharging machine suitable for FPC

Abstract

The invention relates to the technical field of circuit board production, in particular to a semi-automatic plasma feeding and discharging machine suitable for an FPC. The device comprises a feeding platform set, a discharging platform set, a feeding lifting mechanism, a discharging lifting mechanism, a three-axis grabbing mechanism, a partition paper grabbing mechanism, a jig carrying mechanism, a material changing transverse moving mechanism, a micro-motion plate beating mechanism, a jig taking suction cup, a feeding suction cup, a plate film suction cup, a paper taking suction cup and a jig suction cup mechanism. According to the feeding and discharging machine, the function of automatically replacing the plate in the jig is achieved through cooperation of all the mechanisms, the labor intensity of workers is reduced, and the jig plate replacing efficiency is improved; the whole machine is of a multi-layer structure, the space utilization rate is high, the occupied area is small, and the application range is wide.

Description

Technical Field

[0001] The invention relates to the technical field of circuit board production, and in particular to a semi-automatic plasma loading and unloading machine suitable for FPC. Background Art

[0002] At present, the technology of automatic replacement of plates in the jig is not mature, and the plates in the jig are generally replaced by a combination of a jig positioning machine and manual work. The existing technology generally positions the jig by a machine first, and then replaces the plates in the jig manually.

[0003] At present, the loading and unloading machines on the market cannot completely rely on the machine to replace the plates in the fixture. They need manual cooperation, which increases labor costs and is not conducive to the realization of the fully automatic mode of the equipment. Secondly, the common machines on the market do not have the function of detecting the pins of the fixture. They can only manually observe whether the fixture has been covered and whether the fixture is placed accurately. There is no correction detection function, and it is necessary to manually judge whether the plate is NG. Without an air flotation platform, the plate is easily worn during the process of patting and positioning, increasing the defective rate of the plate. There is no multi-layer structure, it occupies a large area and has a small scope of application. Summary of the invention

[0004] The invention provides a semi-automatic plasma loading and unloading machine suitable for FPC, aiming to solve the problems existing in the existing loading and unloading machine when replacing panels.

[0005] The present invention provides a semi-automatic plasma loading and unloading machine suitable for FPC, comprising a loading platform group, a unloading platform group, a loading lifting mechanism, a unloading lifting mechanism, a three-axis material grabbing mechanism, a paper separation material grabbing mechanism, a fixture conveying mechanism, a material changing and transverse shifting mechanism, a micro-motion clapper mechanism, a fixture material taking suction cup, a loading suction cup, a plate film suction cup, a paper taking suction cup, and a fixture suction cup mechanism. The loading platform group is located on one side of the loading lifting mechanism, the unloading platform group is located on one side of the unloading lifting mechanism, the fixture suction cup mechanism is located above the loading lifting mechanism and sucks up the fixture in the loading lifting mechanism, the fixture conveying mechanism is located on the ascending path of the fixture suction cup mechanism, the fixture conveying mechanism moves between the loading lifting mechanism and the unloading lifting mechanism, and the fixture suction cup is clamped by the fixture conveying mechanism after the lower cover plate of the fixture is clamped. The mechanism sucks up the upper cover plate of the jig and continues to rise. The jig material picking suction cup is installed on the material changing and transverse shifting mechanism. The material changing and transverse shifting mechanism drives the jig material picking suction cup to move between the jig clamped by the jig transporting mechanism and the material storage position of the unloading platform group. The paper picking suction cup is installed on the paper separation grabbing mechanism. The paper separation grabbing mechanism drives the paper picking suction cup to move between the film storage position of the unloading platform group and the material storage position of the unloading platform group. The plate film suction cup is installed on the three-axis grabbing mechanism. The three-axis grabbing mechanism drives the plate film suction cup to move between the jig clamped by the loading platform group, the micro-motion clapping mechanism, and the jig transporting mechanism. The loading suction cup is installed on the material changing and transverse shifting mechanism. The material changing and transverse shifting mechanism drives the loading suction cup to move between the unprocessed plate placement position of the loading platform group and the micro-motion clapping mechanism.

[0006] As a further improvement of the present invention, the loading and unloading lifting mechanism and the unloading lifting mechanism both include a JIG trolley, a trolley guide railing, a tooth fork lifting module, a tooth fork, and a trolley lock. The trolley guide railing is installed on the ground and forms a loading or unloading parking position for accommodating the JIG trolley. The JIG trolley is pushed into the loading or unloading parking position along the trolley guide railing. The tooth fork is connected to the tooth fork lifting module. The tooth fork receives the fixture. The tooth fork lifting module drives the tooth fork to move up and down. The trolley lock is connected to the wheel of the JIG trolley. The loading and lifting mechanism also includes a front positioning mechanism for sucking the fixture. The front positioning mechanism for sucking the fixture is installed on the top of the loading parking position and senses the topmost fixture.

[0007] As a further improvement of the present invention, the jig transport mechanism includes a jig lower plate anti-stupid edge clamp, a jig lower plate clamping mechanism, a cylinder lifting suction cup, a transport linear motor module, a jig pin detection camera group, and a jig pin detection horizontal camera group. The jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism are respectively connected to the transport linear motor module, and the jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism are both provided with a jig clamping cylinder. The jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism move toward the middle jig and clamp the jig under the drive of the jig clamping cylinder. The transport linear motor module drives the clamped jig to move between the loading lifting mechanism and the unloading lifting mechanism. The cylinder lifting suction cup is installed above the unloading lifting mechanism and aligns the position of the jig. The jig pin detection camera group and the jig pin detection horizontal camera group are installed above the loading lifting mechanism. The jig pin detection camera group is aligned with the upper position of the jig for detection, and the jig pin detection horizontal camera group is aligned with the horizontal position of the jig for detection.

[0008] As a further improvement of the present invention, the micro-motion clapper board mechanism includes a deviation correction detection component, an alignment robot, a mobile camera group, a board placing platform, and a clapper board component. The surface of the board placing platform is provided with a plurality of air vents. The plate is placed on the surface of the board placing platform. The clapper board component is movably connected to the board placing platform, and the lens of the clapper board component is aligned with the surface of the board placing platform. The alignment robot is connected to the bottom of the board placing platform. The deviation correction detection component and the mobile camera group are installed above the board placing platform and aligned with the surface of the board placing platform.

[0009] As a further improvement of the present invention, the jig suction cup mechanism includes a cover plate suction cup, a jig suction cup connecting group, a jig suction cup vertical module, and a jig suction cup mounting plate, one end of the jig suction cup connecting group is connected to a slider of the jig suction cup vertical module, and the other end of the jig suction cup connecting group is connected to the jig suction cup mounting plate, and a plurality of the cover plate suction cups are connected to the jig suction cup mounting plate.

[0010] As a further improvement of the present invention, the paper partition grabbing material mechanism includes a paper partition grabbing Y-axis module, a paper partition grabbing Z-axis module, and a module fixing frame. The paper picking suction cup includes a paper partition grabbing connection group, a paper partition suction cup mounting plate, a paper picking suction cup assembly, a paper picking shaking cylinder, and an electrostatic eliminator. The paper partition grabbing Y-axis module is installed on one side of the unloading platform group, the paper partition grabbing Z-axis module is connected to the paper partition grabbing Y-axis module, the module fixing frame is connected to the paper partition grabbing Z-axis module, one end of the paper partition grabbing connection group is connected to the module fixing frame, and the other end of the paper partition grabbing connection group is connected to the paper partition suction cup mounting plate, the paper picking shaking cylinder and multiple paper picking suction cup assemblies are connected to the paper partition suction cup mounting plate, and the electrostatic eliminator is installed on the paper partition grabbing connection group and connected to the paper partition suction cup mounting plate.

[0011] As a further improvement of the present invention, the material changing and transverse shifting mechanism includes a material changing vertical module, a material changing and transverse shifting module, and a material changing fixed frame; the jig material picking suction cup includes a material picking suction cup connecting group, a material picking suction cup mounting plate, a material picking suction cup assembly, and a depth sensor; the material changing and transverse shifting module is connected to the material changing fixed frame; the material changing vertical module is slidably connected to the material changing and transverse shifting module; one end of the material picking suction cup connecting group is slidably connected to the material changing vertical module; the other end of the material picking suction cup connecting group is connected to the material picking suction cup mounting plate; the depth sensor and multiple material picking suction cup assemblies are connected to the material picking suction cup mounting plate.

[0012] As a further improvement of the present invention, the loading suction cup includes a loading connection group, a loading suction cup mounting plate, a loading suction cup assembly, a shaking cylinder, a blowing module, a depth sensor, an overlapping sensor, a plate detector, and an electrostatic eliminator. One end of the loading connection group is slidably connected to the material changing and transverse shifting module, and the other end of the loading connection group is connected to the loading suction cup mounting plate. The loading suction cup assembly, the shaking cylinder, the blowing module, the depth sensor, the overlapping sensor, and the plate detector are respectively connected to the loading suction cup mounting plate, and the electrostatic eliminator is respectively connected to the loading connection group and the loading suction cup mounting plate.

[0013] As a further improvement of the present invention, the three-axis material grabbing mechanism includes a material grabbing X-axis module, a material grabbing Y-axis module, and a material grabbing Z-axis module. The plate film suction cup includes a material grabbing connection group, a material grabbing suction cup mounting plate, a plate film suction cup assembly, and an electrostatic eliminator. The material grabbing Z-axis module is slidably connected to the material grabbing X-axis module, the material grabbing Y-axis module is slidably connected to the material grabbing Z-axis module, one end of the material grabbing connection group is slidably connected to the material grabbing Y-axis module, and the other end of the material grabbing connection group is connected to the material grabbing suction cup mounting plate. Multiple plate film suction cup assemblies are connected to the material grabbing suction cup mounting plate, and the electrostatic eliminator is installed on the material grabbing connection group and connected to the material grabbing suction cup mounting plate.

[0014] As a further improvement of the present invention, the semi-automatic plasma loading and unloading machine suitable for FPC also includes a dust suction mechanism, which is located below the jig transporting mechanism. The dust suction mechanism includes a telescopic cylinder, a telescopic plate, an air suction port, an industrial vacuum cleaner, and a vacuum cleaner hood. The industrial vacuum cleaner is installed in the vacuum cleaner hood, the telescopic cylinder is connected above the vacuum cleaner hood, the telescopic plate is connected to the output end of the telescopic cylinder, the air suction port is arranged on the telescopic plate, the air suction port faces the jig transporting mechanism, the telescopic plate is provided with a dust suction pipe interface, the air suction port is connected to the dust suction pipe interface, and the dust suction pipe interface is connected to the industrial vacuum cleaner through the dust suction pipe.

[0015] The beneficial effects of the present invention are as follows: the loading and unloading machine realizes the function of automatic replacement of panels in the jig through the cooperation between various mechanisms, reduces the intensity of manual labor, and improves the efficiency of replacement of jig panels; the micro-motion clapper mechanism is provided with a correction detection component to more accurately determine whether the panels are placed correctly, and the panel placement platform contacts the panels in an air flotation manner, which can reduce the wear of the panels on the platform and improve the qualified rate of the panels; the jig transport mechanism is provided with a jig pin detection camera group and a jig pin detection horizontal camera group, which can more accurately determine whether the jig upper cover is covered by detecting the jig pins; the whole machine adopts a multi-layer structure, with high space utilization, small footprint, and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an external overall structural diagram of a semi-automatic plasma loading and unloading machine applicable to FPC of the present invention; Figure 2 This is the overall internal structure diagram of the semi-automatic plasma loading and unloading machine applicable to FPC of the present invention; Figure 3 It is a structural diagram of the feeding lifting mechanism of the present invention; Figure 4 It is a structural diagram of the material unloading and lifting mechanism of the present invention; Figure 5 It is a structural diagram of the jig transport mechanism of the present invention; Figure 6 It is a structural diagram of the micro-motion clapper mechanism of the present invention; Figure 7 It is a structural diagram of the material taking suction cup of the jig of the present invention; Figure 8 It is a structural diagram of the paper separation grabbing mechanism, paper picking suction cup and material unloading platform assembly of the present invention; Fig. 9 It is a structural diagram of the paper separation material grabbing mechanism of the present invention; Fig.10 It is a structural diagram of the paper taking suction cup of the present invention; Fig.11 It is a structural diagram of the material unloading platform of the present invention; Fig.12 It is a structural diagram of the material changing transverse shifting mechanism, the fixture material taking suction cup, and the material loading suction cup integrated in the present invention; Fig.13 It is a structural diagram of the material changing transverse shifting mechanism of the present invention; Fig.14 It is a structural diagram of the material taking suction cup of the jig of the present invention; Fig.15 It is a structural diagram of the feeding suction cup of the present invention; Fig.16 It is a structural diagram of the three-axis material grabbing mechanism, the plate film suction cup, and the material loading platform group of the present invention; Fig.17It is a structural diagram of the three-axis material grabbing mechanism of the present invention; Fig.18 It is a structural diagram of the plate film sucker of the present invention; Fig.19 It is a structural diagram of the feeding platform group of the present invention; Fig. 20 It is a structural diagram of the dust collection mechanism of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] like Figure 1 to Figure 2 As shown, a semi-automatic plasma loading and unloading machine suitable for FPC of the present invention comprises a loading platform group 2, a unloading platform group 3, a loading lifting mechanism 4, a unloading lifting mechanism 5, a three-axis material grabbing mechanism 6, a paper separation material grabbing mechanism 7, a fixture conveying mechanism 8, a material changing and lateral shifting mechanism 9, a micro-motion clapper mechanism 10, a fixture material taking suction cup 11, a loading suction cup 12, a plate film suction cup 13, a paper taking suction cup 14, and a fixture suction cup mechanism 15. The loading platform group 2 is located on one side of the loading lifting mechanism 4, the unloading platform group 3 is located on one side of the unloading lifting mechanism 5, the fixture suction cup mechanism 15 is located above the loading lifting mechanism 4 and sucks up the fixture in the loading lifting mechanism 4, the fixture conveying mechanism 8 is located on the rising path of the fixture suction cup mechanism 15, the fixture conveying mechanism 8 moves between the loading lifting mechanism 4 and the unloading lifting mechanism 5, and the fixture conveying mechanism 8 clamps the lower cover plate of the fixture and then the fixture suction cup mechanism 1 The upper cover plate of the jig is sucked up and continues to rise. The jig picking suction cup 11 is installed on the material changing transverse shifting mechanism 9, which drives the jig picking suction cup 11 to move between the jig clamped by the jig transporting mechanism 8 and the material storage position 301 of the unloading platform group 3. The paper picking suction cup 14 is installed on the paper separation grabbing material mechanism 7, which drives the paper picking suction cup 14 to move between the film storage position of the unloading platform group 3 and the material storage position 301 of the unloading platform group 3. The plate film suction cup 13 is installed on the three-axis grabbing material mechanism 6, which drives the plate film suction cup 13 to move between the jig clamped by the loading platform group 2, the micro-motion clapping mechanism 10, and the jig transporting mechanism 8. The loading suction cup 12 is installed on the material changing transverse shifting mechanism 9, which drives the loading suction cup 12 to move between the unprocessed plate placement position of the loading platform group 2 and the micro-motion clapping mechanism 10.

[0019] like Figure 1As shown, the semi-automatic plasma loading and unloading machine suitable for FPC also includes a frame 1, a loading platform group 2, a unloading platform group 3, a loading lifting mechanism 4, an unloading lifting mechanism 5, a three-axis material grabbing mechanism 6, a paper separation material grabbing mechanism 7, a fixture transport mechanism 8, a material change transverse movement mechanism 9, a micro-motion clapper mechanism 10, a fixture material picking suction cup 11, a loading suction cup 12, a plate film suction cup 13, a paper picking suction cup 14, a fixture suction cup mechanism 15, and a dust collection mechanism 16 are all installed on the frame 1. The frame 1 is a structure used to support other mechanisms and is also the overall frame of the machine. It is mainly composed of a welding frame 1, a control mechanism, a sliding door group, and a sealing plate group; at the same time, an FFU is configured on the top of the equipment to ensure the cleanliness inside the equipment.

[0020] Through the coordination among various mechanism components such as the loading platform group 2, the unloading platform group 3, the loading lifting mechanism 4, the unloading lifting mechanism 5, the three-axis material grabbing mechanism 6, the paper separation material grabbing mechanism 7, the fixture transporting mechanism 8, the material changing transverse shifting mechanism 9, the micro-motion clapper mechanism 10, the fixture material picking suction cup 11, the loading suction cup 12, the plate film suction cup 13, the paper picking suction cup 14, the fixture suction cup mechanism 15, etc., the automated operation processes such as the separation or closing of the upper and lower covers of the fixture, the unloading of the plate cooked material, the loading of the plate raw material, and the loading of the film are realized, and finally the loading and unloading complete machine equipment suitable for the automated production of flexible circuit boards is achieved.

[0021] like Figure 3 and Figure 4 As shown, the loading lifting mechanism 4 and the unloading lifting mechanism 5 both include a JIG trolley 401 / 501, a trolley guide railing 402 / 502, a tooth fork lifting module 404 / 504, a tooth fork 403 / 503, and a trolley lock 405 / 505. The trolley guide railing 402 / 502 is installed on the ground and forms a loading parking space 101 or an unloading parking space 102 for accommodating the JIG trolley 401 / 501. The JIG trolley 401 / 501 is pushed into the loading trolley along the trolley guide railing 402 / 502. Position 101 or unloading parking position 102, the tooth fork 403 / 503 is connected to the tooth fork lifting module 404 / 504, the tooth fork 403 / 503 undertakes the fixture, the tooth fork lifting module 404 / 504 drives the tooth fork 403 / 503 to move up and down, the trolley lock 405 / 505 is connected to the wheel of the JIG trolley 401 / 501, and the loading lifting mechanism 4 also includes a front positioning mechanism 406 for sucking the fixture, which is installed on the top of the loading parking position 101 and senses the top fixture.

[0022] The loading lifting mechanism 4 is a mechanism for lifting the jig. When the full JIG trolley 401 is in place, the tooth fork lifting module 404 drives the tooth fork 403 to lift the jigs stacked on the JIG trolley 401 upwards, and when the front positioning mechanism 406 for sucking the jig senses the top jig, the tooth fork 403 stops rising, and the front positioning mechanism 406 for sucking the jig positions and fixes the jig.

[0023] The material unloading lifting mechanism 5 is a mechanism for lifting the jig. When the empty JIG trolley 501 is in place, the tooth fork lifting module 504 drives the tooth fork 503 to rise upward, and when it reaches a certain height, the tooth fork 503 stops rising. When the jig transporting mechanism 8 moves the jig with the replaced plate to the tooth fork 503, the tooth fork lifting module 504 drives the tooth fork 503 to descend.

[0024] The trolley guide rail 402 / 502 is used to locate the placement position of the JIG trolley 401 / 501. The trolley guide rail 402 / 502 can be provided with side rollers. When the JIG trolley 401 / 501 is to be pushed in, the JIG trolley 401 / 501 first contacts the outer bevel of the trolley guide rail 402 / 502, and can be easily pushed into the corresponding loading parking space 101 or unloading parking space 102 along the side rollers. When pushed in place, the tooth fork 403 / 503 can rise under the action of the tooth fork lifting module 404 / 504 to fork the fixture, or rise to the highest position to catch the unloading fixture. At the same time, after the JIG trolley 401 / 501 is pushed in place, the wheels of the JIG trolley 401 / 501 can be locked by the trolley lock 405 / 505, thereby fixing the JIG trolley 401 / 501 to prevent it from sliding.

[0025] like Figure 5 As shown, the jig transport mechanism 8 includes a jig lower plate anti-mistake edge 801, a jig lower plate mechanism 802, a cylinder lifting suction cup 803, a transport linear motor module 804, a jig pin detection camera group 805, and a jig pin detection horizontal camera group 806. The jig lower plate anti-mistake edge 801 and the jig lower plate mechanism 802 are respectively connected to the transport linear motor module 804. The jig lower plate anti-mistake edge 801 and the jig lower plate mechanism 802 are both provided with a jig cylinder 807. Driven by cylinder 807, the jig moves toward the middle and clamps the jig. The transport linear motor module 804 drives the clamped jig to move between the loading lifting mechanism 4 and the unloading lifting mechanism 5. The cylinder lifting suction cup 803 is installed above the unloading lifting mechanism 5 and aligned with the position of the jig. The jig pin detection camera group 805 and the jig pin detection horizontal camera group 806 are installed above the loading lifting mechanism 4. The jig pin detection camera group 805 is aligned with the upper position of the jig for detection, and the jig pin detection horizontal camera group 806 is aligned with the horizontal position of the jig for detection.

[0026] The jig transport mechanism 8 is a mechanism for moving the jig. The front positioning mechanism 406 of the feeding lifting mechanism 4 positions the plate. After the jig is moved to a certain height by the jig suction cup mechanism 15, under the action of the jig clamping cylinder 807, the jig lower plate anti-study edge 801 and the jig lower plate mechanism 802 move toward each other until the jig is clamped. Then the jig is positioned by the jig pin detection camera group 805 and the jig pin detection horizontal camera group 806. After positioning, the lower cover plate of the jig is fixed by the jig lower plate anti-study edge 801 and the jig lower plate mechanism 802, and the upper cover plate of the jig is continued to be raised by the jig suction cup mechanism 15 to replace the plate. After the inner plate of the jig is replaced, the jig suction cup mechanism 15 puts the upper cover plate of the jig back on the lower cover plate of the jig. Since the upper cover plate and the lower cover plate of the jig are snap-fitted with pins and pin holes, the jig suction cup mechanism 15 rises to separate the upper cover plate and the lower cover plate after the jig conveying mechanism 8 fixes the lower cover plate of the jig. When the upper cover and lower cover of the jig are re-closed, the jig pin detection camera group 805 and the jig pin detection horizontal camera group 806 respectively detect the engagement of the pins and pin holes from the top and horizontal directions of the jig. If the engagement is not completed, the jig suction cup mechanism 15 will lift the jig upper cover again and perform the descending engagement action again. If the engagement is completed, the transport linear motor module 804 drives the jig lower plate anti-misalignment edge 801 and the jig lower plate mechanism 802 to move the jig to the top of the unloading lifting mechanism 5, and then the cylinder lifting suction cup 803 sucks the jig and places it on the unloading lifting mechanism 5.

[0027] like Figure 6 As shown, the micro-motion clapper mechanism 10 includes a deviation correction detection component 1001, an alignment robot 1002, a mobile camera group 1003, a board placement platform 1004 and a clapper component 1005. The board placement platform 1004 has a plurality of air vents on its surface, the board is placed on the surface of the board placement platform 1004, the clapper component 1005 is movably connected to the board placement platform 1004, and the lens of the clapper component 1005 is aligned with the surface of the board placement platform 1004, the alignment robot 1002 is connected to the bottom of the board placement platform 1004, the deviation correction detection component 1001 and the mobile camera group 1003 are installed above the board placement platform 1004 and aligned with the surface of the board placement platform 1004.

[0028] The micro-motion clapper mechanism 10 is a mechanism for positioning panels. After the loading suction cup 12 places the unprocessed panel on the micro-motion clapper mechanism 10, the panel is aligned through the panel placement platform 1004 and the clapper assembly 1005. After alignment, the deviation correction detection assembly 1001, the mobile camera group 1003 and the alignment robot 1002 are used to detect whether the panel is NG. If not, the panel is positioned. Specifically, the panel placement platform 1004 is connected to an external air source, and air is discharged through the air outlet to form an air film on the surface of the panel placement platform 1004, so that the panel is placed on the panel placement platform 1004 in an air-floating state, which can avoid direct contact between the panel and the panel placement platform 1004 and cause wear on the panel surface. The clapper board component 1005 is provided with a clapper board camera. After the board is placed on the board placement platform 1004, the clapper board component 1005 drives the clapper board lens to take photos and scan the surface of the board and transmit it to the processing center. The processing center determines whether the board has defects based on the photos. If there are defects, the board is NG material. The three-axis material grabbing mechanism 6 drives the board film suction cup 13 to place the NG material in the NG board placement position; if there are no defects, the fixed camera and mobile camera group 1003 in the correction detection component 1001 will position and take photos of the board, and the alignment robot 1002 will adjust the position of the board according to the results of the photo positioning to complete the positioning of the board. At the same time, the correction detection component 1001 is also provided with a reading terminal 1006, through which the QR code on the fixture can be scanned to enter the relevant fixture information.

[0029] The alignment robot 1002 includes an X-axis fine-tuning slide, a Y-axis fine-tuning slide, a rotating fine-tuning plate, and a robot base. The robot base is fixedly installed, the X-axis fine-tuning slide is slidably connected to the robot base, the Y-axis fine-tuning slide is slidably connected to the X-axis fine-tuning slide, the rotating fine-tuning plate is rotatably connected to the Y-axis fine-tuning slide, and the bottom of the platform mounting plate is fixedly connected to the rotating fine-tuning plate. The X-axis fine-tuning slide can be fine-tuned in the left and right directions relative to the robot base, the Y-axis fine-tuning slide can be fine-tuned in the front and back directions relative to the X-axis fine-tuning slide, and the rotating fine-tuning plate can be rotated relative to the Y-axis fine-tuning slide. The cooperation of the X-axis fine-tuning slide, the Y-axis fine-tuning slide, and the rotating fine-tuning plate realizes the position adjustment of the plate placement platform 1004 on XYθ, thereby completing the alignment of the plate parts.

[0030] like Figure 7 As shown, the jig suction cup mechanism 15 includes a cover plate suction cup 1501, a jig suction cup connecting group 1502, a jig suction cup vertical module 1503, and a jig suction cup mounting plate 1504. One end of the jig suction cup connecting group 1502 is connected to a slider of the jig suction cup vertical module 1503, and the other end of the jig suction cup connecting group 1502 is connected to the jig suction cup mounting plate 1504. Multiple cover plate suction cups 1501 are connected to the jig suction cup mounting plate 1504.

[0031] The jig suction cup mechanism 15 is a mechanism for sucking up the jig. After the feeding lifting mechanism 4 positions the jig, the jig suction cup mechanism 15 descends to suck up the jig. After reaching a certain height, the jig transport mechanism 8 fixes the jig. After fixation, the jig suction cup mechanism 15 sucks the upper cover plate of the jig and continues to move upward. It stops after reaching a certain height. After the inner plate of the jig is replaced, the jig suction cup mechanism 15 descends to cover the upper cover plate of the jig back onto the jig. The jig suction cup vertical module 1503 drives multiple cover plate suction cups 1501 to achieve lifting and lowering movement through the jig suction cup connection group 1502 and the jig suction cup mounting plate 1504, so that the jig suction cup absorbs the jig and moves up and down. The multiple cover plate suction cups 1501 can adjust the position of the cover plate suction cup 1501 on the jig suction cup mounting plate 1504 according to the size of the jig sucked.

[0032] like Figures 8 to 11 As shown, the paper-separating grabbing material mechanism 7 includes a paper-separating grabbing Y-axis module 701, a paper-separating grabbing Z-axis module 702, and a module fixing frame 703. The paper-picking suction cup 14 includes a paper-separating grabbing connecting group 1401, a paper-separating suction cup mounting plate 1402, a paper-picking suction cup assembly 1403, a paper-picking shaking cylinder 1404, and a static eliminator 1405. The paper-separating grabbing Y-axis module 701 is installed on one side of the unloading platform group 3, and the paper-separating grabbing Z-axis module 702 is connected to the paper-separating grabbing Y-axis module 70 1, the module fixing frame 703 is connected to the paper partition grabbing Z-axis module 702, one end of the paper partition grabbing connection group 1401 is connected to the module fixing frame 703, the other end of the paper partition grabbing connection group 1401 is connected to the paper partition suction cup mounting plate 1402, the paper picking shaking cylinder 1404 and a plurality of paper picking suction cup assemblies 1403 are connected to the paper partition suction cup mounting plate 1402, and the static eliminator 1405 is installed on the paper partition grabbing connection group 1401 and connected to the paper partition suction cup mounting plate 1402.

[0033] The paper-separating material grabbing mechanism 7 is a mechanism for moving the film. Through the paper-separating material grabbing Y-axis module 701, the paper-separating material grabbing Z-axis module 702, and the module fixing frame 703, the paper-separating material grabbing suction cup 14 can be driven to realize arbitrary movement in the Y and Z directions. After the material-changing transverse movement mechanism 9 drives the paper-separating material grabbing suction cup 14 to move the processed plate to the material storage position 301 in the material unloading platform group 3, the paper-separating material grabbing module mechanism drives the paper-separating material grabbing suction cup 14 to move the film from the film placement position in the material unloading platform group 3 to the processed plate.

[0034] The paper picking suction cup 14 is a mechanism for sucking the film. After the jig picking suction cup 11 moves the processed plate into the material storage position 301 of the unloading platform group 3, the paper separation material grabbing module mechanism controls the paper picking suction cup 14 to suck up the film at the film placement position in the unloading platform group 3, and then shakes off the excess sucked film through the static eliminator 1405, the paper picking suction cup assembly 1403, and the paper picking shaking cylinder 1404, and then moves the film to the material storage position. The static eliminator 1405 is a device used to neutralize the static charge on the surface of an object to prevent dust, particles and other impurities caused by static adsorption from adhering to the surface of the product, and also to prevent excess film from sticking to the product through static electricity. The paper picking suction cup 14 is used to absorb the top layer of film, and the paper picking shaking cylinder 1404 shakes to make the excess sucked film fall off. The positions of the multiple paper picking suction cup assemblies 1403 on the paper separation suction cup mounting plate 1402 can be adjusted according to the size of the sucked film.

[0035] The unloading platform group 3 is a mechanism for placing processed plates and films, and is mainly composed of a material storage position 301 and a material box fixing platform 302. A material box for containing films is placed in the material box fixing platform 302.

[0036] like Figure 12 to Figure 14 As shown, the material changing transverse shift mechanism 9 includes a material changing vertical module 901, a material changing transverse shift module 902, and a material changing fixed frame 903. The fixture material picking suction cup 11 includes a material picking suction cup connection group 1101, a material picking suction cup mounting plate 1102, a material picking suction cup assembly 1103, and a depth sensor 1104. The material changing transverse shift module 902 is connected to the material changing fixed frame 903, the material changing vertical module 901 is slidably connected to the material changing transverse shift module 902, one end of the material picking suction cup connection group 1101 is slidably connected to the material changing vertical module 901, and the other end of the material picking suction cup connection group 1101 is connected to the material picking suction cup mounting plate 1102, and the depth sensor 1104 and multiple material picking suction cup assemblies 1103 are connected to the material picking suction cup mounting plate 1102.

[0037] The material changing transverse shifting mechanism 9 is a mechanism for moving plates. The material changing transverse shifting mechanism 9 moves to the top of the unprocessed material of the loading platform group 2, and descends to allow the loading suction cup 12 to suck the unprocessed plate. After sucking, it moves to the micro-motion clapper mechanism 10. After the fixture suction cup mechanism 15 sucks up the upper cover plate of the fixture, the material changing transverse shifting mechanism 9 drives the fixture material picking suction cup 11 to move the processed plate in the fixture to the material storage position 301 of the unloading platform group 3. When the plate is qualified, the micro-motion clapper mechanism 10 positions the plate, and the material changing transverse shifting mechanism 9 drives the fixture material picking suction cup 11 to move the plate from the micro-motion clapper mechanism 10 to the inside of the fixture. The material changing vertical module 901 and the material changing transverse shifting module 902 drive the fixture material picking suction cup 11 to realize the movement in the vertical and horizontal directions, thereby realizing the material changing and transportation of the plate.

[0038] The jig material picking suction cup 11 is a mechanism for sucking the processed plate. When the jig suction cup mechanism 15 sucks away the jig upper cover plate, the material change transverse movement mechanism 9 controls the jig material picking suction cup 11 to move the processed plate from the jig to the material storage group in the unloading platform group 3. The material picking suction cup assembly 1103 is used to directly suck the plate, and the depth sensor 1104 is used to detect the change in the depth information of the object surface in real time, thereby sensing the distance between the material picking suction cup assembly 1103 and the plate. Multiple material picking suction cup assemblies 1103 can adjust the position of the material picking suction cup assembly 1103 on the material picking suction cup mounting plate 1102 according to the size of the sucked plate.

[0039] like Fig.15 As shown, the loading suction cup 12 includes a loading connection group 1201, a loading suction cup mounting plate 1202, a loading suction cup assembly 1203, a shaking cylinder 1204, a blowing module 1205, a depth sensor 1206, an overlapping sensor 1207, a plate detector 1208, and an electrostatic eliminator 1209. One end of the loading connection group 1201 is slidably connected to the material changing and transverse shifting module 902, and the other end of the loading connection group 1201 is connected to the loading suction cup mounting plate 1202. The loading suction cup assembly 1203, the shaking cylinder 1204, the blowing module 1205, the depth sensor 1206, the overlapping sensor 1207, and the plate detector 1208 are respectively connected to the loading suction cup mounting plate 1202, and the electrostatic eliminator 1209 is respectively connected to the loading connection group 1201 and the loading suction cup mounting plate 1202.

[0040] The loading suction cup 12 is a mechanism for sucking unprocessed plates. The material changing and transverse shifting mechanism 9 controls the loading suction cup 12 to suck up the unprocessed plates from the loading platform group 2, and determines whether multiple plates are sucked up through the overlapping sensor group 1207. If multiple plates are sucked up, the static electricity on the plates is eliminated through the static eliminator 1209, and then the excess plates and the film separated in the middle are shaken off or blown off by the shaking cylinder 1204 and the blowing group, and then moved to the micro-motion clapper platform. The overlapping sensor 1207 uses a black diamond sensor to detect the overlapping of metal sheets during the feeding process; the loading suction cup assembly 1203 is used to directly suck up the plates, and the depth sensor 1206 is used to detect the change in the depth information of the object surface in real time, thereby sensing the distance between the material taking suction cup assembly 1103 and the plates; the plate detector 1208 is used to detect whether the suction cup assembly has sucked up the plates. The positions of the multiple loading suction cup assemblies 1203 on the loading suction cup mounting plate 1202 can be adjusted according to the size of the sucked plate.

[0041] like Figures 16 to 19As shown, the three-axis material grabbing mechanism 6 includes a material grabbing X-axis module 601, a material grabbing Y-axis module 602, and a material grabbing Z-axis module 603. The plate film suction cup 13 includes a material grabbing connection group 1301, a material grabbing suction cup mounting plate 1302, a plate film suction cup assembly 1303, and an electrostatic eliminator 1304. The material grabbing Z-axis module 603 is slidably connected to the material grabbing X-axis module 601, and the material grabbing Y-axis module 602 is slidably connected to the plate film suction cup assembly 1303. It is connected to the grabbing material Z-axis module 603, one end of the grabbing material connection group 1301 is slidably connected to the grabbing material Y-axis module 602, the other end of the grabbing material connection group 1301 is connected to the grabbing material suction cup mounting plate 1302, a plurality of plate film suction cup assemblies 1303 are connected to the grabbing material suction cup mounting plate 1302, and the static eliminator 1304 is installed on the grabbing material connection group 1301 and connected to the grabbing material suction cup mounting plate 1302.

[0042] The three-axis material grabbing mechanism 6 is a mechanism for moving films and NG boards. Through the material grabbing X-axis module 601, the material grabbing Y-axis module 602, and the material grabbing Z-axis module 603, arbitrary movement in the three directions of X, Y, and Z can be achieved. After the loading suction cup 12 sucks away the plate, the three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to suck up the film in the unprocessed material box in the loading platform group 2, and then put it on the film placement position of the loading platform group 2. If the plate is judged to be in NG state on the micro-motion clapping mechanism 10, the three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to move the NG plate from the micro-motion clapping mechanism 10 to the NG board placement position in the loading platform group 2.

[0043] The plate film suction cup 13 is a mechanism for sucking unprocessed plates and films. After the loading suction cup 12 moves the unprocessed plates to the micro-motion clapper mechanism 10, the three-axis material grabbing mechanism 6 controls the plate film suction cup 13 to suck up the films separating the unprocessed plates in the loading platform group 2, and shakes off the excess plates or films sucked up through the static eliminator 1304 and the plate film suction cup 13, and then moves to the film placement position in the loading platform group 2. The multiple plate film suction cup assemblies 1303 can adjust the position of the plate film suction cup assemblies 1303 on the grabbing material suction cup mounting plate 1302 according to the size of the sucked plates or films.

[0044] The loading platform group 2 is a mechanism for placing unprocessed panels, NG panels, and films, and is mainly composed of an unprocessed material storage plate 201, an NG material storage plate 202, and a material box fixing platform 203. A material box for film is placed in the material box fixing platform 203.

[0045] like Fig. 20As shown, the semi-automatic plasma loading and unloading machine suitable for FPC also includes a dust suction mechanism 16, which is located below the jig transporting mechanism 8. The dust suction mechanism 16 includes a telescopic cylinder 1601, a telescopic plate 1602, an air suction port 1603, an industrial vacuum cleaner 1604, and a vacuum cleaner cover 1605. The industrial vacuum cleaner 1604 is installed in the vacuum cleaner cover 1605, the telescopic cylinder 1601 is connected above the vacuum cleaner cover 1605, the telescopic plate 1602 is connected to the output end of the telescopic cylinder 1601, the air suction port 1603 is arranged on the telescopic plate 1602, the air suction port 1603 faces the jig transporting mechanism 8, the telescopic plate 1602 is provided with a dust suction pipe interface 1606, the air suction port 1603 is connected to the dust suction pipe interface 1606, and the dust suction pipe interface 1606 is connected to the industrial vacuum cleaner 1604 through the dust suction pipe.

[0046] The dust suction mechanism 16 is used to suck away dust on the jig. When the jig transport mechanism 8 fixes the jig, the telescopic cylinder 1601 drives the telescopic plate 1602 to extend and retract, driving the suction port 1603 to suck the dust on the jig surface into the industrial vacuum cleaner 1604 through the dust suction pipe. Extending to retracting is a dust suction cycle, which effectively cleans the jig surface.

[0047] The present invention is applicable to the working process of the semi-automatic plasma loading and unloading machine of FPC: S1. The JIG trolley 401 / 501 loaded with the fixture is pushed into the loading station 101, and the empty JIG trolley 401 / 501 is pushed into the unloading station 102.

[0048] S2. When the proximity sensor of the loading station 101 or the unloading station 102 senses that the JIG trolley 401 / 501 has arrived at the specified position, the loading lifting mechanism 4 rises to lift the fixture to the material taking height, and the unloading lifting mechanism 5 rises to raise the tooth fork 403 / 503 to the material receiving height.

[0049] S3. After reaching the material taking height, the loading lifting mechanism 4 positions the first jig at the top, and after positioning, the jig suction cup mechanism 15 sucks the jig up to the jig transport height.

[0050] S4. After the jig transporting mechanism 8 senses the jig, the transporting linear motor modules 804 on both sides of the jig transporting mechanism 8 respectively drive the anti-stupid edge 801 of the jig lower plate and the jig lower plate mechanism 802 to extend to position the jig. After positioning, the jig cylinder 807 of the anti-stupid edge 801 of the jig lower plate and the jig lower plate mechanism 802 closes to clamp the jig. After clamping, the jig suction cup mechanism 15 continues to rise, driving the jig upper cover plate to reach a certain height and then stop.

[0051] S5. The material changing and transverse shifting mechanism 9 drives the fixture material taking suction cup 11 to move the processed plate from the fixture to the material storage position 301 of the unloading platform group 3.

[0052] S6. The paper-separating material grabbing mechanism 7 moves the film from the film placement position of the unloading platform group 3 to the material storage position 301 of the unloading platform group 3.

[0053] S7. The three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to move the film from the unprocessed plate placement position of the loading platform group 2 to the film placement position.

[0054] S8. The material changing and transverse shifting mechanism 9 drives the loading suction cup 12 to move the unprocessed panel from the unprocessed panel placement position in the loading platform group 2 to the micro-motion clapper mechanism 10.

[0055] S9. After the micro-motion clapping mechanism 10 aligns the plate, the plate image is fed back to the control system through the CCD camera. The control system determines the plate position and plate production status through image analysis to determine whether the plate is NG. If NG, the three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to move the NG plate from the micro-motion clapping mechanism 10 to the NG plate placement position in the loading platform group 2, and then repeat S7 and S8. If the plate status is normal, the XYθ alignment robot 1002 at the bottom of the plate placement platform 1004 in the micro-motion clapping mechanism 10 is controlled by PLC to accurately position the plate according to the position analysis result of the control system.

[0056] S10. After positioning, the three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to move the unprocessed plate from the micro-motion clapper mechanism 10 to the fixture.

[0057] S11. After the unprocessed plate is placed on the jig, the jig suction cup mechanism 15 descends to put the jig upper cover back on the jig.

[0058] S12. After the cover is put back, the jig pin detection camera group 805 and the jig pin detection horizontal camera group 806 on the jig transport mechanism 8 determine whether the jig upper cover is closed.

[0059] S13. If the cover is completed, the jig transport mechanism 8 moves the jig from above the loading lifting mechanism 4 to above the unloading lifting mechanism 5. If the cover is not completed, the jig suction cup mechanism 15 is controlled to descend again to cover the jig upper cover back onto the jig.

[0060] S14. After the jig reaches above the material unloading lifting mechanism 5, the jig transporting mechanism 8 places the jig from above the material unloading lifting mechanism 5 onto the tooth fork 403 / 503 of the material unloading lifting mechanism 5.

[0061] S15. After the jig is placed on the tooth fork 403 / 503, the material unloading lifting mechanism 5 is lowered to a certain height.

[0062] S16. Start to cycle the steps of S3 to S15 until the JIG trolley 401 / 501 is full.

[0063] Compared with the prior art, the semi-automatic plasma loading and unloading machine of the present invention is applicable to FPC and has the following advantages: (1) By performing a fixed inspection using the jig pin detection camera group 805 and the jig pin detection horizontal camera group 806, it is possible to more accurately determine whether the jig upper cover is properly covered; (2) Correction detection through the micro-motion plate-clamping mechanism 10 can more accurately determine whether the plate is placed correctly; (3) The whole machine realizes the automatic loading and unloading operation of flexible circuit boards, reduces the labor intensity and improves the efficiency of fixture board replacement; (4) The plate placing platform 1004 adopts the structure of an air floating platform, which can reduce the wear of the plates on the platform and improve the qualified rate of the plates; (5) The multiple mechanisms of the whole machine form a multi-layer structure, which has high space utilization, small footprint and wide application range; (6) The various mechanisms of the whole machine can be adjusted according to panels of different sizes and can adapt to panels of multiple sizes; (7) It has CCD camera positioning and code reading functions, which improves production yield and facilitates the realization of production process traceability.

[0064] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A semi-automatic plasma loading and unloading machine suitable for FPC, characterized in that: It includes a loading platform group, a unloading platform group, a loading lifting mechanism, a unloading lifting mechanism, a three-axis material grabbing mechanism, a paper separation material grabbing mechanism, a jig transporting mechanism, a material changing and transverse shifting mechanism, a micro-motion clapper mechanism, a jig material picking suction cup, a loading suction cup, a plate film suction cup, a paper picking suction cup, and a jig suction cup mechanism. The loading platform group is located on one side of the loading lifting mechanism, and the unloading platform group is located on one side of the unloading lifting mechanism. The jig suction cup mechanism is located above the loading lifting mechanism and sucks up the jig in the loading lifting mechanism. The jig transporting mechanism is located on the rising path of the jig suction cup mechanism. The jig transporting mechanism moves between the loading lifting mechanism and the unloading lifting mechanism. After the jig transporting mechanism clamps the lower cover plate of the jig, the jig suction cup mechanism sucks up the upper cover plate of the jig and continues Rise, the jig material picking suction cup is installed on the material changing transverse shifting mechanism, and the material changing transverse shifting mechanism drives the jig material picking suction cup to move between the jig clamped by the jig transporting mechanism and the material storage position of the unloading platform group, the paper picking suction cup is installed on the paper separation grabbing mechanism, and the paper separation grabbing mechanism drives the paper picking suction cup to move between the film storage position of the unloading platform group and the material storage position of the unloading platform group, the plate film suction cup is installed on the three-axis grabbing mechanism, and the three-axis grabbing mechanism drives the plate film suction cup to move between the jig clamped by the loading platform group, the micro-motion clapping mechanism, and the jig transporting mechanism, the loading suction cup is installed on the material changing transverse shifting mechanism, and the material changing transverse shifting mechanism drives the loading suction cup to move between the unprocessed plate placement position of the loading platform group and the micro-motion clapping mechanism.

2. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The loading and unloading lifting mechanism and the unloading and loading lifting mechanism both include a JIG trolley, a trolley guide rail, a tooth fork lifting module, a tooth fork, and a trolley lock. The trolley guide rail is installed on the ground and forms a loading and unloading parking position for accommodating the JIG trolley. The JIG trolley is pushed into the loading and unloading parking position along the trolley guide rail. The tooth fork is connected to the tooth fork lifting module. The tooth fork receives the fixture. The tooth fork lifting module drives the tooth fork to move up and down. The trolley lock is connected to the wheel of the JIG trolley. The loading and loading lifting mechanism also includes a front positioning mechanism for sucking the fixture. The front positioning mechanism for sucking the fixture is installed on the top of the loading parking position and senses the topmost fixture.

3. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The jig transport mechanism includes a jig lower plate anti-stupid edge clamp, a jig lower plate clamping mechanism, a cylinder lifting suction cup, a transport linear motor module, a jig pin detection camera group, and a jig pin detection horizontal camera group. The jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism are respectively connected to the transport linear motor module. The jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism are both provided with a jig clamping cylinder. The jig lower plate anti-stupid edge clamp and the jig lower plate clamping mechanism move toward the middle jig and clamp the jig under the drive of the jig clamping cylinder. The transport linear motor module drives the clamped jig to move between the loading lifting mechanism and the unloading lifting mechanism. The cylinder lifting suction cup is installed above the unloading lifting mechanism and aligns the position of the jig. The jig pin detection camera group and the jig pin detection horizontal camera group are installed above the loading lifting mechanism. The jig pin detection camera group is aligned with the upper position of the jig for detection, and the jig pin detection horizontal camera group is aligned with the horizontal position of the jig for detection.

4. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The micro-motion clapper mechanism includes a deviation correction detection component, an alignment robot, a mobile camera group, a board placement platform, and a clapper assembly. The surface of the board placement platform is provided with a plurality of air vents. The plate is placed on the surface of the board placement platform. The clapper assembly is movably connected to the board placement platform, and the lens of the clapper assembly is aligned with the surface of the board placement platform. The alignment robot is connected to the bottom of the board placement platform. The deviation correction detection component and the mobile camera group are installed above the board placement platform and aligned with the surface of the board placement platform.

5. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The jig suction cup mechanism includes a cover plate suction cup, a jig suction cup connecting group, a jig suction cup vertical module, and a jig suction cup mounting plate. One end of the jig suction cup connecting group is connected to a slider of the jig suction cup vertical module, and the other end of the jig suction cup connecting group is connected to the jig suction cup mounting plate. A plurality of cover plate suction cups are connected to the jig suction cup mounting plate.

6. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The paper partition grabbing material mechanism includes a paper partition grabbing Y-axis module, a paper partition grabbing Z-axis module, and a module fixing frame. The paper picking suction cup includes a paper partition grabbing connection group, a paper partition suction cup mounting plate, a paper picking suction cup assembly, a paper picking shaking cylinder, and a static eliminator. The paper partition grabbing Y-axis module is installed on one side of the unloading platform group, the paper partition grabbing Z-axis module is connected to the paper partition grabbing Y-axis module, the module fixing frame is connected to the paper partition grabbing Z-axis module, one end of the paper partition grabbing connection group is connected to the module fixing frame, and the other end of the paper partition grabbing connection group is connected to the paper partition suction cup mounting plate, the paper picking shaking cylinder and multiple paper picking suction cup assemblies are connected to the paper partition suction cup mounting plate, and the static eliminator is installed on the paper partition grabbing connection group and connected to the paper partition suction cup mounting plate.

7. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The material changing and transverse shifting mechanism includes a material changing vertical module, a material changing and transverse shifting module, and a material changing fixed frame. The jig material picking suction cup includes a material picking suction cup connecting group, a material picking suction cup mounting plate, a material picking suction cup assembly, and a depth sensor. The material changing and transverse shifting module is connected to the material changing fixed frame. The material changing vertical module is slidably connected to the material changing and transverse shifting module. One end of the material picking suction cup connecting group is slidably connected to the material changing vertical module. The other end of the material picking suction cup connecting group is connected to the material picking suction cup mounting plate. The depth sensor and multiple material picking suction cup assemblies are connected to the material picking suction cup mounting plate.

8. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 7, characterized in that: The feeding suction cup includes a feeding connection group, a feeding suction cup mounting plate, a feeding suction cup assembly, a shaking cylinder, a blowing module, a depth sensor, an overlapping sensor, a plate detector, and an electrostatic eliminator. One end of the feeding connection group is slidingly connected to the material changing and transverse shifting module, and the other end of the feeding connection group is connected to the feeding suction cup mounting plate. The feeding suction cup assembly, the shaking cylinder, the blowing module, the depth sensor, the overlapping sensor, and the plate detector are respectively connected to the feeding suction cup mounting plate, and the electrostatic eliminator is respectively connected to the feeding connection group and the feeding suction cup mounting plate.

9. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: The three-axis material grabbing mechanism includes a material grabbing X-axis module, a material grabbing Y-axis module, and a material grabbing Z-axis module. The plate film suction cup includes a material grabbing connection group, a material grabbing suction cup mounting plate, a plate film suction cup assembly, and an electrostatic eliminator. The material grabbing Z-axis module is slidably connected to the material grabbing X-axis module, the material grabbing Y-axis module is slidably connected to the material grabbing Z-axis module, one end of the material grabbing connection group is slidably connected to the material grabbing Y-axis module, and the other end of the material grabbing connection group is connected to the material grabbing suction cup mounting plate. Multiple plate film suction cup assemblies are connected to the material grabbing suction cup mounting plate, and the electrostatic eliminator is installed on the material grabbing connection group and connected to the material grabbing suction cup mounting plate.

10. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 1, characterized in that: It also includes a dust suction mechanism, which is located below the jig transport mechanism. The dust suction mechanism includes a telescopic cylinder, a telescopic plate, an air suction port, an industrial vacuum cleaner, and a vacuum cleaner hood. The industrial vacuum cleaner is installed in the vacuum cleaner hood. The telescopic cylinder is connected above the vacuum cleaner hood. The telescopic plate is connected to the output end of the telescopic cylinder. The air suction port is arranged on the telescopic plate. The air suction port faces the jig transport mechanism. The telescopic plate is provided with a dust suction pipe interface. The air suction port is connected to the dust suction pipe interface. The dust suction pipe interface is connected to the industrial vacuum cleaner through the dust suction pipe.

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