CN115609254B - Automatic flexible circuit board assembly system, method and device - Google Patents
Automatic flexible circuit board assembly system, method and device Download PDFInfo
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- CN115609254B CN115609254B CN202211198934.1A CN202211198934A CN115609254B CN 115609254 B CN115609254 B CN 115609254B CN 202211198934 A CN202211198934 A CN 202211198934A CN 115609254 B CN115609254 B CN 115609254B
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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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- Microelectronics & Electronic Packaging (AREA)
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Abstract
The application discloses an automatic flexible circuit board assembly system, method and device, and relates to the technical field of flexible circuit board production. The first vision unit acquires the offset of the 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 at the assembly station in a standard posture, so that the second vision unit on the assembly station accurately recognizes the coordinates on the basis of the standard posture of the workpiece, and the manipulator unit can conveniently and accurately grasp 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 FPC buckle without uncapping, the second visual unit recognizes the third coordinate of the FPC buckle with uncapping again, and the manipulator unit aligns and assembles the FPC buckle and the FPC winding displacement based on the third coordinate and the second coordinate of the winding displacement, so that the buckle position deviation caused by the uncapping action is compensated. According to the application, the workpiece position is accurately identified and controlled, so that the yield of FPC assembly is improved.
Description
Technical Field
The present application relates to the field of flexible circuit board production technology, and in particular, to an automatic flexible circuit board assembly system, method and apparatus.
Background
The existing industry is basically performed manually on the FPC (flexible circuit board) assembly part process, is quite labor-and time-consuming process for the 3C electronic chip industry with large production capacity, and requires personnel training in the current large-scale environment with rising labor cost, so that a great deal of labor cost is spent, and the production efficiency is low.
At present, an automatic assembly concept of a flexible circuit board by using a mechanical arm is proposed in the related art, and comprises the steps of grabbing workpieces such as an FPC wire and an FPC buckle by using the mechanical arm, inserting the FPC wire into the FPC buckle, and quite high requirements on position control of the workpieces in the process, wherein if the position control of the workpieces is inaccurate, a large number of defective products can be caused. However, the existing flexible circuit board assembly device cannot accurately control the position of a workpiece so as to realize effective assembly of the flexible circuit board.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides an automatic flexible circuit board assembling system, method and device, which can accurately control the position of a workpiece and improve the yield of automatic flexible circuit board assembling.
In one aspect, an embodiment of the present application provides an automatic assembly system for a flexible circuit board, including:
the first visual 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 an assembly station in a standard posture;
the second visual unit is used for identifying the FPC buckle in the assembly station and obtaining a first coordinate of the FPC buckle; identifying the FPC bus bar to obtain a second coordinate of the FPC bus bar; the method comprises the steps of identifying the FPC buckle after uncovering, and obtaining a third coordinate of the FPC buckle;
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 complete the assembly of the flexible circuit board.
According to some embodiments of the application, 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 obtain a first standard coordinate and a second standard coordinate, and determine the offset according to a first deviation between the first standard coordinate and the first calibration coordinate and a second deviation between the second standard coordinate and 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 application, the workpiece position control unit includes:
the first manipulator is used for acquiring a preset first gesture parameter, correcting the first gesture parameter according to the X-axis offset and the offset angle to obtain a second gesture parameter, grabbing the component to be assembled according to the second gesture parameter, and adjusting the gesture of the first manipulator according to the first gesture parameter;
the mobile platform is used for acquiring a preset first platform coordinate, adjusting the Y-axis coordinate in the first platform coordinate according to the Y-axis offset to obtain a second platform coordinate, and adjusting the position of the mobile platform according to the second platform coordinate;
the first manipulator is also used for placing the workpiece to be assembled on the moving platform;
the mobile platform is also used for moving to the assembly station according to a preset third platform coordinate.
According to some embodiments of the application, the manipulator unit comprises:
the second manipulator is used for positioning from a preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, and returning to the second manipulator teaching position after opening the cover of the FPC buckle on the assembly station;
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 wire and positioning to a preset teaching position of the third manipulator; inserting the FPC wire 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 position of the FPC wire when the FPC wire is placed on the assembly station platform, and the second state coordinate is used for representing the position of the FPC wire when the FPC wire is clamped to a teaching position of a third manipulator by the third manipulator.
According to some embodiments of the application, the second vision unit comprises:
the side shooting subunit is used for identifying the top end of the FPC buckle which is positioned on the assembly station platform and is not uncapped from the side to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC buckle positioned on the assembly station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped by the third manipulator to the teaching position of the third manipulator from the side surface to obtain a Z-axis parameter in a second state;
the top shooting subunit is used for identifying uncapped FPC buckle calibration points positioned on the assembly station platform from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying the uncapped FPC fastener calibration points positioned on the assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying the FPC winding displacement 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 winding displacement calibration point when the FPC winding displacement calibration point is clamped to the teaching position of the third manipulator from the top to obtain a second state X-axis parameter and a second state Y-axis parameter;
a second computing subunit configured to determine 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 application, the top shooting sub-unit is disposed on the second manipulator, and the top shooting sub-unit is activated when the second manipulator is at a second manipulator teaching position.
According to some embodiments of the application, the second manipulator is further configured to:
and when the FPC flat cable is inserted into the FPC buckle, positioning the FPC buckle to a position corresponding to the third coordinate from the teaching position of the second manipulator according to the third coordinate, and closing a cover of the FPC buckle on the assembly station.
According to some embodiments of the application, the flexible circuit board automatic assembly system further comprises:
the inspection unit is used for acquiring the assembled product picture through the second visual 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.
On the other hand, the embodiment of the application also provides an automatic assembling method of the flexible circuit board, which comprises the following steps:
obtaining 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 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 buckle in the assembly station to obtain a first coordinate of the FPC buckle;
opening the cover of the FPC buckle according to the first coordinate;
identifying the FPC bus bar to obtain a second coordinate of the FPC bus bar;
identifying the FPC buckle after uncovering to obtain a third coordinate of the FPC buckle;
and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to complete the assembly of the flexible circuit board.
On the other hand, the embodiment of the application also provides an automatic assembly device of the flexible circuit board, which comprises the following components:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the flexible circuit board automatic assembly method as previously described.
The technical scheme of the application has at least one of the following advantages or beneficial effects: the offset of the workpiece to be assembled, which is placed on the feeding platform, is taken 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 at the assembly station in a standard posture, so that the second vision unit on the assembly station accurately recognizes the coordinates on the basis of the standard posture of the workpiece, and the manipulator unit can conveniently and accurately grasp 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 FPC buckle without the cover, the second visual unit recognizes the third coordinate of the FPC buckle with the cover again, and the manipulator unit aligns the FPC buckle and the FPC winding displacement to assemble based on the third coordinate and the winding displacement second coordinate, so that the buckle position deviation caused by the cover opening action can be compensated. The application improves the yield of automatic assembly of the flexible circuit board by accurately identifying and controlling the position of the workpiece.
Drawings
Fig. 1 is a flowchart of an automatic assembling method of a flexible circuit board according to an embodiment of the present application;
fig. 2 is a schematic diagram of an automatic assembly device for a flexible circuit board according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that directions or positional relationships indicated with respect to the description of the orientation, such as up, down, left, right, etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements to be 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 application.
In the description of the present application, the description of the first, second, etc. is for the purpose of distinguishing between technical features only, and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
The embodiment of the application provides an automatic assembly system of a flexible circuit board, which comprises the following components:
the first visual 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 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 assembly station in a standard posture;
the second visual unit is used for identifying the FPC buckle in the assembly station and obtaining a first coordinate of the FPC buckle; identifying the FPC bus bar to obtain a second coordinate of the FPC bus bar; the method comprises the steps of identifying an FPC buckle after uncovering to obtain a third coordinate of the FPC buckle;
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 complete the assembly of the flexible circuit board.
In this embodiment, the vision unit simultaneously identifies the calibration point on the workpiece, and can calculate the coordinates of the workpiece, where 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, and in the three-dimensional space coordinates of this embodiment, a plane formed by the X-axis and the Y-axis corresponds to a plane on the assembly station platform, and 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, after the manipulator unit will be opened the FPC buckle based on the first coordinate of the FPC buckle that does not uncap, the third coordinate of the FPC buckle that has uncapped is discerned again to the second visual unit, and the manipulator unit is assembled with FPC winding displacement based on third coordinate and second coordinate alignment FPC buckle, can compensate the buckle position deviation that causes because of uncapping action.
In this embodiment, through the cooperation of first visual unit and work piece position control unit, the adjustment is placed the work piece of waiting to assemble on the pan feeding platform for wait to assemble the work piece and get into the equipment station with standard gesture, avoid the second visual unit in the equipment station can not catch complete subassembly work piece and lead to the location inaccuracy, also make simultaneously that the manipulator unit in the equipment station can conveniently, accurately snatch FPC winding displacement with the standard angle gesture of predetermineeing, insert FPC winding displacement accuracy in 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 placement 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 deviate slightly from the preset workpiece posture in consideration of the mechanical shake 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, posture adjustment is not performed correctly, or the workpiece is influenced by external force to deviate in the process of entering the assembly station, the second recognition unit sends alarm information to remind workers.
According to some embodiments of the application, 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 used for acquiring a pre-stored first standard coordinate and a pre-stored second standard coordinate, and determining an offset according to a first deviation of the first standard coordinate and the first calibration coordinate and a second deviation of the second standard coordinate and the second calibration coordinate, wherein the offset comprises an X-axis offset, a Y-axis offset and an offset angle.
In this embodiment, the two calibration positions on the workpiece to be assembled may be two vertex positions on a rectangular workpiece to be assembled. The first standard coordinates and the second standard coordinates pre-stored by the first vision unit are ideal coordinates of two calibration positions under the condition that the workpiece is in the standard posture.
According to some embodiments of the application, the workpiece position control unit includes:
the first manipulator is used for acquiring a preset first gesture parameter, correcting the first gesture parameter according to the X-axis offset and the offset angle to obtain a second gesture parameter, grabbing the component to be assembled according to the second gesture parameter, and adjusting the gesture of the first manipulator according to the first gesture parameter;
the mobile platform is used for acquiring a preset first platform coordinate, adjusting the Y-axis coordinate in the first platform coordinate according to the Y-axis offset to obtain a second platform coordinate, and adjusting the position of the mobile platform according to the second platform coordinate;
the first manipulator is also used for placing the workpiece to be assembled on the moving platform;
the mobile platform is also used for moving to the assembly station according to a preset third platform coordinate.
In the present embodiment, the posture parameters include position coordinates and rotation angles of the robot arm.
In this embodiment, the first manipulator adjusts the posture according to the X-axis offset and the offset angle on the basis of the first posture parameter, so that the first manipulator can grasp the workpiece to be assembled in a posture that meets the current placement of the workpiece to be assembled, and after grasping the workpiece to be assembled, 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 assembled workpiece in the Y-axis direction, so as to reach directly under the workpiece to be assembled. Through the cooperation of first manipulator and moving platform, can make the work piece that waits to assemble place on moving platform with standard gesture to enter into the preset position of equipment station.
According to some embodiments of the application, the manipulator unit comprises:
the second manipulator is used for positioning from a preset teaching position of the second manipulator to a position corresponding to the first coordinate according to the first coordinate, and returning to the teaching position of the second manipulator after opening the FPC buckle cover on the assembly station;
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 wire, and positioning to a preset teaching position of the third manipulator; inserting the FPC wire 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 position of the FPC wire when the FPC wire is placed on the assembly station platform, and the second state coordinate is used for representing the position of the FPC wire when the FPC wire 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, where the manipulator 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 is opened by the cover opening mechanism, 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 flat 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 embodiments of the application, the second vision unit comprises:
the side shooting subunit is used for identifying the top end of the uncapped FPC buckle positioned on the assembly station platform from the side to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC buckle positioned on the assembly station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped by the third manipulator to the teaching position of the third manipulator from the side surface to obtain a Z-axis parameter in a second state;
the top shooting subunit is used for identifying uncapped FPC buckle calibration points positioned on the assembly station platform from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying uncapped FPC buckle calibration points positioned on the assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying FPC wire arrangement calibration points positioned on an assembly station platform from the top, and identifying first state X-axis parameters and first state Y-axis parameters; identifying FPC winding displacement calibration points clamped by the third manipulator to the teaching position of the third manipulator from the top to obtain second-state X-axis parameters and second-state Y-axis parameters;
a second computing subunit configured to determine 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.
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 to 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, and the XY plane calibration point is identified and obtained; when the FPC wire is clamped on the third manipulator and the third manipulator is positioned at the teaching position of the third manipulator, the side shooting subunit is used for identifying the tail end of the FPC wire to obtain a Z-axis coordinate, the third manipulator is controlled to vertically descend to the position, with the tail end of the FPC wire being the same as the height of the uncapped FPC buckle, of the FPC wire, the top shooting subunit is used for identifying the XY plane calibration point of the FPC wire 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 application, the top shooting sub-unit is disposed on the second manipulator, and the top shooting sub-unit is activated when the second manipulator is at the teaching position of the second manipulator.
In this embodiment, install the sub-unit is shot at the top on the second manipulator, can save the mounting structure of sub-unit is shot at the top, saves the cost of building of the automatic equipment system of flexible circuit board.
According to some embodiments of the application, the second manipulator is further configured to:
when the FPC flat cable is inserted into the FPC buckle, the FPC buckle cover on the assembly station is closed after the FPC flat cable is positioned to a position corresponding to the third coordinate from the teaching position of the second manipulator according to the third coordinate.
According to some embodiments of the application, the flexible circuit board automatic assembly system further comprises:
the inspection unit is used for acquiring the assembled product picture through the second visual 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, the distance from the center point of the flat cable identification line to the center point of the opening of the buckle can be judged to be qualified through the top shooting subunit, the position of the opening of the buckle is unqualified if the distance is too long or the position of the opening of the buckle is not recognized, or whether the cover of the buckle has reached the closing position can be judged to be qualified if the cover of the buckle is not qualified through the side shooting subunit.
In this embodiment, the mobile 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 recycling platform or the discharging platform according to the product inspection result of the second vision unit.
In other embodiments, the cooperation of each unit in the automatic flexible circuit board assembly system according to the embodiments of the present application is described with reference to an actual assembly process, which is specifically as follows:
first, the adjustment of the workpiece to be assembled is as follows:
after the workpiece to be assembled is placed on the feeding platform, photographing is conducted on two corners of the workpiece to be assembled through a first vision system, and current coordinates P1 and P2 of two corners of the workpiece are obtained.
And obtaining the current offset ofsetX and offsetY of the workpiece in the X axis and Y direction by the Px parameter (actual distance/pixel) obtained by calibrating the camera in advance and the standard reference point coordinates B1 and B2 of the two corners.
The camera is calibrated in advance to obtain a workpiece rotation center coordinate point Pt, and the current two corner point coordinates P1 and P2 to obtain the current angle offset offsetRZ of the workpiece.
And the first manipulator overlaps the X-axis reference parameter and the RZ reference parameter in the first posture parameter of the first manipulator according to the offsetX and the offsetRZ, so that the first manipulator can grab the workpiece right above the workpiece, and the workpiece is corrected according to offsetX and offsetRZ offset data after grabbing is completed, thereby counteracting the influence of the workpiece offset in the X and RZ directions.
The first manipulator moves to a moving platform placement position, and the moving platform adds the Y-axis reference parameters preset by the moving platform through offsetY to enable the Y-axis reference parameters to come under a workpiece, so that the influence of Y-axis directional offset of the workpiece is counteracted.
The first manipulator places the work piece on the mobile platform, and the mobile platform moves into the FPC equipment position, begins to carry out FPC cartridge flow.
Second, FPC buckle uncaps step includes:
the side shooting subunit on the assembly station identifies the FPC buckle, and determines the top end position of the FPC buckle, namely the height of the FPC buckle, so as to obtain a first Z-axis parameter;
the second manipulator moves to a teaching position of the second manipulator, a shooting subunit positioned at the top of the second manipulator recognizes 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 performs uncapping action on the FPC buckle by using an uncapping mechanism arranged at the tail end;
and after the second manipulator uncovers the cover, returning to the teaching position of the second manipulator to photograph the FPC buckle and detect the uncovering result.
Thirdly, the FPC flat cable clamping step comprises the following steps:
the second manipulator positions the white mark line printed on the FPC wire at the teaching position of the second manipulator to obtain a first state X-axis parameter and a first state Y-axis parameter of the FPC wire, and further obtain a first state coordinate;
the third manipulator moves to the position right above the FPC wire according to the first state coordinates, the third manipulator starts the FPC wire adsorption mechanism to adsorb the FPC wire, and after the adsorption is confirmed, the clamping mechanism is controlled to be closed, so that the FPC wire is clamped;
fourth, FPC winding displacement counterpoint equipment step includes:
after the third manipulator clamps the FPC wire, the third manipulator ascends to the teaching position of the third manipulator, the side shooting subunit positions the tail end of the FPC wire, and the extension length of the tail end of the FPC wire relative to the tail end of the clamping mechanism is determined to obtain a second state Z-axis parameter of the tail end of the FPC wire;
the side shooting subunit identifies a 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 position deviation of the buckle caused by the action of the cover opening during subsequent assembly;
the third manipulator clamps the FPC wire according to the second state Z-axis parameter and the third Z-axis parameter and vertically descends to the position of the tail end of the FPC wire, which is at the same height as the FPC buckle after the cover is opened;
the top shooting subsystem identifies the FPC wire and the buckle so as to simultaneously position the center point of the tail end of the FPC wire and the center point of the inlet of the FPC buckle on the XY plane, and correspondingly obtain a second state X-axis parameter and a second state Y-axis parameter of the current FPC wire, 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 align the central point of the FPC wire harness with the central point of the buckle opening so that the tail end of the FPC wire harness is attached to the FPC buckle opening.
The third manipulator clamps the FPC wire, inserts the FPC wire into the FPC buckle based on the preset depth, and closes the adsorption mechanism and releases the clamping jaw to ascend after the FPC wire is completed;
and the cover opening mechanism on the second manipulator closes the buckle cover and returns to the teaching position of the second manipulator.
Fifth, FPC assembly inspection step:
the top shooting subunit is used for identifying the distance from the center point of the inserted FPC bus identification line to the center point of the opening of the FPC buckle to judge whether the FPC bus identification line is qualified or not, and if the distance is too long or the position of the opening of the FPC buckle is not identified, the FPC bus identification line is unqualified;
the side shooting subsystem is used for identifying whether the cover of the FPC buckle reaches the closing position or not to judge whether the cover is qualified or not, and the position which is not qualified is not reached;
and grabbing qualified products to a discharging position through a mechanical arm, grabbing unqualified products to a product conveying belt and flowing out.
The embodiment of the application also provides an automatic assembly method of the flexible circuit board, referring to fig. 1, comprising the following steps:
step S110, obtaining 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 flat cable 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 buckle in an assembly 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 bus bar to obtain a second coordinate of the FPC bus bar;
step S160, identifying the FPC buckle after uncovering to obtain a third coordinate of the FPC buckle;
and S170, inserting the FPC bus 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 according to the embodiment of the present application 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 foregoing embodiments of the automatic flexible circuit board assembly system are applicable to the embodiments of the method, and the functions specifically implemented by the embodiments of the method are the same as those of the embodiments of the automatic flexible circuit board assembly system, and the beneficial effects achieved by the embodiments of the automatic flexible circuit board assembly system are the same as those achieved by the embodiments of the automatic flexible circuit board assembly system.
Referring to fig. 2, fig. 2 is a schematic diagram of an automatic assembly device for a flexible circuit board according to an embodiment of the present application. The automatic flexible circuit board assembling device according to the embodiment of the application comprises one or more control processors and a memory, and in fig. 2, one control processor and one memory are taken as an example.
The control processor and the memory may be connected by a bus or otherwise, for example in fig. 2.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the control processor, the remote memory being connectable 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.
It will be appreciated by those skilled in the art that the device structure shown in fig. 2 is not limiting of the automated assembly device of flexible circuit boards, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The non-transitory software program and instructions required to implement the automatic flexible circuit board assembly method applied to the automatic flexible circuit board assembly device in the above embodiments are stored in the memory, and when executed by the control processor, the automatic flexible circuit board assembly method applied to the automatic flexible circuit board assembly device in the above embodiments is executed.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various modifications can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (10)
1. An automated flexible circuit board assembly system, comprising:
the first visual 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 comprises an FPC (flexible printed circuit) flat cable and 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 buckle which is not uncapped in the assembly station and obtaining a first coordinate of the FPC buckle; identifying the FPC bus bar on the assembly station to obtain a second coordinate of the FPC bus bar; the method comprises the steps of identifying the FPC buckle after uncovering to obtain a third coordinate of the FPC buckle;
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 complete the assembly of the flexible circuit board.
2. The automatic flexible circuit board 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 obtain a first standard coordinate and a second standard coordinate, and determine the offset according to a first deviation between the first standard coordinate and the first calibration coordinate and a second deviation between the second standard coordinate and the second calibration coordinate, where the offset includes an X-axis offset, a Y-axis offset, and an offset angle.
3. The automatic flexible circuit board assembly system according to claim 2, wherein the work position control unit includes:
the first manipulator is used for acquiring a preset first gesture parameter, correcting the first gesture parameter according to the X-axis offset and the offset angle to obtain a second gesture parameter, grabbing the workpiece to be assembled according to the second gesture parameter, and adjusting the gesture of the first manipulator according to the first gesture parameter;
the mobile platform is used for acquiring a preset first platform coordinate, adjusting the Y-axis coordinate in the first platform coordinate according to the Y-axis offset to obtain a second platform coordinate, and adjusting the position of the mobile platform according to the second platform coordinate;
the first manipulator is also used for placing the workpiece to be assembled on the moving platform;
the mobile platform is also used for moving to the assembly station according to a preset third platform coordinate.
4. The automatic flexible circuit board assembly system of claim 1, wherein the robot unit comprises:
the second manipulator is used for positioning from a preset second manipulator teaching position to a position corresponding to the first coordinate according to the first coordinate, and returning to the second manipulator teaching position after opening the cover of the FPC buckle on the assembly station;
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 wire and positioning to a preset teaching position of the third manipulator; inserting the FPC wire 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 position of the FPC wire when the FPC wire is placed on the assembly station platform, and the second state coordinate is used for representing the position of the FPC wire when the FPC wire is clamped to a teaching position of a third manipulator by the third manipulator.
5. The automated flexible circuit board assembly system of claim 4, wherein the second vision unit comprises:
the side shooting subunit is used for identifying the top end of the FPC buckle which is positioned on the assembly station platform and is not uncapped from the side to obtain a first Z-axis parameter; identifying the top end of the uncapped FPC buckle positioned on the assembly station platform from the side surface to obtain a third Z-axis parameter; identifying the tail end of the FPC flat cable clamped by the third manipulator to the teaching position of the third manipulator from the side surface to obtain a Z-axis parameter in a second state;
the top shooting subunit is used for identifying uncapped FPC buckle calibration points positioned on the assembly station platform from the top to obtain a first X-axis parameter and a first Y-axis parameter; identifying uncapped FPC buckle calibration points positioned on an assembly station platform from the top to obtain a third X-axis parameter and a third Y-axis parameter; identifying the FPC winding displacement 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 winding displacement calibration point when the FPC winding displacement calibration point is clamped to the teaching position of the third manipulator from the top to obtain a second state X-axis parameter and a second state Y-axis parameter;
a second computing subunit configured to determine 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 automated flexible circuit board assembly system of claim 5, wherein the top capture sub-unit is disposed on the second manipulator, the top capture sub-unit being activated when the second manipulator is in a second manipulator 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 buckle to a position corresponding to the third coordinate from the teaching position of the second manipulator according to the third coordinate, and closing a cover of the FPC buckle on the assembly station.
8. The automatic flexible circuit board assembly system of claim 1, further comprising:
the inspection unit is used for acquiring the assembled product picture through the second visual 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.
9. An automatic assembling method of a flexible circuit board is characterized by comprising the following steps:
obtaining the offset of a workpiece to be assembled, which is placed on a feeding platform, wherein the workpiece to be assembled comprises an FPC (flexible printed circuit) flat cable and 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 buckle in the assembly station to obtain a first coordinate of the FPC buckle;
opening the cover of the FPC buckle according to the first coordinate;
identifying the FPC bus bar on the assembly station to obtain a second coordinate of the FPC bus bar;
identifying the FPC buckle after uncovering to obtain a third coordinate of the FPC buckle;
and inserting the FPC flat cable into the FPC buckle according to the second coordinate and the third coordinate so as to complete the assembly of the flexible circuit board.
10. An automatic assembly device for a flexible circuit board, comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the flexible circuit board automatic assembly method of claim 9.
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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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