A robotic dexterous hand FPC hole plating process and apparatus

Abstract

This invention relates to the field of FPC hole plating technology for robot dexterity hands, and discloses a process and apparatus for FPC hole plating for robot dexterity hands. One of the apparatuses includes a worktable, a fixed frame, a moving component, a copper-clad laminate positioning mold frame, and a film template. It also includes a fixing mechanism mounted on the moving component. This invention uses a clamping plate inserted into the positioning hole for tensioning and fixing. During loading and unloading, only a second cylinder drives the clamping plate to retract or expand, eliminating the need for insertion and removal friction. Combined with the precise alignment of the film template and the copper-clad laminate positioning mold frame, misalignment of the copper plating pattern is avoided. The clamping plate and the positioning hole of the film template are in surface contact for tensioning, with no relative sliding friction. This avoids problems such as wear on the positioning posts on the light source module and tearing of the positioning holes in the film template caused by traditional insertion and removal, extending the service life of the film template, reducing production losses, and meeting the needs of robot dexterity hands.

Description

Technical Field

[0001] This invention belongs to the field of FPC hole plating technology, specifically relating to a robotic dexterity hand FPC hole plating process and apparatus. Background Technology

[0002] The core objective of the FPC hole plating process for robot dexterity hands is to retain the flexibility of the FPC through selective copper plating, meeting the high bending requirements of the robot dexterity hand. The complete process is as follows: According to the design dimensions of the robot dexterity hand's FPC, the copper-clad laminate with a layered structure of "Basefilm substrate + copper foil on both sides and adhesive in the middle" is precisely cut to obtain a substrate blank that meets the specifications, laying the foundation for subsequent processes. First, impurities and oxide layers on the surface of the cut copper-clad laminate are removed by grinding to improve dry film adhesion; then, a layer of photosensitive resin is coated onto the board surface. "Inner dry film"; next, the film with the designed "copper plating area pattern" is precisely aligned with the copper-clad laminate, and the dry film corresponding to the light-transmitting area is cured by exposure equipment; finally, the uncured dry film (non-copper plating area) is removed by developing solution, leaving only the cured dry film to protect the non-copper plating area, completing the transfer of the copper plating pattern to the copper-clad laminate. The copper-clad laminate with the completed pattern is placed into the copper plating equipment, and copper plating is performed only on the exposed copper foil areas (such as around the vias). The non-exposed areas do not undergo copper plating reaction because they are protected by the dry film, and finally, a robot dexterous hand FPC product with "partial copper plating and partial retention of original flexibility" is obtained.

[0003] Furthermore, in the pattern transfer stage of the aforementioned process, the positioning and fit between the film template and the light source module in the exposure equipment directly affects the accuracy of copper plating pattern transfer. In existing technologies, to ensure the stability and sealing of the connection between the two, a small-diameter design close to an interference fit is adopted. This design aligns with the stringent requirements of the robotic dexterous hand FPC for pattern transfer accuracy (alignment error ≤ ±0.01mm), effectively eliminating relative displacement caused by positioning gaps, preventing light leakage that leads to blurred edges on the pattern, and ensuring accurate local copper plating. However, in practical applications, the interference fit structure results in a large contact area between the positioning post and the positioning hole of the film template, which poses challenges in positioning and installation. The significant sliding friction generated during the disassembly and removal of the inserts directly leads to laborious operation and reduces the efficiency of film replacement in mass production. More importantly, the robot's dexterous hand requires frequent loading and unloading of the film template during FPC mass production. Frequent insertion and removal friction directly affects the outer circumference of the positioning post and the inner wall of the film positioning hole. After long-term use, this can easily cause wear and scratches on the surface of the positioning post. At the same time, the inner wall of the flexible PET film positioning hole is also prone to burrs and tears. This not only undermines the stability of the original interference fit but also leads to inaccurate positioning of the film template, resulting in misalignment between the copper-plated pattern and the target area of ​​the copper-clad laminate. This affects the conductivity of the FPC and fails to meet the requirements of the robot's dexterous hand. Summary of the Invention

[0004] This invention provides a process and apparatus for FPC hole plating in robot dexterity hands, solving the technical problem in related technologies where, in the pattern transfer process, the near interference fit between the positioning post of the light source module and the positioning hole of the film template can ensure accuracy, but it also results in high insertion and removal friction, laborious operation, low film replacement efficiency, and long-term wear of both, leading to inaccurate positioning, misalignment of copper plating patterns, and affecting FPC performance, thus failing to meet the needs of robot dexterity hands.

[0005] The present invention provides a robot dexterous hand FPC hole plating device, including a worktable, a fixed frame, a moving component, a copper-clad laminate positioning mold frame and a film template. The fixed frame is fixedly connected to the upper surface of the worktable, the moving component is disposed on the surface of the fixed frame, the copper-clad laminate positioning mold frame is disposed on the upper surface of the worktable, and the film template is disposed on the moving component. It also includes a fixing mechanism set on the moving component. The fixing mechanism includes a connecting seat, a second cylinder, a push rod, a push block, a clamping plate, a limiting strip fixed to one end of the clamping plate, a limiting plate, and a limiting groove opened on the upper surface of the limiting plate. The connecting seat is fixedly connected to the moving component. The second cylinder is fixedly connected to the upper surface of the connecting seat. The push rod is fixedly connected to the output end of the second cylinder. The push block is rotatably connected to the outer surface of the push rod. The clamping plate is rotatably connected to one end of the push block. The limiting strip is slidably connected in the limiting groove. The limiting plate is fixedly connected to the lower surface of the connecting seat.

[0006] In a preferred embodiment, the moving component includes a first cylinder, a mounting base, a guide post, and a light source module. The first cylinder is fixedly connected to the upper surface of the mounting frame, and the upper surface of the mounting frame is provided with a first through slot. The output end of the first cylinder passes through the first through slot. The mounting base is fixedly connected to the output end of the first cylinder. The light source module is fixedly connected to the lower surface of the mounting base, and the guide post is fixedly connected to the upper surface of the light source module.

[0007] In a preferred embodiment, a second through groove is provided on the upper surface of the fixing frame, the guide post is slidably connected in the second through groove, and the film template is disposed on the lower surface of the light source module.

[0008] In a preferred embodiment, the film template uses a flexible PET film as the substrate. The surface of the film template is provided with a light-transmitting pattern corresponding to the copper-plated area of ​​the FPC and a light-shielding layer for the non-copper-plated area. The edge of the film template is provided with positioning holes. There are four positioning holes, which are evenly distributed on the lower surface of the film template. The upper surface of the copper-clad laminate positioning mold frame corresponds to the lower surface of the film template.

[0009] In a preferred embodiment, four sets of fixing mechanisms are provided, and the four sets of fixing mechanisms are evenly arranged on the upper surface of the light source module.

[0010] In a preferred embodiment, the connector is fixedly connected to the upper surface of the light source module. The upper surface of the connector has a third through groove. The output end of the second cylinder passes through the third through groove. One end of the push block is rotatably connected to the outer circumferential surface of the push rod, and the other end is rotatably connected to the inner circumferential surface of the card plate.

[0011] In a preferred embodiment, the limiting groove is opened radially along the limiting plate, and four limiting grooves are opened evenly along the axis of the limiting plate. Four sets of limiting strips, clamping plates, and push blocks are provided. The four sets of limiting strips, clamping plates, and push blocks are evenly arranged along the circumference of the push rod, and the clamping plate is set in the positioning hole of the film template.

[0012] In a preferred embodiment, a pre-positioning mechanism is further provided on the light source module. The pre-positioning mechanism includes a connecting frame, a slider, a guide block, a pull frame, and a spring. The connecting frame is fixedly connected to the upper surface of the light source module, the slider is slidably connected inside the connecting frame, the guide block is fixedly connected to the lower surface of the slider, the pull frame is fixedly connected to the upper surface of the slider, and the spring is fixedly connected between the slider and the connecting frame.

[0013] In a preferred embodiment, two sets of pre-positioning mechanisms are provided, and the two sets of pre-positioning mechanisms are symmetrically distributed along the front axis of the light source module. In one set of pre-positioning mechanisms, two sets of connecting frames, sliders, guide blocks and springs are provided. The two sets of connecting frames, sliders, guide blocks and springs are symmetrically distributed with the side axis of the light source module as the center line. The lower surface of the guide block is set as an inclined surface, and the film template is clamped between the upper surface of the guide block and the lower surface of the light source module.

[0014] A robotic dexterity hand FPC hole plating process includes the following steps: Step 1: Cut the copper-clad laminate to the design dimensions to obtain the substrate blank; Step 2: Grind the substrate and apply dry film to complete the pretreatment; Step 3: Place the film template using the pre-positioning mechanism, and then tension and fix it using the fixing mechanism to align it with the copper-clad laminate; Step 4: The moving component drives the light source module to move down to the set gap, and exposure is used to transfer the copper plating pattern; Step 5: After exposure, the circuit board is reset and removed to enter the development and selective copper plating process, finally obtaining an FPC product with partial copper plating and retained flexibility.

[0015] The beneficial effects of this invention are as follows: 1. This invention abandons the interference fit between the positioning posts on the traditional light source module and the positioning holes of the film template. Instead, it uses a clamping plate inserted into the positioning hole for tension and fixation. During loading and unloading, the clamping plate only needs to be driven to retract or expand by the second cylinder, eliminating the need for insertion and removal friction. This makes operation easier. The four sets of fixing mechanisms are evenly distributed. After the clamping plate is tightened radially, it fits tightly against the inner wall of the positioning hole. This, combined with the precise alignment of the film template and the copper-clad laminate positioning mold frame, avoids misalignment of the copper-plated pattern, ensuring the conductivity and flexibility of the FPC. The clamping plate and the positioning hole of the film template are in surface contact tension, with no relative sliding friction. This avoids problems such as wear on the positioning posts on the light source module and tearing of the positioning holes of the film template caused by traditional insertion and removal, extending the service life of the film template, reducing production losses, and meeting the needs of robot dexterity hands.

[0016] 2. This invention utilizes the inclined surface of the guide block to press the edge of the film template firmly against the upper surface of the guide block, forming a stable pre-fixation. This prevents the film template from detaching due to accidental activation of the second cylinder, thus ensuring operational safety.

[0017] 3. The first cylinder of the moving component of the present invention drives the mounting base and the light source module to move downward along the guide post until the lower surface of the film template and the surface of the copper-clad laminate dry film are bonded to the set exposure gap. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the external structure of the FPC hole plating process and device for the robot dexterous hand of the present invention.

[0019] Figure 2 This is a front cross-sectional view of the FPC hole plating process and device for the robot dexterous hand of the present invention.

[0020] Figure 3 This is the invention Figure 2 Enlarged structural diagram at point A in the middle.

[0021] Figure 4 This is a schematic diagram of the external structure of the mobile component and its connected parts according to the present invention.

[0022] Figure 5 This is a schematic diagram of the unfolded structure of the fixing mechanism of the present invention.

[0023] Figure 6 This is the invention Figure 5 Enlarged structural diagram at point B.

[0024] Figure 7 This is a schematic diagram of the prepositioning mechanism unfolding structure of the present invention.

[0025] In the diagram: 1. Workbench; 2. Fixing frame; 3. Moving component; 4. Fixing mechanism; 5. Pre-positioning mechanism; 6. Copper-clad laminate positioning mold frame; 7. Film template; 31. First cylinder; 32. Mounting base; 33. Guide post; 34. Light source module; 41. Connecting base; 42. Second cylinder; 43. Push rod; 44. Push block; 45. Clamping plate; 451. Limiting strip; 46. Limiting plate; 461. Limiting groove; 51. Connecting frame; 52. Sliding strip; 53. Guide block; 54. Pull frame; 55. Spring. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] To address the issue that while the near-interference fit between the positioning posts of the light source module and the positioning holes of the film template ensures accuracy during the pattern transfer process, it also results in high friction during insertion and removal, laborious operation, low film replacement efficiency, and long-term wear leading to inaccurate positioning, misalignment of copper-plated patterns, and impact on FPC performance, thus failing to meet the needs of robot dexterity, this invention provides the following technical solution: like Figure 1 , Figure 3 and Figure 4 As shown, a robot dexterous hand FPC hole plating device includes a worktable 1, a fixed frame 2, a moving component 3, a copper clad laminate positioning mold frame 6, and a film template 7. The fixed frame 2 is fixedly connected to the upper surface of the worktable 1, the moving component 3 is disposed on the surface of the fixed frame 2, the copper clad laminate positioning mold frame 6 is disposed on the upper surface of the worktable 1, and the film template 7 is disposed on the moving component 3. It also includes a fixing mechanism 4 disposed on the moving component 3. The fixing mechanism 4 includes a connecting seat 41, a second cylinder 42, a push rod 43, a push block 44, a clamping plate 45, a limiting strip 451 fixed to one end of the clamping plate 45, a limiting disk 46, and a limiting groove 461 formed on the upper surface of the limiting disk 46. The connecting seat 41 is fixedly connected to the moving component 3. The second cylinder 42 is fixedly connected to the upper surface of the connecting seat 41. The push rod 43 is fixedly connected to the output end of the second cylinder 42. The push block 44 is rotatably connected to the outer surface of the push rod 43. The clamping plate 45 is rotatably connected to one end of the push block 44. The limiting strip 451 is slidably connected in the limiting groove 461. The limiting disk 46 is fixedly connected to the lower surface of the connecting seat 41.

[0028] like Figure 2 , Figure 4As shown, specifically, the moving component 3 includes a first cylinder 31, a mounting base 32, a guide post 33, and a light source module 34. The first cylinder 31 is fixedly connected to the upper surface of the mounting frame 2, and a first through groove is provided on the upper surface of the mounting frame 2. The output end of the first cylinder 31 passes through the first through groove. The mounting base 32 is fixedly connected to the output end of the first cylinder 31. The light source module 34 is fixedly connected to the lower surface of the mounting base 32. The guide post 33 is fixedly connected to the upper surface of the light source module 34. A second through groove is provided on the upper surface of the mounting frame 2, and the guide post 33 is slidably connected in the second through groove. The light source module 34 includes an ultraviolet lamp, i.e., a common mercury lamp, an LED UV lamp, a reflector, a filter, and an energy control system. The film template 7 is set on the lower surface of the light source module 34. The film template 7 uses flexible PET film as the substrate. The surface of the film template 7 is provided with a light-transmitting pattern corresponding to the copper-plated area of ​​the FPC and a light-shielding layer for the non-copper-plated area. The edge of the film template 7 is provided with positioning holes. There are four positioning holes, which are evenly distributed on the lower surface of the film template 7. The upper surface of the copper-clad laminate positioning mold frame 6 corresponds to the lower surface of the film template 7. The specific composition and principle of the moving component 3 are existing technologies and will not be described in detail here. like Figure 4 , Figure 5 , Figure 6 As shown, the fixing mechanism 4 is provided in four sets, and the four sets of fixing mechanisms 4 are evenly arranged on the upper surface of the light source module 34. The connecting seat 41 is fixedly connected to the upper surface of the light source module 34. The upper surface of the connecting seat 41 is provided with a third through groove. The output end of the second cylinder 42 passes through the third through groove. One end of the push block 44 is rotatably connected to the outer circumferential surface of the push rod 43, and the other end is rotatably connected to the inner circumferential surface of the card plate 45. The limiting groove 461 is opened radially along the limiting plate 46. There are four limiting grooves 461, which are evenly opened along the axis of the limiting plate 46. There are four sets of limiting strips 451, clamping plates 45, and push blocks 44. The four sets of limiting strips 451, clamping plates 45, and push blocks 44 are evenly arranged along the circumference of the push rod 43, and the clamping plates 45 are set in the positioning holes of the film template 7.

[0029] It should be further explained that during use, the film template 7 with positioning holes is placed on the lower surface of the light source module 34, so that the clamping plates 45 of the four sets of fixing mechanisms 4 are respectively inserted into the four positioning holes of the film, and the light-transmitting and light-blocking patterns of the film are precisely aligned with the copper-clad laminate positioning mold frame 6. The second cylinder 42 of the four sets of fixing mechanisms 4 is activated, and its output end drives the push rod 43 downward. The push rod 43 drives the push block 44 to rotate, thereby pushing the clamping plate 45 outward along the radial limiting groove 461 of the limiting plate 46. Unfolding, the clamping plate 45 tightens tightly against the inner wall of the positioning hole, achieving a stable fixation of the film template. The copper-clad laminate with dry film attached is placed into the copper-clad laminate positioning mold frame 6 of the worktable 1, completing the substrate positioning. The first cylinder 31 of the moving component 3 is activated, driving the mounting base 32 and the light source module 34 to move downward along the guide post 33 until the lower surface of the film template 7 is in contact with the surface of the copper-clad laminate dry film to the set exposure gap. The ultraviolet lamp of the light source module 34 is turned on. After the light is processed by the reflector and filter, it passes through the film transmittance pattern. The copper-plated area pattern is transferred by irradiating the dry film. After exposure, the first cylinder 31 drives the light source module 34 to reset, and the copper-clad laminate is removed for subsequent development. In the above process, the interference fit between the positioning post on the light source module 34 and the positioning hole of the film template 7 is abandoned. Instead, the clamping plate 45 is inserted into the positioning hole and tightened for fixation. During loading and unloading, the clamping plate 45 only needs to be driven by the second cylinder 42 to retract or expand. There is no need for insertion and removal friction, which saves effort. The four sets of fixing mechanisms 4 are evenly distributed. After the clamping plate 45 is tightened radially, it fits tightly against the inner wall of the positioning hole. With the precise alignment of the film template 7 and the copper-clad laminate positioning mold frame 6, the copper-plated pattern is not misaligned, which ensures the conductivity and flexibility of the FPC. The clamping plate 45 and the positioning hole of the film template 7 are surface contact tightened without relative sliding friction. This avoids the problems of wear on the positioning post on the light source module 34 and tearing of the positioning hole of the film template 7 caused by traditional insertion and removal. It extends the service life of the film template 7, reduces production loss, and meets the needs of robot dexterity.

[0030] like Figure 7 As shown, it also includes a pre-positioning mechanism 5 disposed on the light source module 34. The pre-positioning mechanism 5 includes a connecting frame 51, a slider 52, a guide block 53, a pull frame 54, and a spring 55. The connecting frame 51 is fixedly connected to the upper surface of the light source module 34, the slider 52 is slidably connected inside the connecting frame 51, the guide block 53 is fixedly connected to the lower surface of the slider 52, the pull frame 54 is fixedly connected to the upper surface of the slider 52, and the spring 55 is fixedly connected between the slider 52 and the connecting frame 51.

[0031] like Figure 2 , Figure 7As shown, specifically, the pre-positioning mechanism 5 is provided in two sets. The two sets of pre-positioning mechanisms 5 are symmetrically distributed along the front axis of the light source module 34. In one set of pre-positioning mechanisms 5, the connecting frame 51, the slider 52, the guide block 53 and the spring 55 are provided in two sets. The two sets of connecting frames 51, sliders 52, guide blocks 53 and springs 55 are symmetrically distributed with the side axis of the light source module 34 as the center line. The lower surface of the guide block 53 is set as an inclined surface. The film template 7 is clamped between the upper surface of the guide block 53 and the lower surface of the light source module 34.

[0032] It should be further explained that during use, before the film template 7 is installed, the spring 55 of the pre-positioning mechanism 5 is in a naturally extended state, driving the slide bar 52 and the guide block 53 to the initial position. The inclined surface of the lower surface of the guide block 53 is in an open state, reserving space for the placement of the film template 7. The operator places the film template 7 with positioning holes aligned with the lower surface of the light source module 34. The edge of the film template 7 first contacts the inclined surface of the guide block 53, and slides along the inclined surface as it is placed, simultaneously pushing the guide block 53 and the slide bar 52 to slide outward of the connecting frame 51. The spring 55 is stretched, and when the film template... When plate 7 is fully attached to the lower surface of light source module 34, the clamping plates 45 of the four sets of fixing mechanisms 4 are precisely inserted into the four positioning holes of film template 7. At this time, the rebound force of spring 55 drives guide block 53 to reset, and the upper surface of guide block 53 presses against the edge of film template 7, pre-fixing film template 7 on the lower surface of light source module 34, completing precise pre-positioning. In the above process, with the help of the inclined surface guiding effect of guide block 53, the upper surface of guide block 53 presses against the edge of film template 7, forming a stable pre-fixation, avoiding accidental activation of second cylinder 42 causing film template 7 to detach, and ensuring operational safety.

[0033] A robotic dexterity hand FPC hole plating process includes the following steps: Step 1: Cut the copper-clad laminate to the design dimensions to obtain the substrate blank; Step 2: Grind the substrate and apply dry film to complete the pretreatment; Step 3: Place the film template 7 through the pre-positioning mechanism 5, tighten and fix it through the fixing mechanism 4, and align it with the copper-clad laminate; Step 4: The moving component 3 drives the light source module 34 to move down to the set gap, and exposure is used to transfer the copper plating pattern; Step 5: After exposure, the circuit board is reset and removed to enter the development and selective copper plating process, finally obtaining an FPC product with partial copper plating and retained flexibility.

[0034] Specifically, according to the design dimensions of the robot dexterous hand FPC, the copper-clad laminate with a layered structure of "Basefilm substrate + copper foil on both sides and adhesive in the middle" is precisely cut to obtain a substrate blank that meets the specifications, laying the foundation for subsequent processes. First, the surface of the cut copper-clad laminate is removed by grinding to improve the adhesion of the dry film. Then, a layer of photosensitive resin material "inner dry film" is covered on the board surface. Next, the film template 7 with the designed "copper plating area pattern" is precisely aligned with the copper-clad laminate, and the dry film corresponding to the light-transmitting area is cured by exposure equipment. Finally, the uncured dry film (non-copper plating area) is removed by developing solution, leaving only the cured dry film to protect the non-copper plating area, completing the transfer of the copper plating pattern to the copper-clad laminate. The copper-clad laminate with the pattern transferred is placed in the copper plating equipment, and copper plating is performed only on the exposed copper foil areas (such as around the vias). The non-exposed areas do not undergo copper plating reaction because they are protected by the dry film. Finally, a robot dexterous hand FPC product with "partial copper plating and partial retention of original flexibility" is obtained.

[0035] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A robot dexterous hand FPC hole plating device, comprising a worktable (1), a fixed frame (2), a moving component (3), a copper clad laminate positioning mold frame (6) and a film template (7), wherein the fixed frame (2) is fixedly connected to the upper surface of the worktable (1), the moving component (3) is disposed on the surface of the fixed frame (2), the copper clad laminate positioning mold frame (6) is disposed on the upper surface of the worktable (1), and the film template (7) is disposed on the moving component (3); Its features are, It also includes a fixing mechanism (4) set on the moving component (3). The fixing mechanism (4) includes a connecting seat (41), a second cylinder (42), a push rod (43), a push block (44), a clamping plate (45), a limiting strip (451) fixed to one end of the clamping plate (45), a limiting disk (46), and a limiting groove (461) opened on the upper surface of the limiting disk (46). The connecting seat (41) is fixedly connected to the moving component (3). The second cylinder (42) is fixedly connected to the upper surface of the connecting seat (41). The push rod (43) is fixedly connected to the output end of the second cylinder (42). The push block (44) is rotatably connected to the outer surface of the push rod (43). The clamping plate (45) is rotatably connected to one end of the push block (44). The limiting strip (451) is slidably connected in the limiting groove (461). The limiting disk (46) is fixedly connected to the lower surface of the connecting seat (41).

2. The robot dexterous hand FPC hole plating device according to claim 1, characterized in that, The moving component (3) includes a first cylinder (31), a mounting base (32), a guide post (33), and a light source module (34). The first cylinder (31) is fixedly connected to the upper surface of the mounting bracket (2), and a first through slot is provided on the upper surface of the mounting bracket (2). The output end of the first cylinder (31) passes through the first through slot. The mounting base (32) is fixedly connected to the output end of the first cylinder (31). The light source module (34) is fixedly connected to the lower surface of the mounting base (32), and the guide post (33) is fixedly connected to the upper surface of the light source module (34).

3. The robotic dexterous hand FPC hole plating device according to claim 2, characterized in that, The upper surface of the fixing frame (2) is provided with a second through groove, the guide post (33) is slidably connected in the second through groove, and the film template (7) is set on the lower surface of the light source module (34).

4. The robot dexterous hand FPC hole plating device according to claim 1, characterized in that, The film template (7) is based on flexible PET film. The surface of the film template (7) is provided with a light-transmitting pattern corresponding to the copper-plated area of ​​the FPC and a light-shielding layer for the non-copper-plated area. The edge of the film template (7) is provided with positioning holes. There are four positioning holes, which are evenly opened on the lower surface of the film template (7). The upper surface of the copper-clad laminate positioning mold frame (6) corresponds to the lower surface of the film template (7).

5. The robot dexterous hand FPC hole plating device according to claim 2, characterized in that, The fixing mechanism (4) is provided in four sets, and the four sets of fixing mechanisms (4) are evenly arranged on the upper surface of the light source module (34).

6. The FPC hole plating apparatus for a robot dexterous hand according to claim 5, characterized in that, The connector (41) is fixedly connected to the upper surface of the light source module (34). The upper surface of the connector (41) is provided with a third through slot. The output end of the second cylinder (42) passes through the third through slot. One end of the push block (44) is rotatably connected to the outer circumferential surface of the push rod (43), and the other end is rotatably connected to the inner circumferential surface of the card plate (45).

7. The robot dexterous hand FPC hole plating device according to claim 6, characterized in that, The limiting groove (461) is opened radially along the limiting plate (46). There are four limiting grooves (461). The four limiting grooves (461) are evenly opened along the axis of the limiting plate (46). There are four sets of limiting strips (451), clamping plates (45), and push blocks (44). The four sets of limiting strips (451), clamping plates (45), and push blocks (44) are evenly arranged along the circumference of the push rod (43). The clamping plate (45) is set in the positioning hole of the film template (7).

8. The robot dexterous hand FPC hole plating device according to claim 2, characterized in that, It also includes a pre-positioning mechanism (5) set on the light source module (34). The pre-positioning mechanism (5) includes a connecting frame (51), a slider (52), a guide block (53), a pull frame (54), and a spring (55). The connecting frame (51) is fixedly connected to the upper surface of the light source module (34), the slider (52) is slidably connected inside the connecting frame (51), the guide block (53) is fixedly connected to the lower surface of the slider (52), the pull frame (54) is fixedly connected to the upper surface of the slider (52), and the spring (55) is fixedly connected between the slider (52) and the connecting frame (51).

9. The robot dexterous hand FPC hole plating device according to claim 8, characterized in that, Two sets of pre-positioning mechanisms (5) are provided. The two sets of pre-positioning mechanisms (5) are symmetrically distributed along the front axis of the light source module (34). In one set of pre-positioning mechanisms (5), there are two sets of connecting frames (51), sliders (52), guide blocks (53) and springs (55). The two sets of connecting frames (51), sliders (52), guide blocks (53) and springs (55) are symmetrically distributed with the side axis of the light source module (34) as the center line. The lower surface of the guide block (53) is set as an inclined surface. The film template (7) is clamped between the upper surface of the guide block (53) and the lower surface of the light source module (34).

10. A process for plating FPC holes in a robot dexterous hand, characterized in that, Includes the following steps: Step 1: Cut the copper-clad laminate to the design dimensions to obtain the substrate blank; Step 2: Grind the substrate and apply dry film to complete the pretreatment; Step 3: Place the film template (7) through the pre-positioning mechanism (5), and fix it by the fixing mechanism (4) to align it with the copper-clad laminate; Step 4: The moving component (3) drives the light source module (34) to move down to the set gap, and the exposure realizes the transfer of the copper plating pattern; Step 5: After exposure, the circuit board is reset and removed to enter the development and selective copper plating process, finally obtaining an FPC product with partial copper plating and retained flexibility.

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