A semi-automatic plasma loading and unloading machine suitable for FPC

Abstract

The present invention relates to the technical field of circuit board production, and more particularly to a semi-automatic plasma loading and unloading machine suitable for FPCs. The machine comprises a loading platform group, a unloading platform group, a loading and unloading lifting mechanism, a unloading and unloading lifting mechanism, a three-axis material grabbing mechanism, a paper-separating material grabbing mechanism, a fixture transport mechanism, a material-changing transverse movement mechanism, a micro-motion clapper mechanism, a fixture material-removing suction cup, a loading suction cup, a plate film suction cup, a paper-removing suction cup, and a fixture suction cup mechanism. The loading and unloading machine achieves the function of automatically replacing the panels within the fixture through the coordination between the various mechanisms, reducing manual labor intensity and improving the efficiency of fixture panel replacement. The entire machine adopts a multi-layer structure, resulting in high space utilization, a small footprint, and a wide range of applications.

Description

Technical Field

[0001] The present 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] Currently, the technology for automating the replacement of panels within a jig is not mature. Panel replacement within a jig is typically performed using a combination of a jig positioning machine and manual labor. Existing technology typically involves first positioning the jig using a machine, and then manually replacing the panels within the jig.

[0003] Currently, loading and unloading machines on the market cannot fully replace panels within jigs by machine, requiring manual intervention. This increases labor costs and hinders the implementation of fully automated equipment. Furthermore, these machines lack a jig pin detection function, requiring manual inspection to ensure that the jig is properly covered and positioned. They also lack a deflection detection function, requiring manual verification of panel failure. Without an air flotation platform, panels are susceptible to wear during the plate-setting and positioning processes, increasing the defect rate. Without a multi-layer structure, they occupy a large area and have a limited scope of application. Summary of the Invention

[0004] The present 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 machines 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 jig transporting mechanism, a material changing and transverse shifting mechanism, a micro-motion clapping 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, 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, and after the jig transporting mechanism clamps the lower cover plate of the jig, the jig suction cup mechanism sucks up the jig The upper cover plate of the tool, and then the tool transporting mechanism continues to rise, the tool picking suction cup is installed on the material changing transverse movement mechanism, and the material changing transverse movement mechanism drives the tool picking suction cup to move between the tool clamped by the tool transporting mechanism and the material storage position of the unloading platform group, the paper picking suction cup is installed on the paper partition grabbing mechanism, and the paper partition 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 loading platform group, the micro-motion clapping mechanism, and the tool transporting mechanism, the loading suction cup is installed on the material changing transverse movement mechanism, and the material changing transverse movement 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 parking space or an unloading parking space for accommodating the JIG trolley. The JIG trolley is pushed into the loading parking space or the unloading parking space along the trolley guide railing. The tooth fork is connected to the tooth fork lifting module, the tooth fork undertakes the fixture, and 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, which is installed on the top of the loading parking space and senses the topmost fixture.

[0007] As a further improvement of the present invention, the jig transport mechanism includes a jig lower plate anti-settling edge clamping mechanism, 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-settling edge clamping mechanism and the jig lower plate clamping mechanism are respectively connected to the transport linear motor module. The jig lower plate anti-settling edge clamping mechanism and the jig lower plate clamping mechanism are both provided with a jig clamping cylinder. The jig lower plate anti-settling edge clamping mechanism 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 mechanism includes a correction detection component, an alignment robot, a mobile camera group, a board placement platform, and a clapper component. The surface of the board placement platform is provided with multiple air vents. The plate is placed on the surface of the board placement platform. The clapper component is movably connected to the board placement platform, and the lens of the clapper component is aligned with the surface of the board placement platform. The alignment robot is connected to the bottom of the board placement platform. The 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.

[0009] As a further improvement of the present invention, the jig suction cup mechanism includes a cover plate suction cup, a jig suction cup connection group, a jig suction cup vertical module, and a jig suction cup mounting plate. One end of the jig suction cup connection group is connected to the slider of the jig suction cup vertical module, and the other end of the jig suction cup connection group is connected to the jig suction cup mounting plate. Multiple 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. 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 movement mechanism includes a material changing vertical module, a material changing and transverse movement module, and a material changing fixed frame. The jig material picking suction cup includes a material picking suction cup connection group, a material picking suction cup mounting plate, a material picking suction cup assembly, and a depth sensor. The material changing and transverse movement module is connected to the material changing fixed frame, the material changing vertical module is slidably connected to the material changing and transverse movement module, one end of the material picking suction cup connection group is slidably connected to the material changing vertical module, and the other end of the material picking suction cup connection 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 slidingly connected to the material changing and transverse movement 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 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 cover. The industrial vacuum cleaner is installed in the vacuum cleaner cover, the telescopic cylinder is connected above the vacuum cleaner cover, 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, 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: 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 jig panel replacement; the micro-motion clapper mechanism is provided with a correction detection component to more accurately judge whether the panels are placed correctly, and the panel placement platform adopts an air flotation method to contact the panels, which can reduce the wear of the panels on the platform and improve the qualified rate of the panels. The jig conveying mechanism is provided with a jig pin detection camera group and a jig pin detection horizontal camera group, which can more accurately judge whether the jig upper cover is covered by detecting the jig pins; the whole machine adopts a multi-layer structure, high space utilization, small footprint, and wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an external overall structural diagram of the semi-automatic plasma loading and unloading machine applicable to FPC of the present invention;

[0017] 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;

[0018] Figure 3 It is a structural diagram of the feeding and lifting mechanism of the present invention;

[0019] Figure 4 It is a structural diagram of the blanking and lifting mechanism of the present invention;

[0020] Figure 5 It is a structural diagram of the jig transport mechanism of the present invention;

[0021] Figure 6 It is a structural diagram of the micro-movement clapper mechanism of the present invention;

[0022] Figure 7 This is a structural diagram of the material taking suction cup of the jig of the present invention;

[0023] Figure 8 This is a structural diagram of the integrated paper grabbing mechanism, paper picking suction cup, and unloading platform assembly of the present invention;

[0024] Figure 9 This is a structural diagram of the separator paper grabbing material mechanism of the present invention;

[0025] Figure 10 It is a structural diagram of the paper taking sucker of the present invention;

[0026] Figure 11 It is a structural diagram of the blanking platform of the present invention;

[0027] Figure 12 This is a structural diagram of the integrated material changing and transverse movement mechanism, the fixture material taking suction cup, and the loading suction cup of the present invention;

[0028] Figure 13 This is a structural diagram of the material changing and transverse shifting mechanism of the present invention;

[0029] Figure 14 This is a structural diagram of the material taking suction cup of the jig of the present invention;

[0030] Figure 15 It is a structural diagram of the feeding suction cup of the present invention;

[0031] Figure 16 This is a structural diagram of the three-axis material grabbing mechanism, the plate film suction cup, and the loading platform group of the present invention;

[0032] Figure 17 This is a structural diagram of the three-axis material grabbing mechanism of the present invention;

[0033] Figure 18 This is a structural diagram of the plate film suction cup of the present invention;

[0034] Figure 19 It is a structural diagram of the feeding platform group of the present invention;

[0035] Figure 20 It is a structural diagram of the dust collection mechanism of the present invention. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0037] like Figures 1 to 2As shown, a semi-automatic plasma loading and unloading machine suitable for FPC of the present invention includes a loading platform group 2, a unloading platform group 3, a loading lifting mechanism 4, a unloading lifting mechanism 5, a three-axis grabbing mechanism 6, a paper separation grabbing mechanism 7, a jig transporting mechanism 8, a material changing and transverse shifting mechanism 9, a micro-motion clapping mechanism 10, a jig material picking suction cup 11, a loading suction cup 12, a plate film suction cup 13, a paper picking suction cup 14, and a jig suction cup mechanism 15. The loading platform group 2 is located on one side of the loading lifting mechanism 4, and the unloading platform group 3 is located on one side of the unloading lifting mechanism 5. The jig suction cup mechanism 15 is located above the loading lifting mechanism 4 and sucks up the jig in the loading lifting mechanism 4. The jig transporting mechanism 8 is located on the rising path of the jig suction cup mechanism 15. The jig transporting mechanism 8 moves between the loading lifting mechanism 4 and the unloading lifting mechanism 5. After the jig transporting mechanism 8 clamps the lower cover plate of the jig, the jig suction cup mechanism 15 sucks up the jig The upper cover plate of the jig transport mechanism 8 is then continued to rise, the jig picking suction cup 11 is installed on the material changing transverse movement mechanism 9, and the material changing transverse movement mechanism 9 drives the jig picking suction cup 11 to move between the jig clamped by the jig transport mechanism 8 and the material storage position 301 of the unloading platform group 3, and the paper picking suction cup 14 is installed on the paper separation grabbing mechanism 7, and the paper separation grabbing mechanism 7 drives the paper picking suction cup 14 to move between the film storage position of the unloading platform group 3 and the storage position of the unloading platform group 3. The plate film suction cup 13 moves between the material storage positions 301, and the plate film suction cup 13 is installed on the three-axis material grabbing mechanism 6. The three-axis material grabbing mechanism 6 drives the plate film suction cup 13 to move between the loading platform group 2, the micro-motion clapping mechanism 10, and the fixture clamped by the fixture conveying mechanism 8. The loading suction cup 12 is installed on the material changing and transverse moving mechanism 9. The material changing and transverse moving mechanism 9 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.

[0038] like Figure 1 As shown, this semi-automatic plasma loading and unloading machine for FPCs also includes a frame 1, a loading platform assembly 2, a unloading platform assembly 3, a loading and unloading lifting mechanism 4, a unloading and unloading lifting mechanism 5, a three-axis material grabbing mechanism 6, a paper-separating material grabbing mechanism 7, a fixture transport mechanism 8, a material-changing transverse movement mechanism 9, a micro-motion clapper mechanism 10, a fixture material-removing suction cup 11, a loading suction cup 12, a panel film suction cup 13, a paper-removing suction cup 14, a fixture suction cup mechanism 15, and a dust collection mechanism 16, all mounted on frame 1. Frame 1 supports the other mechanisms and serves as the overall framework of the machine. It primarily consists of a welding frame 1, a control mechanism, a sliding door assembly, and a panel sealing assembly. A FFU is also located on top of the machine to ensure internal cleanliness.

[0039] 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 and transverse shifting mechanism 9, the micro-motion clapping 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, and the fixture suction cup mechanism 15, the automated operation processes such as the separation or closing of the upper and lower covers of the fixture, the unloading of the cooked plate, the loading of the raw plate, and the loading of the film are realized, and finally a complete loading and unloading machine equipment suitable for the automated production of flexible circuit boards is achieved.

[0040] like Figure 3 and Figure 4 As shown, the loading and unloading 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, and 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.

[0041] The loading and lifting mechanism 4 is used to raise and lower jigs. When the fully loaded jig trolley 401 is in place, the fork lifting module 404 drives the fork 403 to lift the jigs stacked on the jig trolley 401 upward. When the jig front positioning mechanism 406 senses the top jig, the fork 403 stops rising, and the jig front positioning mechanism 406 positions and secures the jig.

[0042] The unloading and lifting mechanism 5 is used to raise and lower the jig. When the empty jig trolley 501 is in place, the fork lifting module 504 drives the fork 503 upward. When it reaches a certain height, the fork 503 stops rising. When the jig transport mechanism 8 moves the jig with the replaced panel onto the fork 503, the fork lifting module 504 drives the fork 503 downward.

[0043] The trolley guide rail 402 / 502 is used to locate the placement 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 and unloading parking space 101 or 102 along the side rollers. When pushed into 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 unloaded fixture. At the same time, after the JIG trolley 401 / 501 is pushed into 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.

[0044] like Figure 5 As shown, the jig transport mechanism 8 includes a clamping jig lower plate anti-mistake edge 801, a clamping 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 clamping jig lower plate anti-mistake edge 801 and the clamping jig lower plate mechanism 802 are respectively connected to the transport linear motor module 804. The clamping jig lower plate anti-mistake edge 801 and the clamping jig lower plate mechanism 802 are both provided with a clamping jig cylinder 807. The clamping jig lower plate anti-mistake edge 801 and the clamping jig lower plate mechanism 802 are connected to the transport linear motor module 804. Driven by cylinder 807, it moves toward the middle jig 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.

[0045] The jig transport mechanism 8 is a mechanism for moving jigs. The front positioning mechanism 406 of the feeding and 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-slip edge 801 and the jig lower plate clamping mechanism 802 move toward each other until the jig is clamped. The jig is then positioned by the jig pin detection camera group 805 and the jig pin detection horizontal camera group 806. After positioning, the lower cover of the jig is fixed with the jig lower plate anti-slip edge 801 and the jig lower plate clamping mechanism 802, and the upper cover of the jig is further 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 of the jig back on the lower cover of the jig. Since the upper cover and the lower cover of the jig are snap-fitted through pins and pin holes, the jig can be fixed by the jig conveying mechanism 8, and then the jig suction cup mechanism 15 rises to separate the upper cover and the lower cover. 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 lowering and engaging action again. If the engagement is completed, the linear motor module 804 will drive 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 will suck the jig and place it on the unloading lifting mechanism 5.

[0046] like Figure 6 As shown, the micro-motion clapper mechanism 10 includes a correction detection component 1001, an alignment robot 1002, a mobile camera group 1003, a board placement platform 1004 and a clapper component 1005. The surface of the board placement platform 1004 is provided with multiple air vents, and 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, and the 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.

[0047] The micro-motion clapper mechanism 10 is used to position panels. After the loading suction cup 12 places the unprocessed panel onto the micro-motion clapper mechanism 10, the panel is aligned using the panel placement platform 1004 and clapper assembly 1005. After alignment, the deviation correction detection assembly 1001, mobile camera group 1003, and alignment robot 1002 detect whether the panel is good or not. If not, the panel is positioned. Specifically, the panel placement platform 1004 is connected to an external air source, and air is released 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. This prevents direct contact between the panel and the panel placement platform 1004, which could cause wear on the panel surface. The clapper assembly 1005 is equipped with a clapper camera. After the panel is placed on the panel placement platform 1004, the clapper assembly 1005 drives the clapper camera to take a photo and scan the panel surface, which is then transmitted to the processing center. The processing center uses the photo to determine whether the panel has defects. If defects are present, the panel is considered defective material. The three-axis material gripping mechanism 6 drives the panel film suction cup 13 to place the defective material in the defective panel placement position. If there are no defects, the fixed camera and mobile camera group 1003 in the correction detection component 1001 position and photograph the panel. The alignment robot 1002 adjusts the panel's position based on the results of the photo positioning to complete the panel positioning. The correction detection component 1001 also has a reader terminal 1006, which can also scan the QR code on the fixture to enter relevant fixture information.

[0048] The alignment robot 1002 includes an X-axis fine-tuning slide, a Y-axis fine-tuning slide, a rotary fine-tuning plate, and a robot base. The robot base is fixedly mounted, 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 rotary 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 rotary fine-tuning plate. The X-axis fine-tuning slide can be fine-tuned left and right relative to the robot base, the Y-axis fine-tuning slide can be fine-tuned forward and backward relative to the X-axis fine-tuning slide, and the rotary fine-tuning plate can be rotated relative to the Y-axis fine-tuning slide. The X-axis fine-tuning slide, Y-axis fine-tuning slide, and rotary fine-tuning plate cooperate to adjust the position of the panel placement platform 1004 in the XYθ direction, thereby completing the alignment of the panels.

[0049] like Figure 7 As shown, the jig suction cup mechanism 15 includes a cover 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 the 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 suction cups 1501 are connected to the jig suction cup mounting plate 1504.

[0050] The jig suction cup mechanism 15 is a mechanism for sucking up the jig. After the loading and 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 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 put the upper cover of the jig back on the jig. The jig suction cup vertical module 1503 drives the 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, thereby allowing the jig suction cup to absorb the jig and move it up and down. The multiple cover plate suction cups 1501 can adjust the position of the cover plate suction cups 1501 on the jig suction cup mounting plate 1504 according to the size of the jig being sucked.

[0051] like Figures 8 to 11 As shown, the paper grabbing material mechanism 7 includes a paper grabbing Y-axis module 701, a paper grabbing Z-axis module 702, and a module fixing frame 703. The paper picking suction cup 14 includes a paper grabbing connection group 1401, a paper grabbing suction cup mounting plate 1402, a paper grabbing suction cup assembly 1403, a paper grabbing shaking cylinder 1404, and an electrostatic eliminator 1405. The paper grabbing Y-axis module 701 is installed on one side of the unloading platform group 3, and the paper grabbing Z-axis module 702 is connected to the paper 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 multiple 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.

[0052] The paper-separating gripper mechanism 7 is used to move the film. Through the paper-separating gripper Y-axis module 701, the paper-separating gripper Z-axis module 702, and the module mounting bracket 703, it can drive the paper-separating suction cup 14 to achieve arbitrary movement in the Y and Z directions. After the material-changing transverse movement mechanism 9 drives the paper-separating suction cup 14 to move the processed panel to the material storage position 301 within the unloading platform assembly 3, the paper-separating gripper module mechanism drives the paper-separating suction cup 14 to move the film from the film storage position within the unloading platform assembly 3 onto the processed panel.

[0053] 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 impurities such as dust and particles 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 pickup suction cup assemblies 1403 on the paper separation suction cup mounting plate 1402 can be adjusted according to the size of the film to be sucked.

[0054] 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 holding films is placed in the material box fixing platform 302.

[0055] like Figures 12 to 14 As shown, the material changing and transverse movement mechanism 9 includes a material changing vertical module 901, a material changing transverse movement 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 and transverse movement module 902 is connected to the material changing fixed frame 903; the material changing vertical module 901 is slidably connected to the material changing and transverse movement module 902; one end of the material picking suction cup connection group 1101 is slidably connected to the material changing vertical module 901; the other end of the material picking suction cup connection group 1101 is connected to the material picking suction cup mounting plate 1102; the depth sensor 1104 and multiple material picking suction cup assemblies 1103 are connected to the material picking suction cup mounting plate 1102.

[0056] The material-changing transverse movement mechanism 9 is a mechanism for moving plates. The material-changing transverse movement mechanism 9 moves to the top of the unprocessed material on the loading platform group 2, and descends to allow the loading suction cup 12 to suck the unprocessed plate. After sucking it, it moves to the micro-motion clapping mechanism 10. After the fixture suction cup mechanism 15 sucks up the upper cover of the fixture, the material-changing transverse movement mechanism 9 drives the fixture material-retrieving 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 clapping mechanism 10 positions the plate, and the material-changing transverse movement mechanism 9 drives the fixture material-retrieving suction cup 11 to move the plate from the micro-motion clapping mechanism 10 to the inside of the fixture. The material-changing vertical module 901 and the material-changing transverse movement module 902 drive the fixture material-retrieving suction cup 11 to realize movement in the vertical and horizontal directions, thereby realizing material-changing and transporting of plates.

[0057] The jig pick-up suction cup 11 is a mechanism for sucking up processed panels. After the jig suction cup mechanism 15 removes the jig cover, the material exchange and transverse movement mechanism 9 controls the jig pick-up suction cup 11 to move the processed panels from the jig to the material storage group of the unloading platform group 3. The pick-up suction cup assembly 1103 is used to directly pick up panels, and the depth sensor 1104 is used to detect changes in the depth information of the object surface in real time, thereby sensing the distance between the pick-up suction cup assembly 1103 and the panel. Multiple pick-up suction cup assemblies 1103 can be adjusted in position on the pick-up suction cup mounting plate 1102 according to the size of the panel being picked up.

[0058] like Figure 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 overlap sensor 1207, a plate detector 1208, and an electrostatic eliminator 1209. One end of the loading connection group 1201 is slidingly connected to the material changing and transverse movement 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 overlap 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.

[0059] The loading suction cup 12 is a mechanism for sucking up unprocessed plates. The material changing and transverse movement mechanism 9 controls the loading suction cup 12 to suck up the unprocessed plates from the loading platform group 2. The overlapping sensor group 1207 determines whether multiple plates are sucked up. If multiple plates are sucked up, the static electricity on the plates is eliminated by the static eliminator 1209. Then, the shaking cylinder 1204 and the blowing group are used to shake off or blow off the excess plates and the film separating them in the middle, and then move them 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 plates, and the depth sensor 1206 is used to detect the real-time change in the depth information of the object surface, thereby sensing the distance between the material picking suction cup assembly 1103 and the plate; the plate detector 1208 is used to detect whether the suction cup assembly has sucked up the plate. 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 panels.

[0060] 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, multiple 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.

[0061] The three-axis material grabbing mechanism 6 is used to move films and NG boards. Through the X-axis module 601, the Y-axis module 602, and the Z-axis module 603, arbitrary movement in the X, Y, and Z directions is possible. After the loading suction cup 12 sucks the board away, the three-axis material grabbing mechanism 6 drives the board film suction cup 13 to suck up the film from the unprocessed material box in the loading platform group 2 and then place it on the film placement position of the loading platform group 2. If the board is judged to be in an NG state by the micro-motion clapping mechanism 10, the three-axis material grabbing mechanism 6 drives the board film suction cup 13 to move the NG board from the micro-motion clapping mechanism 10 to the NG board placement position in the loading platform group 2.

[0062] The plate and film suction cups 13 are used to hold unprocessed plates and films. After the loading suction cups 12 move the unprocessed plates onto the micro-motion clapper mechanism 10, the three-axis material handling mechanism 6 controls the plate and film suction cups 13 to pick up the films separating the unprocessed plates from the loading platform assembly 2. Excessive plates or films are shaken off by the static eliminator 1304 and the plate and film suction cups 13, and then the plates and films are moved to the film placement position within the loading platform assembly 2. Multiple plate and film suction cup assemblies 1303 can be adjusted in position on the material handling suction cup mounting plate 1302 according to the size of the plates or films being handled.

[0063] 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.

[0064] like Figure 20As shown, the semi-automatic plasma loading and unloading machine suitable for FPC also includes a dust collection mechanism 16, which is located below the jig transport mechanism 8. The dust collection 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 set on the telescopic plate 1602, and the air suction port 1603 faces the jig transport 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.

[0065] The dust collection mechanism 16 is used to remove dust from the jig. After the jig transport mechanism 8 secures the jig, the telescopic cylinder 1601 drives the telescopic plate 1602 to extend and retract, driving the suction port 1603 to suck dust from the jig surface through the suction pipe into the industrial vacuum cleaner 1604. This extension and retraction cycle effectively cleans the jig surface.

[0066] The present invention is applicable to the working process of the semi-automatic plasma loading and unloading machine of FPC:

[0067] S1. The JIG trolley 401 / 501 loaded with the fixture is pushed into the loading station 101, while the empty JIG trolley 401 / 501 is pushed into the unloading station 102.

[0068] S2. When the proximity sensor of the loading parking space 101 or the unloading parking space 102 senses that the JIG trolley 401 / 501 has arrived at the designated position, the loading lifting mechanism 4 rises to lift the fixture to the material removal height, and the unloading lifting mechanism 5 rises to raise the tooth fork 403 / 503 to the material receiving height.

[0069] 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 handling height.

[0070] S4. After the jig transport mechanism 8 senses the jig, the transport linear motor modules 804 on both sides of the jig transport mechanism 8 respectively drive the anti-slip 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-slip 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 to reach a certain height and then stop.

[0071] S5. The material changing and transverse movement 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.

[0072] 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.

[0073] 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.

[0074] S8. The material changing and transverse movement mechanism 9 drives the loading suction cup 12 to move the unprocessed plate from the unprocessed plate placement position in the loading platform group 2 to the micro-motion clapper mechanism 10.

[0075] S9. After the micro-motion clapper mechanism 10 has aligned the panel, a CCD camera feeds the panel image back to the control system. The control system analyzes the image to determine the panel's position and production status, and determines whether the panel is good or bad. If so, the three-axis gripper mechanism 6 drives the panel film suction cup 13 to move the good panel from the micro-motion clapper mechanism 10 to the good panel placement position within the loading platform assembly 2, and then repeats S7 and S8. If the panel is in good condition, the PLC controls the XYθ alignment robot 1002 at the bottom of the loading platform 1004 within the micro-motion clapper mechanism 10 based on the control system's position analysis results to precisely position the panel.

[0076] 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 clapping mechanism 10 to the fixture.

[0077] S11. After the unprocessed plate is placed on the jig, the jig suction cup mechanism 15 descends and puts the jig upper cover back on the jig.

[0078] S12. After the cover is put back on, the jig pin detection camera group 805 and the jig pin level detection camera group 806 on the jig transport mechanism 8 determine whether the jig cover is properly covered.

[0079] S13. If the cover is completed, the jig transport mechanism 8 moves the jig from above the loading and unloading lifting mechanism 4 to above the unloading and unloading lifting mechanism 5. If the cover is not completed, the jig suction cup mechanism 15 is controlled to descend again to put the jig upper cover back on the jig.

[0080] S14. After the jig reaches the top of the blanking lifting mechanism 5, the jig transporting mechanism 8 places the jig from the top of the blanking lifting mechanism 5 to the tooth fork 403 / 503 of the blanking lifting mechanism 5.

[0081] S15. After the fixture is placed on the tooth fork 403 / 503, the material unloading lifting mechanism 5 is lowered to a certain height.

[0082] S16. Start looping steps S3 to S15 until the JIG trolley 401 / 501 is full.

[0083] Compared with the prior art, the advantages of the semi-automatic plasma loading and unloading machine for FPC of the present invention are as follows:

[0084] (1) By performing a fixed inspection using the jig pin detection camera group 805 and the jig pin detection level camera group 806, it is possible to more accurately determine whether the jig cover is properly covered;

[0085] (2) Correction detection through the micro-motion clapper mechanism 10 can more accurately determine whether the plate is placed correctly;

[0086] (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;

[0087] (4) The plate placing platform 1004 adopts the structure of air flotation platform, which can reduce the wear of the plates on the platform and improve the qualified rate of the plates;

[0088] (5) The multiple mechanisms of the whole machine form a multi-layer structure, which has high space utilization, small footprint and wide application range;

[0089] (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;

[0090] (7) It has CCD camera positioning and code reading functions, which improves the production yield rate and facilitates the realization of production process traceability.

[0091] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall 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 loading platform group, a loading lifting mechanism, a loading 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 loading 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 then the jig is moved The transport mechanism continues to rise, and the jig picking suction cup is installed on the material changing transverse movement mechanism, which drives the jig picking suction cup to move between the jig clamped by the jig transport mechanism and the material storage position of the unloading platform group; the paper picking suction cup is installed on the paper separation grabbing mechanism, which 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, which drives the plate film suction cup to move between the loading platform group, the micro-motion clapping mechanism, and the jig transport mechanism; the loading suction cup is installed on the material changing transverse movement mechanism, which drives the loading suction cup to move between the unprocessed plate placement position of the loading platform group and the micro-motion clapping mechanism; The jig transport mechanism includes a jig lower plate anti-study edge clamping mechanism, 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-study edge clamping mechanism and the jig lower plate clamping mechanism are respectively connected to the transport linear motor module. The jig lower plate anti-study edge clamping mechanism and the jig lower plate clamping mechanism are both provided with a jig clamping cylinder. The jig lower plate anti-study edge clamping mechanism 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 jig lower plate anti-study edge clamping mechanism and the jig lower plate clamping mechanism move toward the middle jig and clamp the jig. 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. The micro-motion clapper mechanism includes a correction detection component, an alignment robot, a mobile camera group, a board platform, and a clapper component. The surface of the board platform is provided with multiple air vents. The plate is placed on the surface of the board platform. The clapper component is movably connected to the board platform, and the lens of the clapper component is aligned with the surface of the board platform. The alignment robot is connected to the bottom of the board platform. The correction detection component and the mobile camera group are installed above the board platform and aligned with the surface of the board platform.

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 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 space for accommodating the JIG trolley. The JIG trolley is pushed into the loading or unloading parking space along the trolley guide railing. The tooth fork is connected to the tooth fork lifting module. The tooth fork undertakes 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 space 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 suction cup mechanism includes a cover plate suction cup, a jig suction cup connection group, a jig suction cup vertical module, and a jig suction cup mounting plate. One end of the jig suction cup connection group is connected to the slider of the jig suction cup vertical module, and the other end of the jig suction cup connection group is connected to the jig suction cup mounting plate. Multiple cover plate suction cups are connected to the jig suction cup mounting plate.

4. 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 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. The electrostatic eliminator is installed on the paper partition grabbing connection group and connected to the paper partition suction cup mounting plate.

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

6. The semi-automatic plasma loading and unloading machine suitable for FPC according to claim 5, characterized in that: 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 slidingly connected to the material changing and transverse movement 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.

7. 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, and 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. The electrostatic eliminator is installed on the material grabbing connection group and connected to the material grabbing suction cup mounting plate.

8. 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 cover. The industrial vacuum cleaner is installed in the vacuum cleaner cover. The telescopic cylinder is connected above the vacuum cleaner cover. 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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