CN115609254A - Automatic assembling system, method and device for flexible circuit board - Google Patents
Automatic assembling system, method and device for flexible circuit board Download PDFInfo
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- CN115609254A CN115609254A CN202211198934.1A CN202211198934A CN115609254A CN 115609254 A CN115609254 A CN 115609254A CN 202211198934 A CN202211198934 A CN 202211198934A CN 115609254 A CN115609254 A CN 115609254A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
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Abstract
The invention discloses a system, a method and a device for automatically assembling a flexible circuit board, and relates to the technical field of flexible circuit board production. The first vision unit obtains the offset of a workpiece placed on the feeding platform, the workpiece position control unit adjusts the workpiece according to the offset of the workpiece to be assembled and places the workpiece on the assembling station in a standard posture, so that the second vision unit on the assembling station accurately identifies coordinates on the basis of the standard posture of the workpiece, and the manipulator unit can conveniently and accurately grab the workpiece to be assembled in a preset standard angle posture. After the manipulator unit opens the FPC buckle based on the first coordinate of the uncapped FPC buckle, the second vision unit identifies the third coordinate of the uncapped FPC buckle again, and the manipulator unit aligns and assembles the FPC buckle and the FPC flat cable based on the third coordinate and the second coordinate of the flat cable, so that the buckle position deviation caused by the uncapping action is compensated. This application improves the yield of FPC equipment through accurate discernment and control work piece position.
Description
Technical Field
The invention relates to the technical field of flexible circuit board production, in particular to an automatic flexible circuit board assembling system, method and device.
Background
The existing industry basically carries out the assembly part process of FPC (flexible circuit board) by manpower, is a process which consumes manpower and time for the 3C electronic chip industry with large production capacity, and under the current environment that the labor cost is increased, the FPC assembly process needs to carry out personnel training to cause the cost of manpower to be greatly consumed, and the production efficiency is low.
At present, the concept of automatically assembling a flexible circuit board by using a mechanical arm is proposed in the related art, and the concept comprises the steps of grabbing a workpiece such as an FPC (flexible printed circuit) flat cable and an FPC buckle by using the mechanical arm, inserting the FPC flat cable into the FPC buckle, and the requirement on position control of the workpiece is very high in the process, so that a large amount of defective products can be caused if the position control of the workpiece is inaccurate. However, the current flexible circuit board assembling device can not realize accurate control of the position of a workpiece so as to realize effective assembly of the flexible circuit board.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a system, a method and a device for automatically assembling a flexible circuit board, which can accurately control the position of a workpiece and improve the yield of automatic assembly of the flexible circuit board.
In one aspect, an embodiment of the present invention provides an automatic assembly system for a flexible printed circuit, including:
the first vision unit is used for acquiring the offset of a workpiece to be assembled placed on the feeding platform, wherein the workpiece to be assembled is one of an FPC (flexible printed circuit) flat cable or an FPC buckle;
the workpiece position control unit is used for adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled and placing the workpiece to be assembled on an assembly station in a standard posture;
the second visual unit is used for identifying the FPC fastener in the assembling station to obtain a first coordinate of the FPC fastener; identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable; the device is used for identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
the manipulator unit is used for opening the cover of the FPC buckle according to the first coordinate; and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to finish the assembly of the flexible circuit board.
According to some embodiments of the invention, the first vision unit comprises:
the first shooting subunit is used for identifying two calibration positions on the workpiece to be assembled to obtain a first calibration coordinate and a second calibration coordinate;
the first calculating subunit is configured to acquire a first standard coordinate and a second standard coordinate that are pre-stored, and determine the offset according to a first deviation of the first standard coordinate from the first calibration coordinate and a second deviation of the second standard coordinate from the second calibration coordinate, where the offset includes an X-axis offset, a Y-axis offset, and an offset angle.
According to some embodiments of the invention, the workpiece position control unit comprises:
the first manipulator is used for acquiring a preset first attitude parameter, correcting the first attitude parameter according to the X-axis offset and the offset angle to obtain a second attitude parameter, grabbing the component to be assembled according to the second attitude parameter, and adjusting the attitude of the first manipulator according to the first attitude parameter;
the mobile platform is used for acquiring preset first platform coordinates, adjusting Y-axis coordinates in the first platform coordinates according to the Y-axis offset to obtain second platform coordinates, and adjusting the position of the mobile platform according to the second platform coordinates;
the first mechanical arm is also used for placing a workpiece to be assembled on the moving platform;
the moving platform is further used for moving to the assembling station according to a preset third platform coordinate.
According to some embodiments of the invention, the robot unit comprises:
the second manipulator is used for positioning the preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, opening a cover of the FPC buckle on the assembling station and returning to the second manipulator teaching position;
the third manipulator is used for positioning to a position corresponding to the first state coordinate according to the first state coordinate in the second coordinate, clamping the FPC and positioning to a preset teaching position of the third manipulator; inserting the FPC flat cable into the FPC buckle according to a second state coordinate and the third coordinate in the second coordinate, wherein the first state coordinate is used for representing the FPC flat cable position when the FPC flat cable is placed on the assembly station platform, and the second state coordinate is used for representing the FPC flat cable position when the FPC flat cable is clamped to a third manipulator teaching position by a third manipulator.
According to some embodiments of the invention, the second vision unit comprises:
the side shooting and shooting unit is used for identifying the top end of the FPC buckle which is positioned on the assembly station platform and is not opened from the side surface to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC buckle positioned on the assembling station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped to the teaching position of the third manipulator by the third manipulator from the side surface to obtain a second state Z-axis parameter;
the top shooting and shooting sub-unit is used for identifying the FPC buckle calibration point which is positioned on the assembly station platform and is not opened from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying the uncapped FPC fastener calibration point on the assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying the FPC flat cable calibration point positioned on the assembly station platform from the top to obtain a first state X-axis parameter and a first state Y-axis parameter; identifying the FPC flat cable calibration point clamped to the teaching position of the third manipulator by the third manipulator from the top to obtain a second state X-axis parameter and a second state Y-axis parameter;
the second calculating subunit is used for determining a first coordinate according to the first Z-axis parameter, the first X-axis parameter and the first Y-axis parameter; determining a first state coordinate according to the first state X-axis parameter and the first state Y-axis parameter, determining a first state coordinate according to the second state Z-axis parameter, the second state X-axis parameter and the second state Y-axis parameter, and determining a second coordinate according to the first state coordinate and the second state coordinate; and determining a third coordinate according to the third Z-axis parameter, the third X-axis parameter and the third Y-axis parameter.
According to some embodiments of the invention, the top part shooting subunit is provided on the second manipulator, and the top part shooting subunit is enabled when the second manipulator is in a second manipulator teaching position.
According to some embodiments of the invention, the second robot is further adapted to:
and when the FPC flat cable is inserted into the FPC buckle, positioning the FPC flat cable from the second manipulator teaching position to a position corresponding to the third coordinate according to the third coordinate, and closing a cover of the FPC buckle on the assembling station.
According to some embodiments of the invention, the flexible circuit board automatic assembly system further comprises:
and the inspection unit is used for acquiring the assembled product pictures through the second vision unit, inspecting whether the assembly is qualified or not according to the product pictures, grabbing the product to the discharging platform through the manipulator unit when the assembly is qualified, and grabbing the product to the recycling platform through the manipulator unit when the assembly is unqualified.
On the other hand, the embodiment of the invention also provides an automatic assembly method of the flexible circuit board, which comprises the following steps:
acquiring the offset of a workpiece to be assembled, which is placed on a feeding platform, wherein the workpiece to be assembled is one of an FPC (flexible printed circuit) flat cable or an FPC buckle;
adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled, and placing the workpiece to be assembled on an assembly station in a standard posture;
identifying the FPC fastener in an assembly station to obtain a first coordinate of the FPC fastener;
opening a cover of the FPC buckle according to the first coordinate;
identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable;
identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to finish the assembly of the flexible circuit board.
On the other hand, an embodiment of the present invention further provides an automatic assembly apparatus for a flexible printed circuit, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the flexible circuit board automatic assembly method as described above.
The technical scheme of the invention at least has one of the following advantages or beneficial effects: the offset of a workpiece to be assembled arranged on the feeding platform is taken and placed through the first vision unit, the workpiece position control unit adjusts the workpiece to be assembled according to the offset of the workpiece to be assembled and places the workpiece to be assembled on the assembling station in a standard posture, so that the second vision unit on the assembling station accurately identifies coordinates on the basis of the standard posture of the workpiece, and the manipulator unit can conveniently and accurately grab the workpiece to be assembled in a preset standard angle posture. In addition, after the manipulator unit opens the FPC buckle based on the first coordinate of the uncapped FPC buckle, the second vision unit identifies the third coordinate of the uncapped FPC buckle again, and the manipulator unit aligns the FPC buckle and assembles with the FPC flat cable based on the third coordinate and the flat cable second coordinate, so that the buckle position deviation caused by the uncapping action can be compensated. This application improves the yield of the automatic equipment of flexible circuit board through accurately discerning and control work piece position.
Drawings
FIG. 1 is a flow chart of an automatic assembling method for a flexible printed circuit board according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an automatic assembly apparatus for a flexible printed circuit board according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the directions of up, down, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if there are descriptions of the first, second, etc. for the purpose of distinguishing technical features, it is not understood that the descriptions indicate or imply relative importance or implicitly indicate the number of the indicated technical features or implicitly indicate the precedence of the indicated technical features.
The embodiment of the invention provides an automatic assembly system of a flexible circuit board, which comprises:
the first vision unit is used for acquiring the offset of a workpiece to be assembled, which is placed on the feeding platform, wherein the workpiece to be assembled is one of an FPC (flexible printed circuit) flat cable or an FPC buckle;
the workpiece position control unit is used for adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled and placing the workpiece to be assembled on the assembling station in a standard posture;
the second vision unit is used for identifying the FPC buckle in the assembling station to obtain a first coordinate of the FPC buckle; identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable; the device is used for identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
the manipulator unit is used for opening the cover of the FPC buckle according to the first coordinate; and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to finish the assembly of the flexible circuit board.
In this embodiment, the vision unit simultaneously recognizes the calibration points on the workpiece and can calculate the coordinates of the workpiece, the coordinates in this embodiment are three-dimensional space coordinates, that is, the coordinates include an X-axis direction parameter, a Y-axis direction parameter and a Z-axis direction parameter, a plane formed by an X-axis and a Y-axis in the three-dimensional space coordinate system of this embodiment corresponds to a plane on the assembly station platform, accordingly, the X-axis direction parameter and the Y-axis direction parameter can calibrate the plane position of the workpiece on the assembly station platform, and the Z-axis direction parameter can calibrate the height of the workpiece above the assembly station platform.
In this embodiment, the manipulator unit will open the back based on the first coordinate of the FPC buckle that does not uncap and FPC buckle, and the third coordinate of the FPC buckle that has uncapped is discerned once more to the second vision unit, and the manipulator unit aligns the FPC buckle and assembles with the FPC winding displacement based on third coordinate and second coordinate, can compensate the buckle position deviation because of uncapping action causes.
In the embodiment, the workpiece to be assembled placed on the feeding platform is adjusted through the cooperation of the first vision unit and the workpiece position control unit, so that the workpiece to be assembled enters the assembly station in a standard posture, the problem that the second vision unit in the assembly station cannot capture the complete assembly workpiece to cause inaccurate positioning is avoided, and meanwhile, the manipulator unit in the assembly station can conveniently and accurately capture the FPC cable in a preset standard angle posture to accurately insert the FPC cable into the FPC buckle.
In another embodiment, if the workpiece to be assembled enters the assembly station in a standard posture, the current workpiece posture (including the workpiece placing position and angle) recognized by the second vision unit should be the same as the workpiece posture pre-stored in the second vision unit, and the current workpiece posture recognized by the second vision unit may have a slight deviation from the preset workpiece posture in consideration of mechanical shaking of the workpiece position control unit. If the second recognition unit judges that the deviation between the current workpiece posture and the preset workpiece posture is larger than the preset value, the workpiece position control unit is abnormal, the posture is not adjusted correctly, or the workpiece deviates under the influence of external force in the process of entering the assembly station, the second recognition unit sends alarm information to remind a worker.
According to some specific embodiments of the invention, the first visual unit comprises:
the first shooting subunit is used for identifying two calibration positions on the workpiece to be assembled to obtain a first calibration coordinate and a second calibration coordinate;
the first calculating subunit is configured to acquire a first standard coordinate and a second standard coordinate that are pre-stored, and determine an offset according to a first deviation of the first standard coordinate from the first calibration coordinate and a second deviation of the second standard coordinate from the second calibration coordinate, where the offset includes an X-axis offset, a Y-axis offset, and an offset angle.
In this embodiment, the two nominal positions on the workpiece to be assembled may be two vertex positions on the rectangular workpiece to be assembled. The first standard coordinate and the second standard coordinate pre-stored by the first vision unit are ideal coordinates of two calibration positions of the workpiece under the assumption of standard posture.
According to some embodiments of the invention, the workpiece position control unit comprises:
the first manipulator is used for acquiring a preset first attitude parameter, correcting the first attitude parameter according to the X-axis offset and the offset angle to obtain a second attitude parameter, grabbing the component to be assembled according to the second attitude parameter, and adjusting the attitude of the first manipulator according to the first attitude parameter;
the mobile platform is used for acquiring preset first platform coordinates, adjusting Y-axis coordinates in the first platform coordinates according to the Y-axis offset to obtain second platform coordinates, and adjusting the position of the mobile platform according to the second platform coordinates;
the first manipulator is also used for placing the workpiece to be assembled on the moving platform;
the moving platform is further used for moving to an assembling station according to a preset third platform coordinate.
In the present embodiment, the attitude parameters include the position coordinates and the rotation angle of the manipulator.
In this embodiment, the posture of the first manipulator is adjusted according to the X-axis offset and the offset angle on the basis of the first posture parameter, so that the first manipulator can grab the workpiece to be assembled in a posture conforming to the current placement of the workpiece to be assembled, and after the workpiece to be assembled is grabbed, the posture of the first manipulator is adjusted according to the first posture parameter to return the workpiece to be assembled.
In this embodiment, the moving platform adds the Y-axis offset to the first platform coordinate to obtain a second platform coordinate, and then moves according to the second platform coordinate to offset the offset of the assembly workpiece in the Y-axis direction to the position right below the workpiece to be assembled. Through the cooperation of the first mechanical arm and the moving platform, the workpiece to be assembled can be placed on the moving platform in a standard posture and enters the preset position of the assembling station.
According to some embodiments of the invention, the robot unit comprises:
the second manipulator is used for positioning the preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, opening the FPC buckle cover on the assembling station and returning to the second manipulator teaching position;
the third manipulator is used for positioning to a position corresponding to the first state coordinate according to the first state coordinate in the second coordinate, clamping the FPC and positioning to a preset teaching position of the third manipulator; inserting the FPC flat cable into the FPC buckle according to a second state coordinate and a third coordinate in the second coordinate, wherein the first state coordinate is used for representing the FPC flat cable position when the FPC flat cable is placed on the assembling station platform, and the second state coordinate is used for representing the FPC flat cable position when the FPC flat cable is clamped to the teaching position of the third manipulator by the third manipulator.
In other embodiments, the manipulator unit may also be composed of a manipulator, which is provided with a cover opening mechanism and an assembling mechanism, that is, the manipulator is positioned from a preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, and returns to the second manipulator teaching position after the cover opening mechanism opens the FPC clip cover on the assembling station, and then is positioned to a position corresponding to the first state coordinate according to the first state coordinate in the second coordinate, and is positioned to a preset third manipulator teaching position after the assembling mechanism clamps the FPC cable; and inserting the FPC flat cable into the FPC buckle according to the second state coordinate and the third coordinate in the second coordinate.
According to some specific embodiments of the invention, the second visual element comprises:
the side shooting sub-unit is used for identifying the top end of the uncapped FPC buckle positioned on the assembling station platform from the side to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC fastener positioned on the assembling station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped to the teaching position of the third manipulator by the third manipulator from the side surface to obtain a second state Z-axis parameter;
the top shooting and shooting unit is used for identifying an uncapped FPC buckle calibration point on the assembling station platform from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying an uncapped FPC fastener calibration point on an assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying an FPC flat cable calibration point, a first state X-axis parameter and a first state Y-axis parameter which are positioned on an assembly station platform from the top; identifying an FPC (flexible printed circuit) flat cable calibration point clamped to a teaching position of a third manipulator by the third manipulator from the top to obtain a second state X-axis parameter and a second state Y-axis parameter;
the second calculating subunit is used for determining a first coordinate according to the first Z-axis parameter, the first X-axis parameter and the first Y-axis parameter; determining a first state coordinate according to a first state X-axis parameter and a first state Y-axis parameter, determining a first state coordinate according to a second state Z-axis parameter, a second state X-axis parameter and a second state Y-axis parameter, and determining a second coordinate according to the first state coordinate and the second state coordinate; and determining a third coordinate according to the third Z-axis parameter, the third X-axis parameter and the third Y-axis parameter.
In this embodiment, the automatic assembly of the FPC is completed by the interactive cooperation of the second vision unit and the manipulator unit.
In this embodiment, for the determination of the second state coordinate, when the FPC cable is clamped by the third manipulator and the third manipulator is located at the teaching position of the third manipulator, the side shooting subunit and the top shooting subunit identify the end of the FPC cable and the XY plane calibration point of the FPC cable to obtain the coordinates; or when the FPC flat cable is clamped on the third manipulator and the third manipulator is located at the teaching position of the third manipulator, the side shooting subunit is used for identifying the tail end of the FPC flat cable to obtain a Z-axis coordinate, then the third manipulator is controlled to vertically descend to a position where the tail end of the FPC flat cable is the same as the height of an uncapped FPC buckle, the top shooting subunit is used for identifying an XY plane calibration point of the FPC flat cable to obtain an X-axis coordinate and a Y-axis coordinate, and the Z-axis coordinate, the X-axis coordinate and the Y-axis coordinate are integrated to obtain a second state parameter.
According to some embodiments of the invention, the top shooting subunit is disposed on the second manipulator, and the top shooting subunit is enabled when the second manipulator is in the second manipulator teaching position.
In this embodiment, shoot the subunit with the top and install on the second manipulator, can save the mounting structure that the subunit was shot at the top, save the cost of buildding of flexible circuit board automatic assembly system.
According to some embodiments of the invention, the second robot is further adapted to:
when the FPC flat cable is inserted into the FPC buckle, the position corresponding to the third coordinate is located from the teaching position of the second manipulator according to the third coordinate, and the FPC buckle cover on the assembling station is closed.
According to some embodiments of the present invention, the flexible circuit board automatic assembly system further comprises:
and the inspection unit is used for acquiring the assembled product picture through the second vision unit, inspecting whether the assembly is qualified according to the product picture, grabbing the product to the discharging platform through the manipulator unit when the assembly is qualified, and grabbing the product to the recycling platform through the manipulator unit when the assembly is unqualified.
In this embodiment, can judge through the subunit is shot at the top whether qualified to the distance judgement of buckle opening central point is judged to winding displacement sign line central point, discerns to the distance overlength or discerns the buckle opening position then be unqualified, also can shoot through the subunit is shot through the side and inspect whether the lid of buckle has arrived the closed position and judge whether qualified, it is unqualified not to arrive the position.
In this embodiment, the moving platform moves the product out of the assembly station, and after the product reaches the blanking station, the manipulator on the blanking station determines to clamp the product to the recovery platform or the discharge platform according to the product inspection result of the second visual unit.
In other embodiments, the cooperation of the units in the automatic assembly system for a flexible printed circuit board according to the embodiments of the present invention is described with reference to an actual assembly process, which includes the following steps:
first, the adjustment of the pieces to be assembled is as follows:
after the workpiece to be assembled is placed on the feeding platform, two corners of the workpiece to be assembled are photographed through the first vision system, and current coordinates P1 and P2 of the two corners of the workpiece are obtained.
The current X-axis and Y-direction offset amounts offset X, offset Y of the workpiece are obtained by a Px parameter (actual distance/pixel) obtained by calibrating the camera in advance and the standard reference point coordinates B1, B2 of the two corners.
A camera is calibrated in advance to obtain a coordinate point Pt of a rotation center of the workpiece, and the current two edge point coordinates P1 and P2 are used for obtaining the angular offset offsetrZ of the current workpiece.
The first mechanical arm superposes an X-axis reference parameter and an RZ reference parameter in a first attitude parameter of the first mechanical arm according to the offset X and the offset RZ, so that the first mechanical arm comes right above a workpiece to grab, and after grabbing is completed, alignment is carried out according to offset X and offset RZ offset data to offset the influence of the workpiece in the X and RZ directions.
The first mechanical arm moves to a placement position of the moving platform, and the moving platform adds the offset and the preset Y-axis reference parameters of the moving platform to enable the moving platform to come under a workpiece, so that the influence of the Y-axis direction offset of the workpiece is offset.
The first mechanical arm places a workpiece on the moving platform, the moving platform moves into the FPC assembling position, and FPC inserting process is started.
Secondly, the FPC buckle step of uncapping includes:
the side shooting subunit on the assembling station identifies the FPC buckle, determines the top end position of the FPC buckle, namely the height of the FPC buckle, and obtains a first Z-axis parameter;
the second manipulator moves to a second manipulator teaching position, a top shooting subunit positioned on the second manipulator identifies the FPC fastener, and a first X-axis parameter and a first Y-axis parameter of a calibration point of the FPC fastener cover are determined;
the second manipulator utilizes a cover opening mechanism arranged at the tail end to open the cover of the FPC buckle;
and after the second manipulator opens the cover, the second manipulator returns to the teaching position of the second manipulator to photograph the FPC buckle and detect the opening result.
Thirdly, the FPC cable clamping step comprises:
the second manipulator positions a white identification line printed on the FPC at a second manipulator teaching position to obtain a first state X-axis parameter and a first state Y-axis parameter of the FPC, and further obtain a first state coordinate;
the third manipulator moves right above the FPC flat cable according to the first state coordinate, starts the FPC flat cable adsorption mechanism to adsorb the FPC flat cable, and controls the clamping mechanism to close after the adsorption is confirmed, so that the FPC flat cable is clamped;
fourthly, the FPC flat cable alignment assembly step comprises:
after the third manipulator clamps the FPC flat cable, the FPC flat cable is lifted to a teaching position of the third manipulator, the side shooting sub-unit positions the tail end of the FPC flat cable, the extending length of the tail end of the FPC flat cable relative to the tail end of the clamping mechanism is determined, and Z-axis parameters of a second state of the tail end of the FPC flat cable are obtained;
the side shooting subunit identifies the calibration point at the top of the FPC buckle, determines the height of the buckle after the cover is opened, and obtains a third Z-axis parameter so as to compensate the buckle position deviation caused by the cover opening action during subsequent assembly;
the third manipulator clamps the FPC flat cable to vertically drop to the position where the tail end of the FPC flat cable is at the same height as the FPC buckle after the cover is opened according to the second state Z-axis parameter and the third Z-axis parameter;
the top shooting subsystem identifies the FPC flat cable and the buckle so as to simultaneously position a center point of the tail end of the FPC flat cable and a center point of an inlet of the FPC buckle on an XY plane, and correspondingly obtain a second-state X-axis parameter and a second-state Y-axis parameter of the current FPC flat cable and a third X-axis parameter and a third Y-axis parameter of the current FPC buckle;
based on the parameters, the third manipulator moves to the center point of the FPC flat cable to align with the center point of the fastener opening, so that the tail end of the FPC flat cable is attached to the FPC fastener opening.
The third manipulator clamps the FPC flat cable, inserts the FPC flat cable into the FPC buckle based on the preset depth, closes the adsorption mechanism after finishing the FPC flat cable clamping, and releases the clamping jaw to ascend;
and the cover opening mechanism on the second manipulator closes the buckle cover and returns to the teaching position of the second manipulator.
Fifthly, FPC assembling and inspecting:
the top shooting subunit is used for identifying the distance from the center point of the inserted FPC flat cable identification line to the center point of the FPC buckle opening to judge whether the FPC buckle is qualified or not, and if the distance is too long or the FPC buckle opening position is not identified, the FPC buckle opening position is unqualified;
identifying whether the cover of the FPC buckle reaches a closing position by using a side shooting subsystem to judge whether the cover is qualified or not, wherein the cover is unqualified if the cover does not reach the closing position;
snatch qualified product to ejection of compact position through the manipulator, snatch unqualified product and flow to the product conveyer belt.
The embodiment of the invention also provides an automatic assembly method of the flexible circuit board, which comprises the following steps with reference to fig. 1:
step S110, acquiring offset of a workpiece to be assembled, which is placed on a feeding platform, wherein the workpiece to be assembled is one of an FPC (flexible printed circuit) line or an FPC buckle;
step S120, adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled, and placing the workpiece to be assembled on an assembly station in a standard posture;
step S130, identifying an FPC (flexible printed circuit) buckle in an assembling station to obtain a first coordinate of the FPC buckle;
step S140, opening a cover of the FPC buckle according to the first coordinate;
step S150, identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable;
step S160, identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
and S170, inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate.
Further, after the step of inserting the FPC cable into the FPC clip according to the second coordinate and the third coordinate, the automatic assembly method of the flexible circuit board of the embodiment of the present invention further includes the steps of:
and step S180, closing the cover of the FPC buckle to complete the assembly of the flexible circuit board.
It can be understood that the contents of the above-mentioned embodiment of the system for automatically assembling a flexible circuit board are all applicable to the embodiment of the method, the functions specifically realized by the embodiment of the method are the same as those of the embodiment of the system for automatically assembling a flexible circuit board, and the beneficial effects achieved by the embodiment of the method for automatically assembling a flexible circuit board are also the same as those achieved by the embodiment of the system for automatically assembling a flexible circuit board.
Referring to fig. 2, fig. 2 is a schematic view of an automatic assembly apparatus for a flexible circuit board according to an embodiment of the present invention. The automatic assembly device for the flexible circuit board of the embodiment of the invention comprises one or more control processors and a memory, wherein one control processor and one memory are taken as an example in fig. 2.
The control processor and the memory may be connected by a bus or other means, as exemplified by the bus connection in fig. 2.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located from the control processor, and the remote memory may be connected to the flexible circuit board automated assembly device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Those skilled in the art will appreciate that the device configuration shown in fig. 2 does not constitute a limitation of the automated assembly device for flexible circuit boards, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
The non-transitory software program and instructions required to implement the flexible circuit board automatic assembly method applied to the flexible circuit board automatic assembly apparatus in the above-described embodiments are stored in the memory, and when executed by the control processor, the flexible circuit board automatic assembly method applied to the flexible circuit board automatic assembly apparatus in the above-described embodiments is performed.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. An automatic assembly system for a flexible circuit board, comprising:
the device comprises a first vision unit, a second vision unit and a control unit, wherein the first vision unit is used for acquiring the offset of a workpiece to be assembled, which is placed on a feeding platform, and the workpiece to be assembled is one of an FPC (flexible printed circuit) flat cable or an FPC buckle;
the workpiece position control unit is used for adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled and placing the workpiece to be assembled on an assembly station in a standard posture;
the second visual unit is used for identifying the FPC fastener which is not opened in the assembling station to obtain a first coordinate of the FPC fastener; identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable; the device is used for identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
the manipulator unit is used for opening the cover of the FPC buckle according to the first coordinate; and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to finish the assembly of the flexible circuit board.
2. The flexible circuit board automatic assembly system of claim 1, wherein the first vision unit comprises:
the first shooting subunit is used for identifying two calibration positions on the workpiece to be assembled to obtain a first calibration coordinate and a second calibration coordinate;
the first calculating subunit is configured to acquire a first standard coordinate and a second standard coordinate that are pre-stored, and determine the offset according to a first deviation of the first standard coordinate from the first calibration coordinate and a second deviation of the second standard coordinate from the second calibration coordinate, where the offset includes an X-axis offset, a Y-axis offset, and an offset angle.
3. The flexible circuit board automatic assembly system according to claim 2, wherein the work position control unit comprises:
the first manipulator is used for acquiring a preset first attitude parameter, correcting the first attitude parameter according to the X-axis offset and the offset angle to obtain a second attitude parameter, grabbing the component to be assembled according to the second attitude parameter, and adjusting the attitude of the first manipulator according to the first attitude parameter;
the mobile platform is used for acquiring preset first platform coordinates, adjusting Y-axis coordinates in the first platform coordinates according to the Y-axis offset to obtain second platform coordinates, and adjusting the position of the mobile platform according to the second platform coordinates;
the first manipulator is also used for placing a workpiece to be assembled on the moving platform;
the mobile platform is also used for moving to the assembling station according to a preset third platform coordinate.
4. The flexible circuit board automatic assembly system according to claim 1, wherein the robot unit comprises:
the second manipulator is used for positioning the preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, opening a cover of the FPC buckle on the assembling station and returning to the second manipulator teaching position;
the third manipulator is used for positioning to a position corresponding to the first state coordinate according to the first state coordinate in the second coordinate, clamping the FPC cable and then positioning to a preset third manipulator teaching position; inserting the FPC flat cable into the FPC buckle according to a second state coordinate and the third coordinate in the second coordinate, wherein the first state coordinate is used for representing the FPC flat cable position when the FPC flat cable is placed on the assembly station platform, and the second state coordinate is used for representing the FPC flat cable position when the FPC flat cable is clamped to a third manipulator teaching position by a third manipulator.
5. The flexible circuit board automatic assembly system of claim 4, wherein the second vision unit comprises:
the side shooting sub-unit is used for identifying the top end of the FPC buckle which is positioned on the assembly station platform and is not opened from the side surface to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC buckle positioned on the assembling station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped to the teaching position of the third manipulator by the third manipulator from the side surface to obtain a second state Z-axis parameter;
the top shooting and shooting unit is used for identifying an uncapped FPC buckle calibration point on the assembling station platform from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying the uncapped FPC fastener calibration point on the assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying the FPC flat cable calibration point positioned on the assembly station platform from the top to obtain a first state X-axis parameter and a first state Y-axis parameter; identifying the FPC flat cable calibration point clamped to a teaching position of a third manipulator by the third manipulator from the top to obtain a second state X-axis parameter and a second state Y-axis parameter;
the second calculating subunit is used for determining a first coordinate according to the first Z-axis parameter, the first X-axis parameter and the first Y-axis parameter; determining a first state coordinate according to the first state X-axis parameter and the first state Y-axis parameter, determining a first state coordinate according to the second state Z-axis parameter, the second state X-axis parameter and the second state Y-axis parameter, and determining a second coordinate according to the first state coordinate and the second state coordinate; and determining a third coordinate according to the third Z-axis parameter, the third X-axis parameter and the third Y-axis parameter.
6. The automatic assembly system of claim 5, wherein the top shooting subunit is disposed on the second robot, and the top shooting subunit is enabled when the second robot is in a second robot teaching position.
7. The automated flexible circuit board assembly system of claim 5, wherein the second robot is further configured to:
and when the FPC flat cable is inserted into the FPC buckle, positioning the FPC flat cable from the second manipulator teaching position to a position corresponding to the third coordinate according to the third coordinate, and closing a cover of the FPC buckle on the assembling station.
8. The automatic assembly system of flexible circuit board according to claim 1, characterized in that it further comprises:
and the inspection unit is used for acquiring the assembled product pictures through the second vision unit, inspecting whether the assembly is qualified or not according to the product pictures, grabbing the product to the discharging platform through the manipulator unit when the assembly is qualified, and grabbing the product to the recycling platform through the manipulator unit when the assembly is unqualified.
9. An automatic assembling method of a flexible circuit board is characterized by comprising the following steps:
acquiring the offset of a workpiece to be assembled, which is placed on a feeding platform, wherein the workpiece to be assembled is one of an FPC (flexible printed circuit) flat cable or an FPC buckle;
adjusting the workpiece to be assembled according to the offset of the workpiece to be assembled, and placing the workpiece to be assembled on an assembly station in a standard posture;
identifying the FPC fastener in an assembling station to obtain a first coordinate of the FPC fastener;
opening a cover of the FPC buckle according to the first coordinate;
identifying the FPC flat cable to obtain a second coordinate of the FPC flat cable;
identifying the FPC fastener after the cover is opened to obtain a third coordinate of the FPC fastener;
and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to finish the assembly of the flexible circuit board.
10. An automatic assembly device of a flexible circuit board is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, causing the at least one processor to implement the method of claim 9 for automated assembly of flexible circuit boards.
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| CN202211198934.1A CN115609254B (en) | 2022-09-29 | 2022-09-29 | Automatic flexible circuit board assembly system, method and device |
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