Method for bending and forming flexible circuit board

Abstract

The invention discloses a method for bending and forming a flexible circuit board, and the method is executed by bending equipment which comprises a manipulator, a camera assembly and a bending assembly. The method comprises the following steps: acquiring first coordinate information of a flexible circuit board identified by a camera assembly; according to the first coordinate information, controlling a manipulator to place the flexible circuit board in a bending area in the bending equipment; controlling a bending assembly to bend the flexible circuit board; second coordinate information, recognized by the camera assembly, of the bent flexible circuit board and third coordinate information, recognized by the camera assembly, of the idle carrier are obtained, and the mechanical arm is controlled to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information. According to the technical scheme, the bending efficiency and the bending capacity can be greatly improved, meanwhile, the consistency of the bending angle and the bending position of the flexible circuit board can be guaranteed, the accuracy and the stability of bending operation are improved, and the expected precision requirement can be met.

Description

Technical Field

[0001] This invention relates to the field of electronic manufacturing technology, and in particular to a method for bending and forming flexible circuit boards. Background Technology

[0002] Currently, the bending technology for flexible circuit boards (PCBs) involves manual operation with the aid of auxiliary fixtures. The bending process is as follows: a person uses a suction pen to pick up the PCB from the carrier and place it into the acupoints of the bending auxiliary fixture platform; the person then uses both hands to simultaneously press down on the manual bending auxiliary fixture to bend the PCB; finally, the PCB is manually moved to the next station. This traditional manual operation mode takes approximately 40 seconds to bend one PCB, resulting in low efficiency and throughput. Furthermore, the manual operation mode cannot guarantee the consistency of the bending angle and position of the PCB, leading to poor accuracy and stability in the bending operation, failing to meet the expected precision requirements. Summary of the Invention

[0003] This invention provides a method for bending and forming flexible circuit boards to solve the problems of low efficiency and productivity, as well as poor accuracy and stability in bending operations caused by traditional manual operation modes.

[0004] In a first aspect, the present invention provides a method for bending and forming a flexible circuit board, wherein the bending and forming method is performed by a bending device, the bending device including a robotic arm, a camera assembly, and a bending assembly; the method for bending and forming a flexible circuit board includes:

[0005] Obtain the first coordinate information of the flexible circuit board identified by the camera component;

[0006] Based on the first coordinate information, the robot arm is controlled to place the flexible circuit board into the bending area of ​​the bending equipment;

[0007] Control the bending assembly to bend the flexible circuit board;

[0008] The system acquires the second coordinate information of the bent flexible circuit board identified by the camera component and the third coordinate information of the idle carrier. Based on the second and third coordinate information, the system controls the robot to place the bent flexible circuit board on the idle carrier.

[0009] Optionally, the camera assembly includes an upper camera and a lower camera; before acquiring the first coordinate information of the flexible circuit board recognized by the camera assembly, it also includes:

[0010] The robotic arm is controlled to fix the carrier containing the flexible circuit board onto the track of the bending equipment;

[0011] Control the upper camera to move to a position above the cargo carrier, and control the upper camera to take pictures of the flexible circuit board;

[0012] The identifier of the flexible circuit board recognized by the upper camera is obtained, and the front-end operation of the flexible circuit board is determined based on the identifier.

[0013] If the preceding work on the flexible circuit board has been completed, control the robotic arm to pick up the flexible circuit board and move it to the lower camera's position, then control the lower camera to take a picture of the flexible circuit board.

[0014] Optionally, after determining whether the front-end operations of the flexible circuit board are completed based on the markings, the following steps are also included:

[0015] If the preliminary work on the flexible circuit board is not completed, the robot arm is controlled to pick up the flexible circuit board and move it to the throwing area for throwing; and / or the alarm module is controlled to sound an alarm.

[0016] Optionally, based on the first coordinate information, the robotic arm is controlled to place the flexible circuit board into the bending area of ​​the bending equipment, including:

[0017] The distance information is calculated based on the first coordinate information and the fourth coordinate information of the bending area; the distance information is the distance between the flexible circuit board and the bending area.

[0018] Based on distance information, the robotic arm is controlled to place the flexible circuit board into the bending area of ​​the bending equipment.

[0019] Optionally, the bending device also includes a vacuum suction assembly located below the bending area and a vacuum blowing assembly located above the bending area; after the robotic arm is controlled to place the flexible circuit board into the bending area of ​​the bending device according to the first coordinate information, it further includes:

[0020] The vacuum suction component picks up the flexible circuit board, and the vacuum blowing component blows air onto the flexible circuit board.

[0021] Optionally, the bending assembly includes grippers; controlling the bending assembly to bend the flexible circuit board includes:

[0022] The gripper is controlled to grasp one side of the flexible circuit board and rotate 180° in a linear motion to bend the flexible circuit board.

[0023] Optionally, the bending equipment also includes a rolling assembly; after controlling the grippers to grasp one side of the flexible circuit board and controlling the grippers to rotate 180° in linear motion to achieve bending of the flexible circuit board, it further includes:

[0024] The rolling assembly is controlled to press the flexible circuit board at the bending position.

[0025] Optionally, the camera assembly includes an upper camera; acquiring second coordinate information of the bent flexible circuit board and third coordinate information of the idle carrier recognized by the camera assembly, and controlling the robot to place the bent flexible circuit board on the idle carrier based on the second and third coordinate information, including:

[0026] Control the upper camera to move to the bending area, and control the upper camera to take pictures of the flexible circuit board after bending.

[0027] Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0028] If the bending angle and bending position of the flexible circuit board after bending are normal, the second coordinate information of the flexible circuit board after bending, as recognized by the upper camera, is obtained.

[0029] Control the upper camera to move above the idle vehicle and take a picture of the idle vehicle;

[0030] Obtain the third coordinate information of the idle vehicle;

[0031] Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot is controlled to place the bent flexible circuit board onto the idle carrier.

[0032] Optionally, the camera assembly includes an upper camera and a lower camera; acquiring the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier recognized by the camera assembly, and controlling the robot to place the bent flexible circuit board on the idle carrier based on the second and third coordinate information, including:

[0033] The robot arm is controlled to pick up the bent flexible circuit board and move it to the position of the lower camera, and the lower camera is controlled to take pictures of the flexible circuit board.

[0034] Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0035] If the bending angle and bending position of the flexible circuit board after bending are normal, then the second coordinate information of the flexible circuit board after bending, as recognized by the lower camera, is obtained.

[0036] Control the upper camera to move above the idle vehicle and take a picture of the idle vehicle;

[0037] Obtain the third coordinate information of the idle vehicle;

[0038] Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot is controlled to place the bent flexible circuit board onto the idle carrier.

[0039] Optionally, after determining whether the bending angle and bending position of the flexible circuit board after bending are abnormal, the process also includes:

[0040] If the bending angle and bending position of the flexible circuit board after bending are abnormal, the robot arm is controlled to pick up the flexible circuit board after bending and move it to the throwing area for throwing; and / or the alarm module is controlled to sound an alarm.

[0041] The technical solution of this invention utilizes computer-controlled components such as a robotic arm, camera assembly, and bending assembly in a bending device to achieve the bending process of flexible circuit boards, thus employing a fully automated bending technology. Compared to traditional manual bending techniques, the technical solution of this invention can significantly improve bending efficiency and production capacity. Furthermore, the computer controls the bending assembly to bend the flexible circuit board based on pre-set bending angles and positions, ensuring consistency in the bending angles and positions, improving the accuracy and stability of the bending operation, and meeting the expected precision requirements.

[0042] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a bending device provided in an embodiment of the present invention;

[0045] Figure 2 This is a flowchart of a method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0046] Figure 3 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0047] Figure 4 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0048] Figure 5 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0049] Figure 6 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0050] Figure 7 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0051] Figure 8 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0052] Figure 9 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0053] Figure 10 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0054] Figure 11 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention;

[0055] Figure 12 This is a flowchart of another method for bending and forming a flexible circuit board according to an embodiment of the present invention. Detailed Implementation

[0056] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0058] Figure 1This is a schematic diagram of the structure of a bending device provided in an embodiment of the present invention. Figure 2 This is a flowchart of a method for bending and forming a flexible circuit board according to an embodiment of the present invention. The method for bending and forming the flexible circuit board is performed by a bending device, such as... Figure 1 As shown, the bending equipment includes a robotic arm 3, a camera assembly 2, and a bending assembly (…). Figure 1 (Not shown). For example... Figure 2 As shown, the method for bending and forming flexible circuit boards includes:

[0059] S100: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0060] Specifically, such as Figure 1 As shown, the bending device may include a track 1, on which a loading carrier area 11 and an idle carrier area 12 are provided. The loading carrier area 11 can be used to place the loading carrier, which can carry the flexible circuit board. The idle carrier area 12 can be used to place an idle carrier. The camera assembly 2 can identify the first coordinate information of the flexible circuit board. The flexible circuit board can be located in the loading carrier area 11, or it can be picked up by the robot arm 3 and placed at any position. The computer first obtains the first coordinate information of the flexible circuit board, that is, obtains the specific position of the flexible circuit board.

[0061] S110: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0062] Specifically, such as Figure 1 As shown, after the computer obtains the first coordinate information of the flexible circuit board, it controls the robot arm 3 to pick up the flexible circuit board and move it to the bending area 4 according to the first coordinate information and the pre-stored position information of the bending area 4. Figure 1 An exemplary bending device is shown, comprising four bending regions. In any other embodiment of the invention, the bending device may include any number of bending regions, without specific limitation herein. The computer controls the robotic arm 3 to pick up the flexible circuit board and place it into the idle bending region 4 based on the first coordinate information and the position information of the idle bending region 4.

[0063] S120: Controls the bending assembly to bend the flexible circuit board.

[0064] Specifically, such as Figure 1As shown, bending area 4 is equipped with a bending component. After the robotic arm 3 picks up the flexible circuit board and places it into the empty bending area 4, the computer controls the bending component to bend the flexible circuit board. Information such as the bending angle and bending position of the flexible circuit board can be preset in the computer. The computer controls the bending component to bend the flexible circuit board according to the preset bending angle and bending position. The bending angle and bending position of the flexible circuit board can be set according to actual conditions and are not specifically limited here.

[0065] S130: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0066] Specifically, such as Figure 1 As shown, after the flexible circuit boards in the loading vehicles placed in loading vehicle area 11 are all removed by the robotic arm, during the bending process of the flexible circuit boards, the loading vehicles can move along the direction of the vehicle flow on track 1 to the idle vehicle area 12. Alternatively, the loading vehicles placed in loading vehicle area 11 and the idle vehicles placed in idle vehicle area 12 may not be the same vehicle. The computer can control the robotic arm 3 to place loading vehicles in loading vehicle area 11 and idle vehicles in idle vehicle area 12 according to actual needs. After the flexible circuit boards are bent, the camera assembly 2 can obtain the second coordinate information of the bent flexible circuit boards, and the camera module 2 can also obtain the third coordinate information of the idle vehicles in idle vehicle area 12. The computer controls the robotic arm 3 to place the bent flexible circuit boards in the idle vehicles based on the second and third coordinate information, and the idle vehicles carry the bent flexible circuit boards to the next station.

[0067] The technical solution of this invention utilizes computer-controlled components such as a robotic arm, camera assembly, and bending assembly in a bending device to achieve the bending process of flexible circuit boards, thus employing a fully automated bending technology. Compared to traditional manual bending technology, the technical solution of this invention can significantly improve bending efficiency and production capacity. Furthermore, the computer controls the bending assembly to bend the flexible circuit board based on pre-set bending angles and positions, ensuring consistency in the bending angles and positions, improving the accuracy and stability of the bending operation, and meeting the expected precision requirements.

[0068] Optionally, based on the above embodiments, Figure 3 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 1 As shown, camera assembly 2 includes an upper camera 21 and a lower camera 22. Figure 3 As shown, the method for bending and forming flexible circuit boards includes:

[0069] S200: Control the robotic arm to fix the carrier carrying the flexible circuit board on the track of the bending equipment.

[0070] Specifically, such as Figure 1 As shown, the computer-controlled robotic arm 3 fixes the carrier carrying flexible circuit boards in the carrier area 11. The carrier can hold any number of flexible circuit boards according to the acupoints inside it.

[0071] S210: Control the upper camera to move to a position above the carrier and control the upper camera to take pictures of the flexible circuit board.

[0072] Specifically, such as Figure 1 As shown, the upper camera 21 can move arbitrarily in the X and Y directions. The computer controls the upper camera 21 to move to a position above the cargo carrier and controls the upper camera 21 to take pictures of the flexible circuit board in the cargo carrier and the acupoints in the cargo carrier. At this time, the computer can identify whether there is a flexible circuit board in the acupoints of the cargo carrier based on the pictures of the acupoints of the cargo carrier by the upper camera 21. If there is no flexible circuit board in a certain acupoint of the cargo carrier, the computer controls the upper camera 21 to move to the next adjacent acupoint for identification. If there is a flexible circuit board in a certain acupoint of the cargo carrier, the computer controls the upper camera 21 to take a picture of the flexible circuit board.

[0073] S220: Obtain the identifier of the flexible circuit board recognized by the upper camera, and determine whether the front-end operation of the flexible circuit board is completed based on the identifier.

[0074] Specifically, such as Figure 1 As shown, the computer acquires the identifier and first location information of the flexible circuit board captured by the camera 21. The computer compares the acquired product information of the flexible circuit board with the production management system to determine whether the preceding operations of the flexible circuit board are completed. For example, the preceding operations can be a film-peeling station. If the preceding operations of the flexible circuit board are completed, then S231 is executed.

[0075] S231: If the front-end work of the flexible circuit board has been completed, control the robot arm to pick up the flexible circuit board and move it to the position of the lower camera, and control the lower camera to take pictures of the flexible circuit board.

[0076] Specifically, such as Figure 1 As shown, if the computer determines that the front-end operation of the flexible circuit board has been completed, it controls the robot arm 3 to pick up the flexible circuit board and move it to the work position of the lower camera 22 based on the first position information of the flexible circuit board captured by the upper camera 21. The computer then controls the lower camera 22 to take a picture of the flexible circuit board.

[0077] S240: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0078] Specifically, such as Figure 1 As shown, the computer obtains the first coordinate information of the flexible circuit board captured and recognized by the lower camera 22.

[0079] S250: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0080] S260: Controls the bending assembly to bend the flexible circuit board.

[0081] S270: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0082] Optionally, based on the above embodiments, Figure 4 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 4 As shown, the method for bending and forming flexible circuit boards includes:

[0083] S300: Controls the robotic arm to secure a carrier containing flexible circuit boards onto the track of the bending equipment.

[0084] S310: Control the upper camera to move to a position above the cargo carrier, and control the upper camera to take pictures of the flexible circuit board.

[0085] S320: Obtain the identifier of the flexible circuit board recognized by the upper camera, and determine whether the front-end operation of the flexible circuit board is completed based on the identifier.

[0086] Specifically, if the front-end operations of the flexible circuit board are completed, then S331 is executed. If the front-end operations of the flexible circuit board are not completed, then S332 is executed.

[0087] S331: If the front-end work of the flexible circuit board has been completed, control the robot arm to pick up the flexible circuit board and move it to the position of the lower camera, and control the lower camera to take pictures of the flexible circuit board.

[0088] S340: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0089] Specifically, such as Figure 1 As shown, the computer obtains the first coordinate information of the flexible circuit board captured and recognized by the lower camera 22.

[0090] S350: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0091] S360: Controls the bending assembly to bend the flexible circuit board.

[0092] S370: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0093] S332: Controls the robotic arm to pick up the flexible circuit board and move it to the throwing area for throwing; and / or controls the alarm module to sound an alarm.

[0094] Specifically, such as Figure 1 As shown, if the initial processing of the flexible circuit board is not completed, the computer, based on the first position information of the flexible circuit board captured by the upper camera 21, controls the robotic arm 3 to pick up the flexible circuit board and move it to the throwing area for throwing processing; and / or the computer controls the alarm module to sound an alarm. The positions of the throwing area and the alarm module can be set according to actual needs. After the computer-controlled alarm module sounds an alarm, the operator can take appropriate action on the flexible circuit board whose initial processing was not completed based on the alarm position.

[0095] Optionally, based on the above embodiments, Figure 5 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 5 As shown, the method for bending and forming flexible circuit boards includes:

[0096] S400: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0097] S410: Calculate the distance information based on the first coordinate information and the fourth coordinate information of the bending area; the distance information is the distance between the flexible circuit board and the bending area.

[0098] Specifically, such as Figure 1 As shown, after obtaining the first coordinate information of the flexible circuit board, the computer calculates the distance information between the flexible circuit board and the empty bending area 4 based on the first coordinate information and the fourth coordinate information of the empty bending area 4.

[0099] S420: Based on distance information, control the robotic arm to place the flexible circuit board into the bending area of ​​the bending equipment.

[0100] Specifically, such as Figure 1 As shown, the computer controls the robotic arm 3 to pick up the flexible circuit board and place it in the vacant bending area 4 based on the calculated distance information.

[0101] S430: Controls the bending assembly to bend the flexible circuit board.

[0102] S440: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0103] Optionally, based on the above embodiments, Figure 6 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 1 As shown, the bending equipment also includes a vacuum suction assembly located below the bending area 4. Figure 1 (not shown) and the vacuum blowing assembly located above the bending area 4 ( Figure 1 (Not shown). For example... Figure 6 As shown, the method for bending and forming flexible circuit boards includes:

[0104] S500: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0105] S510: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0106] S520: The vacuum suction component picks up the flexible circuit board, and the vacuum blowing component blows air onto the flexible circuit board.

[0107] Specifically, such as Figure 1 As shown, a vacuum suction component can be installed below the bending area 4, and a vacuum blowing component can be installed above the bending area 4. Figure 1 The vacuum suction component and vacuum blowing component are not shown. After the computer-controlled robotic arm 3 places the flexible circuit board in the bending area, the vacuum suction component will pick up the flexible circuit board, and at the same time, the vacuum blowing component will blow air onto the flexible circuit board. This setting ensures that the flexible circuit board is placed flat in the bending area 4, avoiding inaccurate bending angles and positions caused by uneven placement of the flexible circuit board.

[0108] S530: Controls the bending assembly to bend the flexible circuit board.

[0109] S540: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0110] Optionally, based on the above embodiments, Figure 7This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 1 As shown, the bending assembly includes grippers ( Figure 1 (Not shown). For example... Figure 7 As shown, the method for bending and forming flexible circuit boards includes:

[0111] S600: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0112] S610: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0113] S620: Controls the gripper to grasp one side of the flexible circuit board and controls the gripper to rotate 180° in linear motion to achieve bending of the flexible circuit board.

[0114] Specifically, such as Figure 1 As shown, the bending assembly may include grippers. After the computer-controlled robotic arm 3 places the flexible circuit board in the bending area, the computer can control the grippers to grasp one side of the flexible circuit board and control the grippers to rotate 180° with one side of the flexible circuit board in a linear motion to achieve the bending effect of the flexible circuit board.

[0115] S630: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0116] Optionally, based on the above embodiments, Figure 8 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 1 As shown, the bending equipment also includes a rolling assembly ( Figure 1 (Not shown in the image). For example... Figure 8 As shown, the method for bending and forming flexible circuit boards includes:

[0117] S700: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0118] S710: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0119] S720: Controls the gripper to grasp one side of the flexible circuit board and controls the gripper to rotate 180° in linear motion to achieve bending of the flexible circuit board.

[0120] S730: Controls the rolling assembly to press the flexible circuit board at the bending position.

[0121] Specifically, such as Figure 1 As shown, the bending equipment may also include a rolling assembly. After the computer-controlled bending assembly bends the flexible circuit board, the computer-controlled rolling assembly presses the bent position of the flexible circuit board. This configuration ensures that the bent position of the flexible circuit board is flat and free of springback.

[0122] S740: Obtain the second coordinate information of the bent flexible circuit board recognized by the camera component and the third coordinate information of the idle carrier, and control the robot to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information.

[0123] Optionally, based on the above embodiments, Figure 9 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 9 As shown, the method for bending and forming flexible circuit boards includes:

[0124] S800: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0125] S810: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0126] S820: Controls the bending assembly to bend the flexible circuit board.

[0127] S830: Controls the upper camera to move to the bending area and controls the upper camera to take pictures of the flexible circuit board after bending.

[0128] Specifically, such as Figure 1 As shown, after the flexible circuit board is bent in the bending area 4, the computer controls the upper camera 21 to move to the bending area 4 where the flexible circuit board is bent, and the computer controls the upper camera 21 to take pictures and identify the flexible circuit board after bending.

[0129] S840: Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0130] Specifically, such as Figure 1 As shown, the computer acquires information such as the bending angle and bending position of the flexible circuit board captured by the camera 21, and compares it with the expected bending angle and bending position to determine whether the bending parameters of the flexible circuit board after bending are abnormal. If the bending parameters of the flexible circuit board after bending are normal, S851 is executed.

[0131] S851: Obtain the second coordinate information of the flexible circuit board after bending, as recognized by the upper camera.

[0132] Specifically, such as Figure 1 As shown, if the computer determines that the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are normal, when the upper camera 21 of the S830 takes a picture of the flexible circuit board after bending, the upper camera 21 can identify the second coordinate information of the flexible circuit board, and the computer obtains the second coordinate information of the flexible circuit board after bending identified by the upper camera 21.

[0133] S860: Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take a picture of the idle vehicle.

[0134] Specifically, the computer then controls the upper camera 21 to move to a position above the idle vehicle and controls the upper camera 21 to take pictures and identify the acupoints on the idle vehicle.

[0135] S870: Obtain the third coordinate information of the idle vehicle.

[0136] Specifically, such as Figure 1 As shown, the computer can obtain the third coordinate information of the vacant acupoints in the vacant vehicle as captured by the camera 21. If the computer fails to obtain the third coordinate information of the vacant acupoints in the vacant vehicle, it can control the alarm module to sound an alarm, reminding staff to take appropriate action.

[0137] S880: Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot is controlled to place the bent flexible circuit board onto the idle carrier.

[0138] Specifically, the computer calculates the distance between the bent flexible circuit board and the empty slots in the idle carrier based on the second and third coordinate information, and controls the robotic arm 3 to place the bent flexible circuit board onto the idle carrier based on the distance information. Repeating steps S830-S880, when all slots in the idle carrier have flexible circuit boards placed on them, the idle carrier carries the flexible circuit boards to the next station.

[0139] Optionally, based on the above embodiments, Figure 10 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 10 As shown, the method for bending and forming flexible circuit boards includes:

[0140] S900: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0141] S910: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0142] S920: Controls the bending assembly to bend the flexible circuit board.

[0143] S930: Controls the robotic arm to pick up the bent flexible circuit board and move it to the lower camera's position, and controls the lower camera to take pictures of the flexible circuit board.

[0144] Specifically, such as Figure 1 As shown, after the flexible circuit board is bent in the bending area 4, the computer-controlled robot 3 picks up the bent flexible circuit board and places it at the work station of the lower camera 22. Then, the computer-controlled lower camera 22 takes pictures of the flexible circuit board for recognition.

[0145] S940: Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0146] Specifically, such as Figure 1 As shown, the computer acquires information such as the bending angle and bending position of the flexible circuit board captured by the lower camera 22, and compares it with the expected bending angle and bending position to determine whether the bending parameters of the flexible circuit board after bending are abnormal. If the bending parameters of the flexible circuit board after bending are normal, S951 is executed.

[0147] S951: Obtain the second coordinate information of the flexible circuit board after bending, as recognized by the lower camera.

[0148] Specifically, such as Figure 1 As shown, if the computer determines that the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are normal, when the lower camera 22 takes a picture of the flexible circuit board after bending in S930, the lower camera 22 can identify the second coordinate information of the flexible circuit board, and the computer obtains the second coordinate information of the flexible circuit board after bending identified by the lower camera 22.

[0149] S960: Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take pictures of the idle vehicle.

[0150] Specifically, the computer then controls the upper camera 21 to move to a position above the idle vehicle and controls the upper camera 21 to take pictures and identify the acupoints on the idle vehicle.

[0151] S970: Obtain the third coordinate information of the idle vehicle.

[0152] Specifically, such as Figure 1As shown, the computer can obtain the third coordinate information of the vacant acupoints in the vacant vehicle as captured by the camera 21. If the computer fails to obtain the third coordinate information of the vacant acupoints in the vacant vehicle, it can control the alarm module to sound an alarm, reminding staff to take appropriate action.

[0153] S980: Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot is controlled to place the bent flexible circuit board onto the idle carrier.

[0154] Specifically, the computer calculates the distance between the bent flexible circuit board and the empty slots in the idle carrier based on the second and third coordinate information, and controls the robotic arm 3 to place the bent flexible circuit board onto the idle carrier based on the distance information. Repeating steps S930-S980, when all slots in the idle carrier have flexible circuit boards placed on them, the idle carrier carries the flexible circuit boards to the next station.

[0155] Optionally, based on the above embodiments, Figure 11 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 11 As shown, the method for bending and forming flexible circuit boards includes:

[0156] S1000: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0157] S1010: Based on the first coordinate information, control the robot to place the flexible circuit board into the bending area of ​​the bending equipment.

[0158] S1020: Controls the bending assembly to bend the flexible circuit board.

[0159] S1030: Controls the upper camera to move to the bending area and controls the upper camera to take pictures of the flexible circuit board after bending.

[0160] S1040: Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0161] Specifically, if the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are normal, then execute S1051. If the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are abnormal, then execute S1052.

[0162] S1051: Obtain the second coordinate information of the flexible circuit board after bending, as recognized by the upper camera.

[0163] S1060: Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take a picture of the idle vehicle.

[0164] S1070: Obtain the third coordinate information of the idle vehicle.

[0165] S1080: Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, control the robot to place the bent flexible circuit board onto the idle carrier.

[0166] S1052: Control the robotic arm to pick up the bent flexible circuit board and move it to the throwing area for throwing; and / or control the alarm module to sound an alarm.

[0167] Specifically, such as Figure 1 As shown, if the computer determines that the bending angle and bending position of the flexible circuit board after bending are abnormal, the computer, based on the second position information of the flexible circuit board captured by the upper camera 21, controls the robotic arm 3 to pick up the flexible circuit board after bending and move it to the throwing area for throwing; and / or the computer controls the alarm module to sound an alarm. The position of the throwing area and the position of the alarm module can be set according to actual needs. After the computer-controlled alarm module sounds an alarm, the staff can take appropriate action on the flexible circuit board with abnormal bending angle and bending position according to the alarm location.

[0168] Optionally, based on the above embodiments, Figure 12 This is a flowchart of another flexible circuit board bending and forming method provided by an embodiment of the present invention, such as... Figure 12 As shown, the method for bending and forming flexible circuit boards includes:

[0169] S1100: Obtain the first coordinate information of the flexible circuit board identified by the camera component.

[0170] S1110: Control the robot arm to place the flexible circuit board into the bending area of ​​the bending equipment according to the first coordinate information.

[0171] S1120: Controls the bending assembly to bend the flexible circuit board.

[0172] S1130: Controls the robotic arm to pick up the bent flexible circuit board and move it to the lower camera's position, and controls the lower camera to take pictures of the flexible circuit board.

[0173] S1140: Determine if there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending.

[0174] Specifically, if the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are normal, then execute S1151. If the bending parameters such as the bending angle and bending position of the flexible circuit board after bending are abnormal, then execute S1152.

[0175] S1151: Obtain the second coordinate information of the flexible circuit board after bending, as recognized by the lower camera.

[0176] S1160: Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take a picture of the idle vehicle.

[0177] Specifically, the computer then controls the upper camera 21 to move to a position above the idle vehicle and controls the upper camera 21 to take pictures and identify the acupoints on the idle vehicle.

[0178] S1170: Obtain the third coordinate information of the idle vehicle.

[0179] S1180: Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, control the robot to place the bent flexible circuit board onto the idle carrier.

[0180] S1152: Control the robotic arm to pick up the bent flexible circuit board and move it to the throwing area for throwing; and / or control the alarm module to sound an alarm.

[0181] Specifically, such as Figure 1 As shown, if the computer determines that the bending angle and bending position of the flexible circuit board after bending are abnormal, the computer, based on the second position information of the flexible circuit board obtained from the lower camera 22, controls the robotic arm 3 to pick up the flexible circuit board after bending and move it to the throwing area for throwing; and / or the computer controls the alarm module to sound an alarm. The position of the throwing area and the position of the alarm module can be set according to actual needs. After the computer-controlled alarm module sounds an alarm, the staff can take appropriate action on the flexible circuit board with abnormal bending angle and bending position according to the alarm location.

[0182] In traditional manual bending technology, after bending the flexible circuit board, the operator manually removes the bent board using a suction pen on a manual auxiliary jig and transfers it to the inspection station. At the inspection station, personnel remove the bent board, first viewing it horizontally, then flipping it over and inspecting it under a microscope for any abnormalities in the bending angle and position. Products that pass inspection are manually placed back into the streamlined carrier using a suction pen and moved to the next station. The precision requirement for the flexible circuit board bending process is + / -0.1mm, and the manual operation angle is greater than 1°. Visually judging whether the flexible circuit board has bending abnormalities by hand is prone to errors due to limitations in resolution and physiological factors such as work fatigue. Furthermore, manual inspection is inefficient, resulting in low bending capacity.

[0183] The technical solution of this invention utilizes a computer-controlled camera assembly to photograph and identify the bent flexible circuit board. The computer compares the bending parameters with pre-set bending parameters, such as the bending angle and bending position of the bent flexible circuit board, to determine if there are any abnormalities in these parameters. Compared to manual inspection, in this invention, the computer performs inspection according to uniform pre-set bending parameters, ensuring error-free inspection of the bending parameters of the bent flexible circuit board. Furthermore, the inspection efficiency is high, which can further increase bending production capacity.

[0184] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0185] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for bending and forming a flexible circuit board, characterized in that, The method is performed by a bending device, the bending device including a robotic arm, a camera assembly, and a bending assembly; the method includes: Obtain the first coordinate information of the flexible circuit board identified by the camera component; Based on the first coordinate information, the robotic arm is controlled to place the flexible circuit board into the bending area of ​​the bending device; Control the bending assembly to bend the flexible circuit board; The robot arm is controlled to place the bent flexible circuit board onto the idle carrier based on the second coordinate information and the third coordinate information of the camera component.

2. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, The camera assembly includes an upper camera and a lower camera; before acquiring the first coordinate information of the flexible circuit board recognized by the camera assembly, it further includes: The robotic arm is controlled to fix the carrier containing the flexible circuit board onto the track of the bending equipment; Control the upper camera to move to a position above the carrier, and control the upper camera to take pictures of the flexible circuit board; The identifier of the flexible circuit board recognized by the upper camera is obtained, and the front-end operation of the flexible circuit board is determined based on the identifier. If the preceding operations of the flexible circuit board have been completed, the robot arm is controlled to pick up the flexible circuit board and move it to the position of the lower camera, and the lower camera is controlled to take a picture of the flexible circuit board.

3. The method for bending and forming a flexible circuit board according to claim 2, characterized in that, After determining whether the front-end operations of the flexible circuit board are completed based on the identifier, the process further includes: If the preceding operations of the flexible circuit board are not completed, the robot arm is controlled to pick up the flexible circuit board and move it to the throwing area for throwing; and / or the alarm module is controlled to sound an alarm.

4. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, Controlling the robotic arm to place the flexible circuit board into the bending area of ​​the bending device based on the first coordinate information includes: Distance information is calculated based on the first coordinate information and the fourth coordinate information of the bending region; the distance information is the distance between the flexible circuit board and the bending region. Based on the distance information, the robot arm is controlled to place the flexible circuit board into the bending area of ​​the bending device.

5. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, The bending device further includes a vacuum suction assembly located below the bending area and a vacuum blowing assembly located above the bending area; after the robotic arm is controlled to place the flexible circuit board into the bending area of ​​the bending device according to the first coordinate information, it further includes: The vacuum suction assembly picks up the flexible circuit board, and the vacuum blowing assembly blows air onto the flexible circuit board.

6. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, The bending assembly includes grippers; controlling the bending assembly to bend the flexible circuit board includes: The gripper is controlled to grasp one side of the flexible circuit board, and the gripper is controlled to rotate 180° in a linear motion to bend the flexible circuit board.

7. The method for bending and forming a flexible circuit board according to claim 6, characterized in that, The bending equipment further includes a rolling assembly; after controlling the grippers to grasp one side of the flexible circuit board and controlling the grippers to rotate 180° in linear motion to achieve bending of the flexible circuit board, it further includes: The rolling assembly is controlled to press the flexible circuit board at the bending position.

8. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, The camera assembly includes an upper camera; acquiring second coordinate information of the bent flexible circuit board and third coordinate information of the idle carrier identified by the camera assembly, and controlling the robot arm to place the bent flexible circuit board on the idle carrier according to the second coordinate information and the third coordinate information, including: The upper camera is controlled to move to the bending area, and the upper camera is controlled to take pictures of the flexible circuit board after bending. Determine whether there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending. If the bending angle and bending position of the flexible circuit board after bending are normal, then the second coordinate information of the flexible circuit board after bending, as identified by the upper camera, is obtained. Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take a picture of the idle vehicle; Obtain the third coordinate information of the idle vehicle; Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot arm is controlled to place the bent flexible circuit board onto the idle carrier.

9. The method for bending and forming a flexible circuit board according to claim 1, characterized in that, The camera assembly includes an upper camera and a lower camera; acquiring second coordinate information of the bent flexible circuit board identified by the camera assembly and third coordinate information of the idle carrier, and controlling the robot arm to place the bent flexible circuit board on the idle carrier based on the second coordinate information and the third coordinate information, including: The robot arm is controlled to pick up the bent flexible circuit board and move it to the position of the lower camera, and the lower camera is controlled to take pictures of the flexible circuit board. Determine whether there are any abnormalities in the bending angle and bending position of the flexible circuit board after bending. If the bending angle and bending position of the flexible circuit board after bending are normal, then the second coordinate information of the flexible circuit board after bending, as identified by the lower camera, is obtained. Control the upper camera to move to a position above the idle vehicle, and control the upper camera to take a picture of the idle vehicle; Obtain the third coordinate information of the idle vehicle; Based on the second coordinate information of the bent flexible circuit board and the third coordinate information of the idle carrier, the robot arm is controlled to place the bent flexible circuit board onto the idle carrier.

10. The method for bending and forming a flexible circuit board according to claim 8 or 9, characterized in that, After determining whether the bending angle and bending position of the flexible circuit board after bending are abnormal, the process also includes: If the bending angle and bending position of the flexible circuit board after bending are abnormal, the robot arm is controlled to pick up the flexible circuit board after bending and move it to the throwing area for throwing; and / or the alarm module is controlled to sound an alarm.

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