Automatic equipment for pasting audio FPC (Flexible Printed Circuit)

Abstract

The utility model relates to audio FPC (Flexible Printed Circuit) pasting automation equipment, which comprises a machine table, a feeder for providing an FPC and a carrying device are arranged on the machine table, and the machine table further comprises a bending device, a feeding device and a discharging device, the first linear module moves towards the carrying device, and the bending assembly is arranged on the first linear module, is driven by the first linear module to do reciprocating motion along a straight line and is used for bending the FPC; the material taking device is used for grabbing the FPCs provided by the feeder and transferring the FPCs to the bending assembly to be bent and processed; and the laminating device is used for grabbing the FPC bent by the bending device, stacking the FPC on the workpiece conveyed by the carrying device, and mutually pressing the FPC to complete the laminating operation. According to the equipment, automatic bending and laminating processing operation of the FPC board can be realized, the participation degree of personnel can be reduced, the production efficiency is improved, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding equipment technical field, concretely relates to a kind of audio FPC automation equipment. BACKGROUND

[0002] 3C industry product needs to be pasted on product FPC in production process, and it is a big problem in industry that FPC is automatically stripped from material belt and pasted on product, and at present stage, FPC is mostly pasted on product using manpower, which is high in cost and slow in speed.More importantly, before FPC is pasted and processed, more cases need to be pre-processed, so as to adapt to the requirements of different products, and FPC bending processing is a common pre-processing procedure, which further increases the labor intensity of artificial, and due to the increase of process, the efficiency of FPC plate pasting is further reduced, and the labor cost is increased.

[0003] Therefore, based on the above problems, a FPC pasting automation equipment is needed to solve the above technical problems. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of audio FPC automation equipment, to solve the above technical problems, the utility model uses the following technical scheme:

[0005] A kind of audio FPC automation equipment, including a machine table, the machine table is provided with the feeder for providing FPC, a conveying device for conveying the workpiece along the first direction of mutual pasting with the FPC is arranged on the machine table, and the machine table further includes:

[0006] Bending device, the bending device is arranged between the feeder and the conveying device, and it includes first linear module moving towards the conveying device direction and bending assembly for bending FPC, which is installed on the first linear module and driven by it to move along the linear reciprocatingly;

[0007] Material taking device, the material taking device is used to grab FPC provided by the feeder and transport it to the bending assembly for bending processing;

[0008] Pasting device, the pasting device is arranged between the bending device and the conveying device, to grab FPC after bending processing by the bending device and stack it on the workpiece conveyed by the conveying device, and press it tightly to complete pasting work.

[0009] Further, the bending device further comprises a bottom plate assembled on the first linear module, the bending assembly is arranged on the bottom plate, and the bending assembly comprises:

[0010] Side plates which are oppositely arranged to provide mounting positions;

[0011] A material receiving plate which is fixedly arranged on the two side plates;

[0012] A bending plate which is arranged side by side with the material receiving plate and is rotatably connected to the side plates at two ends;

[0013] A bending driving device which is fixedly arranged on any one of the side plates and is in transmission connection with the bending plate to drive the bending plate to overturn towards the material receiving plate.

[0014] Further, at least one positioning column is arranged on the material receiving plate, the positioning column is matched with a positioning hole on the FPC, and the positioning column is elastically protruded from the material receiving plate in the vertical direction.

[0015] Further, the material receiving plate comprises:

[0016] A base plate which is fixedly connected to the side plates at two ends, and an installation cavity is arranged in the base plate;

[0017] A linkage plate which is movably connected to the installation cavity in the vertical direction, and the positioning column is fixedly arranged on the linkage plate, and a hole position is arranged on the base plate for the positioning column to protrude;

[0018] An elastic member which is arranged in the installation cavity and located below the linkage plate to provide an elastic pushing force to the linkage plate in the upward direction.

[0019] Further, the bending device further comprises a material pressing assembly for pressing and fixing the FPC on the material receiving plate, and the material pressing assembly comprises:

[0020] Two-axis moving assemblies which reciprocally move in the horizontal direction and the vertical direction;

[0021] A material pressing plate which is fixedly arranged on the two-axis moving assemblies and reciprocally moves in the horizontal direction and the vertical direction under the driving of the two-axis moving assemblies to clamp or loosen the FPC on the material receiving plate.

[0022] Further, the material taking device comprises:

[0023] A first three-axis moving assembly;

[0024] A pick-up head assembly is arranged on the three-axis moving assembly and driven by the three-axis moving assembly to move reciprocally along X, Y and Z axes, and the pick-up head assembly comprises

[0025] A pick-up seat is arranged on the first three-axis moving assembly;

[0026] A pick-up rotating device is fixedly arranged on the pick-up seat, and an output shaft of the pick-up rotating device extends downward;

[0027] A pick-up mounting plate is drivingly connected to the output shaft of the pick-up rotating device;

[0028] The pick-up head comprises two pick-up heads arranged side by side on the pick-up mounting plate.

[0029] Further, the laminating device comprises:

[0030] A second three-axis moving assembly comprises linear modules arranged along X, Y and Z axes respectively, and the linear module arranged along the Z axis comprises two linear modules arranged side by side;

[0031] A laminating head assembly comprises two laminating head assemblies arranged on the linear module arranged along the Z axis, and the laminating head assembly comprises

[0032] A laminating seat;

[0033] A laminating rotating device is fixedly arranged on the laminating seat, and an output shaft of the laminating rotating device extends downward;

[0034] A laminating mounting plate is drivingly connected to the output shaft of the laminating rotating device;

[0035] A laminating head is arranged on the laminating mounting plate.

[0036] Further, the conveying device comprises:

[0037] A second linear module is arranged along a second predetermined direction, and a conveying jig is arranged on the second linear module to move reciprocally along the second predetermined direction and load workpieces;

[0038] A mounting jig is arranged on the machine table and located beside the second linear module, and a positioning cavity is arranged on the mounting jig to place workpieces in the positioning cavity and complete mounting work.

[0039] Further, the machine table is further provided with a visual identification component, the visual identification component is suspended above the table top of the machine table, and the visual identification component comprises visual cameras corresponding to the flying feeder and the carrying device respectively.

[0040] The utility model discloses the beneficial effect as follows:

[0041] The utility model discloses an automatic equipment of pasting audio frequency FPC, in the process of processing, and FPC board is provided by flying feeder, and the material discharging plate on the output end is stripped out of material belt, and the material taking device moves to the front end of flying feeder and is grabbed after the FPC board that has been stripped is grabbed and is transferred to the bending assembly of bending device, to carry out bending processing, simultaneously, the bending assembly that first linear module will carry out bending processing is transported to the carrying device direction, and the FPC board of bending completion is grabbed to carrying device, and it is transferred to the carrying device, and the FPC board is pressed to the below in the process, and the mounting operation is completed, and then the carrying device is transported to the equipment to the outside to the product that has assembled. The automatic equipment of pasting audio frequency FPC provided by the utility model embodiment can transfer the FPC provided by flying feeder to the bending device through the material taking assembly, so as to carry out bending processing to FPC, then the FPC board that has completed bending processing is grabbed and transferred to the carrying device through the pasting device again, and the pasting processing of FPC board is completed, the equipment can realize the bending and mounting operation of FPC board automatically, can reduce the participation degree of personnel, improve production efficiency, and reduce the cost of production. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is the structural schematic diagram of the utility model.

[0043] Figure 2 It is the explosion structural schematic diagram of the utility model.

[0044] Figure 3 It is the structural schematic diagram of the bending device in the utility model.

[0045] Figure 4 It is the explosion structural schematic diagram of the bending assembly in the utility model.

[0046] Figure 5 It is the explosion structural schematic diagram of the material receiving plate in the utility model.

[0047] Figure 6 It is the sectional view of the material receiving plate in the utility model.

[0048] Figure 7 It is the structural schematic diagram of the material taking device in the utility model.

[0049] Figure 8 It is a structure schematic view of the attaching device in the utility model.

[0050] Figure 9 It is a structure schematic view of the carrying device in the utility model.

[0051] In the drawing: 100 - machine table; 110 - flying feeder; 120 - carrying device; 200 - bending device; 210 - first linear module; 220 - bending assembly; 300 - material taking device; 400 - attaching device; 211 - bottom plate; 221 - side plate; 222 - material receiving plate; 223 - bending plate; 224 - bending driving device; 225 - positioning column; 2221 - base plate; 2222 - mounting cavity; 2223 - linkage plate; 2224 - elastic piece; 230 - material pressing assembly; 231 - two-axis moving assembly; 232 - material pressing plate; 301 - first three-axis moving assembly; 310 - material taking suction head assembly; 311 - material taking seat; 312 - material taking rotating device; 313 - material taking mounting plate; 314 - material taking suction head; 401 - second three-axis moving assembly; 410 - attaching suction head assembly; 411 - attaching seat; 412 - attaching rotating device; 413 - attaching mounting plate; 414 - attaching suction head; 121 - second linear module; 122 - carrying jig; 123 - attaching jig; 124 - positioning cavity; 500 - visual recognition assembly; 510 - visual camera. DETAILED DESCRIPTION

[0052] In order to facilitate the understanding of those skilled in the art, the utility model is further described below in combination with examples and drawings, and the content mentioned in the implementation manner is not a limitation on the utility model. The utility model is described in detail below in combination with the drawings.

[0053] The utility model embodiment provides a kind of audio FPC automatic equipment, can complete the automatic installation operation of FPC board and workpiece, simultaneously, can automatically complete the bending pretreatment of FPC board before installation, and after bending, FPC board is automatically installed on the workpiece to be processed, in the technical scheme provided in this embodiment, the action of automatic bending, installation can be realized, the degree of participation of manual is reduced in entire operation link, reduce manual labor intensity, improve processing efficiency.

[0054] Specifically, as Figures 1-9The utility model discloses an audio frequency FPC automatic equipment, including a machine table 100, be provided with the feeder 110 of flying dart for providing FPC on machine table 100, a carrying device 120 that the workpiece of mutual attaching of FPC is transported along the first direction of being determined, still including on machine table 100: bending device 200, taking material device 300 and attaching device 400, wherein, bending device 200 sets up between feeder 110 of flying dart and carrying device 120, it includes the first linear module 210 that moves towards carrying device 120 direction and is installed on the first linear module 210 and is driven along the linear reciprocating movement of bending assembly 220 for bending FPC to be used to bend FPC, taking material device 300 is used to snatch the FPC provided by feeder 110 of flying dart and is transported to bending assembly 220 on and is bent processing, attaching device 400 sets up between bending device 200 and carrying device 120, is used to snatch the FPC after bending processing of bending device 200 and is stacked on the workpiece conveyed by carrying device 120 and is pressed tightly and completes attaching job after each other.

[0055] In the process of processing, FPC board is provided by feeder 110 of flying dart, and is stripped out of material belt on the discharge plate of its output end, taking material device 300 moves to the front end of feeder 110 of flying dart and snatches the FPC board that has been stripped and is transported to bending assembly 220 of bending device 200, is used to bend processing, simultaneously, the first linear module 210 will be bent and processed bending assembly 220 is transported towards carrying device 120 direction, attaching device 400 snatchs the FPC board after bending is completed and is transported to carrying device 120, in the process of pressing FPC board towards below, completes attaching job, then carrying device 120 will have assembled the product and is transported towards equipment to outside. Through the audio frequency FPC automatic equipment provided in the utility model embodiment can be transported to bending device 200 by taking material assembly and be provided by feeder 110 of flying dart FPC, so as to bend processing to FPC, then again through attaching device 400 snatches the FPC board after bending processing is completed and is transported to carrying device 120, completes the attaching processing of FPC board, and the equipment can realize the bending and attaching job of automatic FPC board, can reduce the degree of participation of personnel, improve production efficiency, and reduce the cost of production.

[0056] In the embodiment, the bending device 200 further comprises a bottom plate 211 assembled on the first linear module 210, and the bending assembly 220 is arranged on the bottom plate 211. In the embodiment, the bending assembly 220 comprises two bending assemblies arranged side by side, so that a double-station arrangement is provided to improve production efficiency. The bending assembly 220 comprises side plates 221, a receiving plate 222, a bending plate 223, and a bending driving device 224. Specifically, the side plates 221 comprise two side plates arranged opposite to each other to provide mounting positions. The receiving plate 222 is fixedly arranged on the two side plates 221. The bending plate 223 is arranged side by side with the receiving plate 222, and the two ends of the bending plate 223 are rotatably connected to the side plates 221. The bending driving device 224 is fixedly arranged on any one of the side plates 221 and is in transmission connection with the bending plate 223 to drive the bending plate 223 to flip towards the receiving plate 222.

[0057] In the process of bending, after the material taking device 300 carries the FPC plate to the bending assembly 220, the receiving plate 222 and the bending plate 223 are on the same horizontal plane, so that the two ends of the FPC plate are located on the receiving plate 222 and the bending plate 223, respectively. The bending driving device 224 drives the bending plate 223 to flip towards the receiving plate 222, so as to bend the FPC plate. In the embodiment, the bending driving device 224 comprises a rotary air cylinder which is in transmission connection with the bending plate 223 through a gear transmission system, so as to drive the bending plate 223 to stably and reliably perform a flipping action.

[0058] In order to ensure that the FPC plate can be stably arranged on the receiving plate 222 during bending, at least one positioning column 225 is arranged on the receiving plate 222. The positioning column 225 is matched with a positioning hole on the FPC plate, and the positioning column 225 elastically protrudes from the receiving plate 222 in the vertical direction. That is, during the flipping of the bending plate 223 towards the receiving plate 222, the positioning column 225 limits and positions the FPC plate to avoid movement of the FPC plate, thereby ensuring the bending effect. It is worth noting that during bending, the folded FPC plate moves towards the receiving plate 222, so as to abut against the end of the positioning column 225, thereby pressing the positioning column 225 downwards to avoid affecting the bending work of the positioning column 225.

[0059] In the embodiment, the specific structure of the receiving plate 222 is given as an example, as shown in Figures 5-6As shown, the receiving plate 222 comprises a base plate 2221, a linkage plate 2223 and an elastic member 2224, wherein both ends of the base plate 2221 are fixedly connected to the side plates 221 respectively, and the base plate 2221 is internally provided with a mounting cavity 2222; the linkage plate 2223 is movably connected in the vertical direction in the mounting cavity 2222, and the positioning column 225 is fixedly arranged on the linkage plate 2223, and the base plate 2221 is provided with a hole position for the positioning column 225 to extend out; and the elastic member 2224 is arranged in the mounting cavity 2222 and located at the lower side of the linkage plate 2223, for providing the linkage plate 2223 with an elastic pushing force towards the upper side. That is, the linkage plate 2223 is elastically arranged in the mounting cavity 2222 by the elastic member 2224, so that the positioning column 225 extends out in the basic hole position under the elastic support of the elastic member 2224, thereby positioning and limiting the FPC plate.

[0060] In the present embodiment, in order to further improve the stability of the FPC plate during the bending process of the FPC plate, as shown in Figure 4 The bending device 200 further comprises a pressing assembly 230 for pressing and fixing the part of the FPC located on the receiving plate 222, and the pressing assembly 230 comprises two-axis moving assemblies 231 and a pressing plate 232, and the two-axis moving assemblies 231 move reciprocally in the horizontal and vertical directions; the pressing plate 232 is fixedly arranged on the two-axis moving assemblies 231 and moves reciprocally in the horizontal and vertical directions under the driving of the two-axis moving assemblies 231, for clamping or releasing the part of the FPC located on the receiving plate 222. In the present embodiment, the two-axis moving assemblies 231 are composed of two linear cylinders, one of which is arranged in the horizontal direction and the other is arranged in the vertical direction, and the pressing plate 232 is arranged on the cylinder arranged in the vertical direction, so that under the driving of the two cylinders, the pressing plate 232 can move reciprocally in the horizontal and vertical directions, thereby being capable of clamping and releasing the FPC plate. In the present embodiment, the upper side surface of the pressing plate 232 is arranged as an inclined surface, and the end closer to the bending plate 223 is lower than the end farther away from the bending plate 223, so that during the bending process, the FPC plate pushed by the bending plate 223 is bent and formed along the upper inclined surface of the pressing plate 232.

[0061] In the present embodiment, as shown in Figure 7As shown, the taking device 300 comprises a first three-axis moving assembly 301 and a taking suction head assembly 310, which can be driven by the first three-axis moving assembly 301 to reciprocate along the X, Y and Z axis directions, so as to realize the actions of taking and transferring. In the embodiment, the first three-axis moving assembly 301 comprises three linear modules arranged along the X, Y and Z axis directions and connected. The taking suction head assembly 310 is arranged above the linear module arranged along the Z axis direction. In the embodiment, the taking suction head assembly 310 comprises a taking seat 311, a taking rotating device 312, a taking mounting plate 313 and two taking suction heads 314 arranged side by side above the taking mounting plate 313. The taking seat 311 is arranged above the first three-axis moving assembly 301. The taking rotating device 312 is fixedly arranged above the taking seat 311, and the output shaft of the taking rotating device 312 extends downward. The taking mounting plate 313 is drivingly connected to the output shaft of the taking rotating device 312. The taking suction heads 314 are connected to an external air suction device, so as to adsorb the FPC board. During the transferring of the FPC board to the bending assembly 220, the position of the FPC board is finely adjusted by the taking rotating device 312, so as to ensure the accuracy during loading and the accuracy of the FPC board during the bending process.

[0062] As shown in the figure, Figure 8 In the embodiment, the laminating device 400 comprises a second three-axis moving assembly 401 and a laminating suction head assembly 410 driven thereby. In the embodiment, the second three-axis moving assembly 401 is substantially the same as the first three-axis moving assembly 301, and there is a slight difference. In the embodiment, the second three-axis moving assembly 401 comprises linear modules arranged along the X, Y and Z axis directions, respectively. The linear module arranged along the Z axis direction comprises two linear modules arranged side by side. Correspondingly, the laminating suction head assembly 410 comprises two laminating suction heads 414 mounted on the linear modules arranged along the Z axis direction, so as to provide a multi-station taking action. The laminating suction head assembly 410 comprises a laminating seat 411, a laminating rotating device 412, a laminating mounting plate 413 and the laminating suction heads 414. The laminating rotating device 412 is fixedly arranged above the laminating seat 411, and the output shaft of the laminating rotating device 412 extends downward. The laminating mounting plate 413 is drivingly connected to the output shaft of the laminating rotating device 412. The laminating suction heads 414 are arranged above the laminating mounting plate 413. The action principle of the laminating suction head assembly is the same as that of the taking suction head assembly 310, which will not be described herein.

[0063] In the embodiment, as shown in the figure, Figure 9As shown, the specific structure of the conveying device 120 is exemplified, and in the embodiment, the conveying device 120 comprises a second linear module 121 and a mounting jig 123. Specifically, the second linear module 121 is arranged along a second predetermined direction, and a conveying jig 122 for loading workpieces is arranged on the second linear module 121 and reciprocally moves along the second predetermined direction; the mounting jig 123 is arranged above the machine table 100 and beside the second linear module 121, and a positioning cavity 124 for placing workpieces and completing mounting work is arranged on the mounting jig 123. During the mounting process, the second linear module 121 transports the workpieces, and then the mounting device 400 picks up the workpieces on the conveying jig 122 and transports them into the positioning cavity 124 of the mounting jig 123. The workpieces are positioned and fixed in the profiled interior of the positioning cavity, and then the mounting device picks up the bent FPC board and mounts it on the workpiece fixed by the positioning cavity 124, thereby completing the mounting work. Then, the mounting device 400 transports the product after the mounting work to the conveying jig 122, and the product is moved out of the device under the transportation of the second linear module 121.

[0064] In the embodiment, in order to ensure the precision of picking up and mounting the PFC, a visual recognition assembly 500 is further provided in the embodiment, as shown in Figures 1-2 The visual recognition assembly 500 is suspended above the table top of the machine table 100, and the visual recognition assembly 500 comprises visual cameras 510 corresponding to the feeder 110 and the conveying device 120, respectively. Thus, the position information of the feeder 110 and the conveying device 120 is recognized by the two visual cameras 510, respectively, so that the controller can be accurately driven to ensure the precision of picking up and mounting.

[0065] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application is disclosed as above in the preferred embodiment, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content without departing from the technical solution of the present application, and any simple modification, equivalent change and modification of the above embodiment within the scope of the technical solution of the present application are all within the scope of the present application.

Claims

1. An automatic device for attaching audio FPC, comprising a machine table, a feeder for providing FPC is arranged on the machine table, a carrying device for conveying a workpiece to be attached with the FPC in a first predetermined direction, characterized in that, The machine table further comprises: A bending device arranged between the flying feeder and the conveying device, comprising a first linear module moving towards the conveying device, and a bending assembly arranged on the first linear module and driven by the first linear module to move linearly back and forth, for bending the FPC; A taking device for grabbing the FPC provided by the flying feeder and transferring it to the bending assembly for bending processing; A laminating device arranged between the bending device and the conveying device, for grabbing the FPC after bending processing by the bending device and stacking it on the workpiece conveyed by the conveying device, and pressing them together to complete the laminating work.

2. The automated device for applying audio FPC of claim 1, wherein, The bending device further comprises a bottom plate arranged on the first linear module, and the bending assembly is arranged on the bottom plate, and the bending assembly comprises: Side plates comprising two oppositely arranged side plates to provide mounting positions; A receiving plate, both ends of which are fixedly arranged on the two side plates; A bending plate arranged side by side with the receiving plate, and both ends of the bending plate are rotatably connected to the side plates; A bending driving device fixedly arranged on any one of the side plates and in transmission connection with the bending plate to drive the bending plate to turn over towards the receiving plate.

3. The automated device for applying audio FPC of claim 2, wherein, The receiving plate is provided with at least one positioning column which is matched with the positioning hole on the FPC, and the positioning column protrudes elastically in the vertical direction from the receiving plate.

4. The automated device for applying audio FPC of claim 3, wherein, The receiving plate comprises: A base plate, both ends of which are fixedly connected to the side plates, and an installation cavity is arranged in the base plate; A linkage plate movably connected in the vertical direction in the installation cavity, and the positioning column is fixedly arranged on the linkage plate, and the base plate is provided with a hole position for the positioning column to protrude; An elastic member arranged in the installation cavity and located below the linkage plate, for providing an elastic upward thrust to the linkage plate.

5. The automated device for applying audio FPC of claim 4, wherein, The bending device further comprises a pressing assembly for pressing and fixing the FPC on the receiving plate, and the pressing assembly comprises: Two-axis moving assembly, which moves back and forth in the horizontal and vertical directions; A pressing plate fixedly arranged on the two-axis moving assembly and moving back and forth in the horizontal and vertical directions under the driving of the two-axis moving assembly, for clamping or releasing the FPC on the receiving plate.

6. The automated device for applying audio FPC of claim 1, wherein, The taking device comprises: A first three-axis moving assembly; A taking suction head assembly arranged on the three-axis moving assembly and driven by the three-axis moving assembly to move back and forth in the X, Y and Z axis directions, and the taking suction head assembly comprises A taking seat arranged on the first three-axis moving assembly; A taking rotating device fixedly arranged on the taking seat, and the output shaft of the taking rotating device protrudes downward; A material taking mounting plate is drivingly connected to an output shaft of the material taking rotating device; The material taking suction head includes two suction heads arranged side by side on the material taking mounting plate.

7. The automated device for attaching audio FPCs of claim 1, wherein, The fitting device includes: A second three-axis moving assembly includes linear modules arranged along XYZ-axis directions respectively, and the linear module arranged along the Z-axis direction includes two linear modules arranged side by side; The fitting suction head assembly includes two suction heads respectively mounted on the linear module arranged along the Z-axis direction, and the fitting suction head assembly includes A fitting seat; A fitting rotating device is fixedly installed on the fitting seat, and an output shaft of the fitting rotating device extends downward; A fitting mounting plate is drivingly connected to the output shaft of the fitting rotating device; A fitting suction head is arranged on the fitting mounting plate.

8. The automated device for applying audio FPC of claim 1, wherein, The carrying device includes: A second linear module is arranged along a second predetermined direction, and a carrying jig for loading workpieces is arranged on the second linear module and reciprocally moves along the second predetermined direction; The mounting jig is arranged on the machine table and located beside the second linear module, and a positioning cavity for placing workpieces and completing mounting work is arranged on the mounting jig.

9. The automated device for attaching audio FPCs of claim 1, wherein, A visual recognition assembly is further arranged on the machine table, the visual recognition assembly is suspended above the table top of the machine table, and the visual recognition assembly includes visual cameras corresponding to the flying feeder and the carrying device respectively.

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