CN113878666B

CN113878666B - Automatic blanking system of compact structure's flexible circuit board

Info

Publication number: CN113878666B
Application number: CN202110987938.7A
Authority: CN
Inventors: 史洪智; 陈琪昊; 劳培钦; 王栓
Original assignee: Shenzhen Maken M & E Co ltd
Current assignee: Shenzhen Maken M & E Co ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2023-03-28
Anticipated expiration: 2041-08-26
Also published as: CN113878666A

Abstract

The invention belongs to the field of automation, and discloses an automatic blanking system of a flexible circuit board with a compact structure, which comprises a blanking mechanism, a feeding mechanism, a receiving mechanism, a positioning mechanism for positioning the flexible circuit board and a manipulator mechanism, wherein a reserved installation space is arranged below a first carrier collecting unit; the blanking mechanism comprises an upper die, a lower die matched with the upper die, a second driving module for driving the upper die to perform blanking movement, and a third driving module for driving the lower die to horizontally move; the moving path of the lower die is parallel to the moving path of the first scraper. Compared with the prior design, the system has compact structure, small occupied space and high operation efficiency.

Description

Automatic blanking system of flexible circuit board with compact structure

Technical Field

The invention relates to the field of automation, in particular to an automatic blanking system of a flexible circuit board with a compact structure.

Background

CN202020404997.8 discloses an automatic blanking device for flexible circuit boards, which comprises a feeding unit for inputting flexible circuit boards, a positioning unit for positioning the flexible circuit boards input by the feeding unit, a transferring unit and a blanking unit, which are sequentially arranged, wherein the positioning unit comprises a manipulator, a positioning plate and a local camera for positioning the flexible circuit boards on the manipulator, and the manipulator is used for grabbing the flexible circuit boards from the feeding unit, positioning the flexible circuit boards by the local camera and then placing the flexible circuit boards on the positioning plate; the transfer unit is used for sending the flexible circuit board on the positioning plate into the blanking unit for blanking. Which can realize an accurate blanking processing operation of a flexible circuit board with devices.

The problems with this solution are: the feeding, positioning, blanking and receiving are all on the same straight line, and the occupied area is large.

CN201420582626.3 discloses a full-automatic clicker of flexible slab butt, which comprises a frame, be equipped with blanking mechanism, transport mechanism, raw materials placement mechanism, unloading hand claw mechanism and material loading hand claw mechanism in the frame, raw materials placement mechanism includes lifting module and panel, the panel is installed on the lifting module, lifting module can drive the panel reciprocates, transport mechanism includes horizontal slide rail, first hold-in range, second hold-in range, first motor and second motor.

The scheme provides a mode of fixing the upper die and moving the lower die to achieve the purpose of realizing multiple times of blanking of the flexible circuit board with a large area through movement. But the product to be processed of the scheme is free of a device and can be pre-positioned by the positioning needle; the product after the device is pasted can not be positioned by adopting a positioning needle, single machine production generally adopts automatic processing of bearing and loading in a tray mode, and the scheme does not integrate automatic loading of visual positioning, so that the automatic punching processing of the product after the device is pasted can not be suitable.

The technical problem that this application was solved is: how to realize the optimization of the space structure of the full-automatic equipment for punching the flexible circuit board after the device is attached so as to reduce the volume and the occupied space of the equipment. Of course, the apparatus is also suitable for automatic punching of FPC without a device.

Disclosure of Invention

The invention aims to provide the automatic blanking system of the flexible circuit board after the device is attached, which has a compact structure, occupies small space and has high operation efficiency compared with the traditional design. Of course, the apparatus is also suitable for automatic punching of FPC without device.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic blanking system of a flexible circuit board with a compact structure comprises a blanking mechanism, a feeding mechanism, a receiving mechanism, a positioning mechanism and a manipulator mechanism, wherein the positioning mechanism is used for positioning the flexible circuit board; the first carrier supply unit is positioned below one end of the first slide rail, and the first carrier collection unit is positioned above the other end of the first slide rail; a reserved installation space is arranged below the first carrier collection unit;

the blanking mechanism comprises an upper die, a lower die matched with the upper die, a second driving module for driving the upper die to perform blanking movement, and a third driving module for driving the lower die to horizontally move;

the moving path of the lower die is parallel to the moving path of the first scraper.

In the automatic blanking system of the flexible circuit board with the compact structure, the material receiving mechanism comprises a second carrier supply unit, a second carrier collection unit and a second carrier moving unit, the second carrier moving unit comprises a second slide rail and a second scraper blade, the second scraper blade is used for scraping the carrier output by the second carrier supply unit to the second carrier collection unit, and the second scraper blade is driven by a fourth driving module to slide along the second slide rail; the second carrier supply unit is positioned below one end of the second slide rail, and the second carrier collection unit is positioned above the other end of the second slide rail;

the moving path of the first scraper is symmetrical to that of the second scraper, and a reserved installation space is reserved below the second carrier collecting unit.

In the automatic blanking system of the flexible circuit board with the compact structure, the receiving mechanism further comprises a waste collecting basket and a third slide rail, and the waste collecting basket is driven by a fourth driving module to move along the third slide rail; one end of the third slide rail is positioned above the second carrier supply unit, and the third slide rail is positioned above the moving path of the second scraper and is consistent with the moving path of the second scraper.

In the automatic blanking system of the flexible circuit board with the compact structure, the positioning mechanism is positioned on the moving path of the first scraper;

the positioning mechanism comprises a fourth slide rail, a moving platform in sliding fit with the fourth slide rail, a bearing platform arranged on the moving platform and an imaging module; the bearing platform drives the bearing platform to horizontally move and horizontally rotate through a fifth driving module; one end of the fourth slide rail is positioned above the first carrier supply unit, the other end of the fourth slide rail is positioned right below the imaging module, and the fourth slide rail is positioned above the moving path of the first scraper and is consistent with the moving path of the first scraper;

the moving path of the manipulator mechanism is a linear moving path from the first carrier supply unit, the lower die to the material receiving mechanism.

In the automatic blanking system of the flexible circuit board with the compact structure, the bearing platform is provided with the backlight source, and the imaging module comprises the CCD cameras which are in one-to-one correspondence with the backlight source.

In the automatic blanking system of the flexible circuit board with the compact structure, the first carrier supply unit comprises a first carrier support frame capable of being lifted and first air cylinders located on two sides of the upper portion of the first carrier support frame, a first clamping plate is fixed at the power output end of each first air cylinder, the first clamping plates driven by the two first air cylinders are close to or far away from a carrier on the uppermost layer of the first carrier support frame, and the horizontal height of each first clamping plate is higher than the first scraper plate.

In the automatic blanking system for the flexible circuit board with the compact structure, the first driving module comprises a rack belt and a first motor, and the rack belt is fixedly connected with the first scraper and meshed with a power output end of the first motor;

the third driving module comprises a screw rod and a second motor, and the lower die, the screw rod and the second motor are sequentially in transmission connection.

In the automatic blanking system for the flexible circuit board with the compact structure, the first carrier collecting unit comprises a pair of second air cylinders and a plurality of supporting tables, wherein the second air cylinders are oppositely arranged, the supporting tables are oppositely arranged, the power output ends of the second air cylinders are fixedly provided with second clamping plates, and the second air cylinders are used for driving the second clamping plates to lift; the distance between the two second clamping plates is smaller than the width of the carrier; the width of brace table is greater than the width of carrier, the top of brace table has the wedge through pivot and torsional spring connection, and when the wedge under natural state, the interval between two relative wedges is less than the width of carrier.

In the above-mentioned automatic blanking system for the flexible printed circuit board having a compact structure, the robot mechanism includes a feeding robot and a discharging robot, a moving path of the feeding robot is between the first carrier supply unit and the lower mold, and a certain length space is proposed to be reserved in consideration of a possible 180-degree rotation of the feeding robot, and a moving path of the discharging robot is between the second carrier supply module and the lower mold in consideration of a possible 180-degree rotation of the discharging robot.

In the automatic blanking system of the flexible circuit board with the compact structure, the blanking manipulator comprises a tray body, a plurality of suckers fixed on the lower surface of the tray body, a lifting module for driving the tray body to lift, a rotating module for driving the tray body to horizontally rotate, and a translation module for driving the lifting module to translate;

the feeding mechanical arm and the discharging mechanical arm are identical in structure;

the carrier is a tray or foam;

the reserved installation space is used for installing an electric cabinet and/or a control system.

Compared with the prior art, the invention has the beneficial effects that:

compared with the prior art, the automatic punching method for the FPC product after the device is attached integrates the CCD automatic identification and positioning and the lower die moving punching mode, and achieves the advantages of good structure compactness and high space utilization rate of the whole machine.

Particularly, one end of the feeding mechanism is used for feeding materials at the lower side, the other end of the feeding mechanism is used for collecting carriers at the upper side, the lower side of the other end of the feeding mechanism becomes a space where auxiliary equipment such as an electric box can be installed, the structure is compact, and the space utilization rate is high.

The CCD automatic identification positioning mechanism and the feeding mechanism occupy the same part of space in the overlooking direction, and no additional space is needed.

The die-cut completion that removes through the lower mould of product, the removal route of the first scraper blade of lower mould and feed mechanism to and the removal route of the second scraper blade of unloading equipment set up side by side, can effectual saving space, mean from feed mechanism to blanking mechanism again to the interval between the unloading mechanism can be very little, the width of equipment can be little, and vertical degree of depth also can not the grow simultaneously.

Drawings

FIG. 1 is a front view of embodiment 1 of the present invention;

fig. 2 is a perspective view of embodiment 1 of the present invention;

fig. 3 is a perspective view of the feeding mechanism and the positioning mechanism of embodiment 1 of the present invention;

fig. 4 is a perspective view of a loading mechanism and a mobile platform according to embodiment 1 of the present invention;

fig. 5 is a perspective view of the charging mechanism of embodiment 1 of the present invention;

fig. 6 is a perspective view of a receiving mechanism according to embodiment 1 of the present invention;

FIG. 7 is a perspective view of the receiving mechanism according to embodiment 1 of the present invention, with a waste collecting frame omitted;

fig. 8 is a perspective view of a blanking mechanism according to embodiment 1 of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1 to 8, an automatic blanking system for a flexible circuit board with a compact structure includes a blanking mechanism 1, a feeding mechanism 2, a receiving mechanism 3, a positioning mechanism 4 for positioning the flexible circuit board, and a manipulator mechanism 5, where the manipulator mechanism 5 is configured to transfer the flexible circuit board from the feeding mechanism 2, the positioning mechanism 4, and the blanking mechanism 1 to the receiving mechanism 3 in sequence, the feeding mechanism 2 includes a first carrier supplying unit 21, a first carrier collecting unit 22, and a first carrier moving unit 23, the first carrier moving unit 23 includes a first slide rail 231, a first scraper 232 configured to scrape a carrier output by the first carrier supplying unit 21 to the first carrier collecting unit 22, and the first scraper 232 is driven by a first driving module to slide along the first slide rail 231; the first carrier supplying unit 21 is located below one end of the first slide rail 231, and the first carrier collecting unit 22 is located above the other end of the first slide rail 231; an installation space is reserved below the first carrier collection unit 22;

the blanking mechanism 1 comprises an upper die 11, a lower die 12 matched with the upper die 11, a second driving module 13 for driving the upper die 11 to perform blanking movement, and a third driving module 14 for driving the lower die 12 to horizontally move;

the moving path of the lower mold 12 and the moving path of the first squeegee 232 are arranged side by side.

In the embodiment, the feeding mechanism 2 and the receiving mechanism 3 are respectively used for feeding materials and collecting the materials; in the processing process, the flexible circuit board must be loaded on a carrier, the carrier can be selected from foam and a tray, the foam and the tray bearing the flexible circuit board FPC are stacked and placed on a first carrier supply unit 21, the first carrier supply unit 21 is located below one end of a first sliding rail 231 and used for conveying the carriers one by one upwards, the carriers are scraped to a first carrier collection unit 22 through a first scraping plate 232, the carriers are collected by the first carrier collection unit 22, and in the process, the positioning mechanism 4 positions the flexible circuit board on the carrier and transfers the flexible circuit board through a manipulator mechanism 5 to punch and collect finished products.

Compared with the prior art, the automatic punching method for the FPC product after the device is attached has the advantages that the structural compactness of the whole machine is good and the space utilization rate is high by integrating the CCD automatic identification and positioning and the lower die moving and punching modes.

Particularly, one end of the feeding mechanism is used for feeding materials from the lower side, the other end of the feeding mechanism is used for collecting carriers from the upper side, the lower side of the other end of the feeding mechanism becomes a space for installing auxiliary equipment such as an electric box, and the feeding mechanism is good in structure compactness and high in space utilization rate.

As a further refinement of the present embodiment, the first carrier supplying unit 21 includes a first carrier supporting frame 211 capable of ascending and descending, and first air cylinders 212 located at two sides above the first carrier supporting frame 211, a power output end of the first air cylinder 212 is fixed with a first clamping plate 213, the two first air cylinders 212 drive the first clamping plate 213 to approach or separate from the carrier at the uppermost layer on the first carrier supporting frame 211, and the horizontal height of the first clamping plate 213 is higher than that of the first scraper 232.

In the carrier output process, the first carrier support frame 211 firstly rises to enable the lower surface of the uppermost carrier to be aligned with the first cylinder 212, the first cylinder 212 drives the first clamping plate 213 to act, the front end of the first scraper 232 is provided with a bulge, the first clamping plate 213 extends to the lower part of the uppermost carrier, the first carrier support frame 211 descends to enable the uppermost carrier to be suspended, the first scraper 232 moves to the lower part of the suspended carrier, the first cylinder 212 retracts, the carrier falls onto the first scraper 232, the FPC on the carrier is positioned through the positioning mechanism 4, and the positioned FPC is clamped and conveyed to the blanking mechanism 1 by a manipulator; the first scraper 232 moves the carrier to the position of the first carrier collecting unit 22 to collect the empty carrier by the first carrier collecting unit 22.

In this embodiment, the first driving module includes a rack belt 233 and a first motor 234, and the rack belt 233 and the first scraper are fixedly connected and engaged with a power output end of the first motor 234; the rack belt 233 is driven by the first motor 234, and the rack belt 233 drives the first scraper to slide along the first slide rail 231.

The first carrier collecting unit 22 comprises a pair of second air cylinders 221 and a plurality of support tables 222, wherein the second air cylinders 221 are oppositely arranged, the second clamping plates 223 are fixed at the power output ends of the second air cylinders 221, and the second air cylinders 221 are used for driving the second clamping plates 223 to ascend and descend; the distance between the two second clamping plates 223 is smaller than the width of the carrier; the width of the support table 222 is greater than the width of the carrier, the top of the support table 222 is connected with a wedge block 224 through a rotating shaft and a torsion spring, and when the wedge block 224 is in a natural state, the distance between two opposite wedge blocks 224 is smaller than the width of the carrier.

The working process of collecting the empty carriers by the first carrier collecting unit 22 is as follows: the wedge blocks 224 are in a natural state, and the distance between two opposite wedge blocks 224 is smaller than the width of the carrier, so in a normal state, the wedge blocks 224 support the stacked empty carriers together, the two second clamping plates 223 descend to the low position in advance, so that the first scraper 232 can scrape the empty carriers onto the second clamping plates 223, at this time, the first scraper 232 scrapes the empty carriers to the position of the first carrier collecting unit 22 along the first slide rail 231, the empty carriers move onto the second clamping plates 223, the second clamping plates 223 ascend, the wedge blocks 224 are squeezed and expanded, and the empty carriers become the lowest layer of the stacked empty carriers. By repeating the above-described process, a thicker stack of empty carriers can be obtained.

To further make the system more compact, the positioning mechanism 4 is located in the path of movement of the first squeegee 232;

the positioning mechanism 4 comprises a fourth slide rail 41, a moving platform 42 in sliding fit with the fourth slide rail 41, a bearing platform 43 arranged on the moving platform 42, and an imaging module 44; the bearing platform 43 is driven by a fifth driving module 45 to move horizontally and rotate horizontally; specifically, the driving module 45 may include a slide rail perpendicular to the moving direction of the moving platform and a horizontal rotating disc, the horizontal rotating disc is engaged with a motor, the motor is driven by the motor to rotate, and the bearing platform may be driven by another motor or an air cylinder to slide along the slide rail; in practical applications, there are many similar mechanisms for realizing the rotation and movement of the bearing platform on the moving platform, and this embodiment is not limited to this embodiment.

One end of the fourth slide rail 41 is located above the first carrier supply unit 21, the other end of the fourth slide rail 41 is located right below the imaging module 44, and the fourth slide rail 41 is located above the moving path of the first scraper 232 and is consistent with the moving path of the first scraper 232; the movable platform 42 is driven by an auxiliary motor 47 and an auxiliary rack belt 48 to slide along the fourth slide rail.

The movement path of the robot mechanism 5 is a linear movement path from the first carrier supply unit 21, the lower die 12 to the receiving mechanism 3.

In practical applications, it is also possible to additionally provide a space for the positioning mechanism 4, but in combination with the above-mentioned structural features relating to the feeding mechanism 2, the present embodiment is preferably designed optimally so that the positioning mechanism 4 does not occupy more space.

Specifically, firstly, the robot mechanism 5 adsorbs the FPC on the uppermost carrier on the first carrier supply unit 21, the moving platform 42 drives the carrying platform 43 to move right above the first carrier supply unit 21, the robot mechanism 5 places the FPC on the carrying platform 43, and the moving platform 42 drives the carrying platform 43 to move below the imaging module 44, and since the carrying platform 43 can move horizontally and rotate horizontally, the carrying platform 43 can realize the adjustment of the FPC at any angle on the horizontal plane, where the horizontal movement refers to the horizontal movement in the direction perpendicular to the moving platform 42. Then, the supporting platform 43 moves to the upper side of the first carrier supplying unit 21, and the angle-adjusted FPC is sucked into the punching mechanism 1 by the robot arm to be punched.

The supporting platform 43 is provided with at least two backlight sources 46, and the imaging module 44 includes at least two CCD cameras corresponding to the backlight sources 46 one by one. The basic principle of imaging alignment is as follows: the FPC has feature points or feature holes that can be easily identified in the presence of the backlight 46 to achieve the positioning purpose. The backlight source 46 is used in this embodiment to avoid the situation of inaccurate recognition caused by the reflection phenomenon of the conventional upper light source.

In the present embodiment, the feeding mechanism 2 and the receiving mechanism 3 have substantially similar structures, specifically, the receiving mechanism 3 includes a second carrier supplying unit 31, a second carrier collecting unit 32, and a second carrier moving unit 33, the second carrier moving unit 33 includes a second slide rail 38, a second scraper 37 for scraping the carrier output by the second carrier supplying unit 31 to the second carrier collecting unit 32, and the second scraper 37 is driven by the fourth driving module 36 to slide along the second slide rail; the second carrier supply unit 31 is located below the side of one end of the second slide rail, and the second carrier collection unit 32 is located above the other end of the second slide rail;

the moving path of the first scraper 232 and the moving path of the second scraper 37 are symmetrical, and an installation space is reserved below the second carrier collection unit 32. The material receiving mechanism 3 further comprises a waste collecting basket 34 and a third slide rail 35, wherein the waste collecting basket 34 is driven by a sixth driving module 39 to move along the third slide rail 35; one end of the third slide rail 35 is positioned above the second carrier supply unit 31, and the third slide rail 35 is positioned above the moving path of the second squeegee 37 and coincides with the moving path of the second squeegee 37.

The operation principle of the second carrier supplying unit 31, the second carrier collecting unit 32, the second carrier moving unit 33, and the corresponding units of the feeding mechanism 2 are identical, and a description thereof will not be repeated.

It needs to be additionally stated that: in the receiving mechanism 3, the corresponding positioning mechanism 4 on the feeding mechanism 2 is replaced by a scrap collecting frame, that is, after stamping, a finished product is firstly placed on a carrier through the manipulator mechanism 5, then the sixth driving module 39 drives the scrap collecting frame to move to the position above the second carrier supply unit 31, and the manipulator mechanism 5 moves leftover materials from the lower die 12 to the scrap collecting frame.

The third driving module 14 comprises a screw rod and a second motor, and the lower die 12, the screw rod and the second motor are sequentially connected in a transmission manner.

The robot mechanism 5 includes a loading robot 51 and a discharging robot 52, the moving path of the loading robot 51 is between the first carrier supply unit 21 and the lower mold 12, and the moving path of the discharging robot 52 is between the second carrier supply module and the lower mold 12; the blanking manipulator 52 comprises a disc body 53, a plurality of suckers 54 fixed on the lower surface of the disc body 53, a lifting module 55 for driving the disc body 53 to lift, a rotating module 56 for driving the disc body 53 to horizontally rotate, and a translation module 57 for driving the lifting module 55 to translate;

the loading manipulator 51 and the unloading manipulator 52 have the same structure.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. An automatic blanking system of a flexible circuit board with a compact structure comprises a blanking mechanism, a feeding mechanism, a receiving mechanism, a positioning mechanism and a manipulator mechanism, wherein the positioning mechanism is used for positioning the flexible circuit board; the first carrier supply unit is positioned below one end of the first slide rail, and the first carrier collection unit is positioned above the other end of the first slide rail; a reserved installation space is arranged below the first carrier collection unit;

the moving path of the lower die is parallel to the moving path of the first scraper;

the receiving mechanism comprises a second carrier supply unit, a second carrier collection unit and a second carrier moving unit, the second carrier moving unit comprises a second slide rail and a second scraper blade used for scraping the carrier output by the second carrier supply unit to the second carrier collection unit, and the second scraper blade is driven by a fourth driving module to slide along the second slide rail; the second carrier supply unit is positioned below one end of the second slide rail, and the second carrier collection unit is positioned above the other end of the second slide rail;

the moving path of the first scraper is symmetrical to that of the second scraper, and a reserved mounting space is reserved below the second carrier collecting unit.

2. The automatic blanking system of claim 1, wherein the material receiving mechanism further comprises a waste collecting basket and a third slide rail, and the waste collecting basket is driven by a fourth driving module to move along the third slide rail; one end of the third slide rail is positioned above the second carrier supply unit, and the third slide rail is positioned above the moving path of the second scraper and is consistent with the moving path of the second scraper.

3. The automatic blanking system of claim 1, wherein the positioning mechanism is located on a moving path of the first squeegee;

4. The automatic blanking system of the flexible circuit board with the compact structure of claim 3, wherein a backlight source is arranged on the bearing platform, and the imaging module comprises CCD cameras corresponding to the backlight source one by one.

5. The automatic blanking system of the flexible circuit board with the compact structure of claim 1, wherein the first carrier supply unit comprises a first carrier support frame capable of ascending and descending, and first air cylinders located at two sides above the first carrier support frame, wherein a first clamping plate is fixed at a power output end of the first air cylinders, the two first air cylinders drive the first clamping plate to approach or move away from a carrier at the uppermost layer on the first carrier support frame, and the horizontal height of the first clamping plate is higher than that of the first scraper.

6. The automatic blanking system of the compact flexible circuit board as claimed in claim 5, wherein the first driving module comprises a rack belt and a first motor, the rack belt and the first scraper are fixedly connected and meshed with a power output end of the first motor;

7. The automatic blanking system for the flexible circuit board with the compact structure according to claim 1, wherein the first carrier collection unit comprises a pair of second air cylinders arranged oppositely, a plurality of support tables arranged oppositely, a second clamping plate is fixed at a power output end of the second air cylinders, and the second air cylinders are used for driving the second clamping plate to lift and lower; the distance between the two second clamping plates is smaller than the width of the carrier; the width of brace table is greater than the width of carrier, the top of brace table has the wedge through pivot and torsional spring connection, and when the wedge under natural state, the interval between two relative wedges is less than the width of carrier.

8. The automatic blanking system of claim 2, wherein the robot mechanism comprises a feeding robot having a moving path between the first carrier supply module and the lower mold and a discharging robot having a moving path between the second carrier supply module and the lower mold.

9. The automatic blanking system of the flexible circuit board with the compact structure of claim 8, wherein the blanking manipulator comprises a tray body, a plurality of suckers fixed on the lower surface of the tray body, a lifting module for driving the tray body to lift, a rotating module for driving the tray body to rotate horizontally, and a translation module for driving the lifting module to translate;

the feeding manipulator and the discharging manipulator have the same structure;

the carrier is a tray or foam;