Device for separating components on circuit board from substrate of circuit board

Abstract

The invention relates to the field of industrial manipulators, in particular to a device for separating components on a circuit board from a substrate of the circuit board, which comprises a manipulator and a chip dismounting mechanism arranged on the manipulator, and the chip dismounting mechanism comprises an outer flow guide cover and an inner flow guide cover, the outer flow guide cover is composed of a large-diameter cylindrical section, a conical narrowing section and a small-diameter cylindrical section which are continuous, and the inner flow guide cover is composed of a movable conical cover on the upper layer and a static conical cover on the lower layer. According to the mechanical arm and the chip disassembling mechanism at the structural terminal of the mechanical arm, chips on a recycled circuit board can be efficiently disassembled and transferred, the chip disassembling mechanism can greatly reduce hot air diffusion and control hot air in a target chip area through annular air outlet and central hot air pumping-back, the influence on peripheral components is reduced, and the chip disassembling efficiency is improved. And meanwhile, the power consumption of the electric heating wire for maintaining the temperature is also reduced by hot air circulation, and the negative pressure generated by pumpback can also realize adsorption and pickup of the chip, so that the problem that the difficulty of recovering the old circuit board chip is relatively high is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of industrial manipulators, and in particular to a device for separating components on a circuit board from a circuit board substrate. Background Art

[0002] Scrapped circuit boards for recycling are generally crushed directly, and then high-value metal materials such as gold, silver, and copper are separated through physical and chemical means. However, the crushing recycling method will directly damage the high-value components on the circuit board. For example, when recycling chips such as processors and memory sticks on old mobile phones, hot air must be used to melt the solder on all solder joints and pins before they can be removed. Therefore, the recycling of old chips is relatively difficult, and there is a lack of equipment for batch recycling of old chips. Based on the existing intelligent robot arm, the present invention proposes a device that can automatically recycle old circuit board chips and separate the components on the circuit board from the circuit board substrate. Summary of the Invention

[0003] In view of the problem that when using the hot air gun mentioned above or in the prior art to remove old circuit board chips, the hot air diffusion is difficult to control and easily causes damage to high-value components, and the problem that it does not have the function of picking up and transferring the target removed components, the present invention is proposed.

[0004] Therefore, an object of the present invention is to provide a device for separating components on a circuit board from a circuit board substrate.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a device for separating components on a circuit board from a circuit board substrate, comprising a manipulator and a disassembly mechanism arranged on the manipulator, wherein the disassembly mechanism comprises an outer air guide cover and an inner air guide cover, the outer air guide cover is composed of a continuous large-diameter cylindrical section, a conical narrowing section and a small-diameter cylindrical section, the inner air guide cover is composed of an upper dynamic cone cover and a lower static cone cover, and the wide mouths of the dynamic cone cover and the static cone cover are relatively and rotatably connected, the outer edge of the bottom side of the dynamic cone cover is located at the large-diameter cylindrical section of the outer air guide cover and is provided with a fan blade, and a return paddle is provided in the dynamic cone cover, and the spiral directions of the return paddle and the fan blade are opposite; the top end of the outer air guide cover is fixedly connected to a motor, the output shaft of the motor passes through the motor, and the output shaft of the motor is fixedly connected to the top end of the dynamic cone cover, the output shaft of the motor is a hollow shaft, and the return paddle is fixedly connected to a hexagonal rod that is plugged into the output shaft of the motor.

[0006] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, the motor, hexagonal rod, return paddle, outer guide cover and inner guide cover are coaxially arranged.

[0007] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, the gap between the moving cone cover and the static cone cover is filled with balls, and the fan blades are distributed in a ring array with respect to the moving cone cover.

[0008] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, the outer edge of the blade of the return paddle can be matched and fitted with the conical inner wall of the dynamic cone cover.

[0009] As a preferred embodiment of the device for separating components on a circuit board from a circuit board substrate according to the present invention, the narrow opening of the movable cone cover extends vertically and is connected to the output shaft of the motor, and return air ports are provided in a circular array on the peripheral wall of the extended portion of the movable cone cover, and reinforcing ribs are provided between the outer portion of the cone of the movable cone cover and the extended portion.

[0010] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, the top end of the moving cone cover is connected to the output shaft of the motor and is arranged in a downward conical flow-guiding shape.

[0011] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, an air intake cover is fixedly connected between the bottom end surface of the motor housing and the top end of the outer air guide cover, and a heating wire is provided between the outer wall of the dynamic cone cover, the inner wall of the outer air guide cover and the air intake cover.

[0012] As a preferred embodiment of the device for separating components on a circuit board from a circuit board substrate of the present invention, four sets of electromagnetic coils are coaxially stacked on the top of the motor housing, the top of the hexagonal rod passes through the output shaft of the motor, and a magnetically conductive metal short column is provided on the top of the hexagonal rod, and the metal short column is contactlessly sleeved in the electromagnetic coil.

[0013] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, the narrow mouth of the static cone cover extends vertically, and a support member is clamped between the extended portion of the static cone cover and the small-diameter cylindrical section. The support members are distributed in an annular array with respect to the small-diameter cylindrical section, and the contours of the support members are fan-shaped and fit together.

[0014] As a preferred solution of the device for separating components on a circuit board from a circuit board substrate of the present invention, a suction cup is slidably inserted into the bottom end of the static cone cover, and a filter is provided at the top end of the short tube of the suction cup, and a support ring with an "L"-shaped cross-sectional profile is sleeved on the conical inner wall of the static cone cover, and the top end of the short tube of the suction cup is higher than the support ring, and a conical spring is sleeved between the outer edge of the top end of the short tube and the support ring.

[0015] The beneficial effects of the device for separating components on a circuit board from a circuit board substrate of the present invention: the chip removal mechanism of the robotic arm of the present invention and its structural terminal can efficiently disassemble and transfer chips on recycled circuit boards, wherein the chip removal mechanism can greatly reduce the diffusion of hot air flow through annular air outlet and central hot air suction, control the hot air flow in the target chip area, and reduce the impact on surrounding components. At the same time, the hot air circulation also reduces the power consumption of the heating wire to maintain the temperature, and the negative pressure generated by the suction can also realize chip adsorption and picking, which effectively solves the problem of the difficulty in recycling old circuit board chips. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the structure of a device for separating components on a circuit board from the circuit board substrate.

[0018] Figure 2 It is a structural diagram of the disassembly mechanism.

[0019] Figure 3 for Figure 2 Schematic diagram of the structure after cutting away the outer fairing.

[0020] Figure 4 for Figure 3 Schematic diagram of the structure after further sectioning.

[0021] Figure 5 for Figure 4 A magnified view of the structure at point A in the middle.

[0022] Figure 6 for Figure 4 Structural breakdown diagram.

[0023] Figure 7 for Figure 6 Exploded view of the assembly structure of the central static cone cover and suction cup.

[0024] In the figure: 100, robot; 200, disassembly mechanism; 201, outer air guide cover; 2011, large-diameter cylindrical section; 2012, conical narrowing section; 2013, small-diameter cylindrical section; 202, inner air guide cover; 2021, dynamic cone cover; 20211, return air inlet; 2022, static cone cover; 203, fan blade; 204, return paddle; 205, motor; 206, hexagonal rod; 2061, metal short column; 207, air intake cover; 208, heating wire; 209, electromagnetic coil; 210, support member; 211, suction cup; 212, support ring; 213, spring. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] Example, see Figures 1 to 7 This embodiment provides a device for separating components on a circuit board from a circuit board substrate, which can efficiently disassemble and transfer chips on a recycled circuit board. Figure 1 and Figure 2 As shown, it includes a robot 100 and a film removal mechanism 200 arranged on the robot 100. Figure 3 As shown, the stripping mechanism 200 includes an outer shroud 201 and an inner shroud 202. The outer shroud 201 is composed of a continuous large-diameter cylindrical section 2011, a tapered narrowing section 2012, and a small-diameter cylindrical section 2013. The inner shroud 202 is composed of an upper dynamic cone shroud 2021 and a lower static cone shroud 2022. Figure 4 and Figure 5 As shown, the wide mouths of the dynamic cone cover 2021 and the static cone cover 2022 are relative to and rotatably connected, and the gap between the dynamic cone cover 2021 and the static cone cover 2022 is filled with balls. The outer edge of the bottom side of the dynamic cone cover 2021 is located at the large diameter cylindrical section 2011 of the outer air guide cover 201 and is provided with fan blades 203. The fan blades 203 are distributed in a ring array about the dynamic cone cover 2021, and a return paddle 204 is provided in the dynamic cone cover 2021. The spiral directions of the return paddle 204 and the fan blade 203 are opposite. The top of the outer air guide cover 201 is fixedly connected to the motor 205, and the output shaft of the motor 205 passes through the motor 205, and the output shaft of the motor 205 is fixedly connected to the top of the dynamic cone cover 2021. The output shaft of the motor 205 is a hollow shaft, and the return paddle 204 is fixedly connected to a hexagonal rod 206 that is plugged into the output shaft of the motor 205.

[0027] Specifically, such as Figure 4As shown, the motor 205, the hexagonal rod 206, the return paddle 204, the outer air guide cover 201 and the inner air guide cover 202 are coaxially arranged, and the outer edge of the blade of the return paddle 204 can be matched and fitted with the conical inner wall of the dynamic cone cover 2021. The narrow mouth of the dynamic cone cover 2021 extends vertically and is connected to the output shaft of the motor 205, and return air ports 20211 are opened in a circular array on the peripheral wall of the extended part of the dynamic cone cover 2021. Reinforcing ribs are provided between the outside of the cone of the dynamic cone cover 2021 and the extended part, and the top of the dynamic cone cover 2021 is connected to the output shaft of the motor 205 in a downward conical guide shape.

[0028] like Figure 3 As shown, an air intake cover 207 is fixedly connected between the bottom end surface of the shell of the motor 205 and the top of the outer air guide cover 201, and a heating wire 208 is arranged between the outer wall of the dynamic cone cover 2021, the inner wall of the outer air guide cover 201 and the air intake cover 207. Four groups of electromagnetic coils 209 are coaxially stacked on the top of the shell of the motor 205. The top of the hexagonal rod 206 passes through the output shaft of the motor 205, and the top of the hexagonal rod 206 is provided with a magnetic short column 2061, which is contactlessly sleeved in the electromagnetic coil 209. The narrow mouth of the static cone cover 2022 extends vertically, and a support member 210 is clamped between the extended part of the static cone cover 2022 and the small-diameter cylindrical section 2013. The support members 210 are distributed in an annular array with respect to the small-diameter cylindrical section 2013, and the contours of the support members 210 are fan-shaped and fit together.

[0029] like Figure 4 and Figure 6 As shown, a suction cup 211 is slidably inserted into the bottom end of the static cone cover 2022, and a filter is provided at the top end of the short tube of the suction cup 211. The static cone cover 2022 is located on its conical inner wall and is sleeved with a support ring 212 with an "L"-shaped cross-sectional profile, and the top end of the short tube of the suction cup 211 is higher than the support ring 212. A conical spring 213 is sleeved between the outer edge of the top end of the short tube and the support ring 212.

[0030] The present invention proposes a device for separating components on a circuit board from the circuit board substrate, and in particular proposes a robot 100 equipped with a chip removal mechanism 200, wherein the intelligent robot 100 is responsible for multi-degree-of-freedom movements and is no different from a general intelligent robot arm. The chip removal mechanism 200 serves as the structural terminal of the robot 100 and is responsible for expanding the functions of the robot 100 to realize the disassembly and picking of circuit board chips.

[0031] The working principle of the chip removal mechanism 200 is further explained in combination with the existing technology. The chip removal mechanism 200 is redesigned based on an ordinary hot air gun. The ordinary hot air gun uses a tail fan to boost the air flow so that the air flow passes through the heating wire 208 and is then blown out by the blowpipe. The hot air blown out is refracted by the circuit board and diffuses to the surrounding area, which can easily cause overheating of non-target heating areas. In severe cases, other chip components next to the target chip will be blown away. In addition, it is more important that the existing hot air gun does not have the ability to pick up chips.

[0032] Therefore, the present invention is not a simple combination of a conventional hot air gun and a manipulator 100. The principle of the present invention can be briefly described as follows: Figure 3 and Figure 4 Taking the perspective as an example, the output shaft of the motor 205 simultaneously drives the fan blades 203 and the return paddles 204 to rotate, wherein the fan blades 203 are responsible for blowing out the hot air downward, and the return paddles 204 are responsible for drawing back part of the blown hot air upward, and the drawn back hot air is mixed with the fresh air entering the air intake hood 207 through the internal return air port 20211, and then blown out through the heating wire 208 and the fan blades 203 to form a hot air cycle. Obviously, the chip disassembly mechanism 200 of the present invention can greatly reduce the diffusion of hot air flow through annular air outlet and central hot air withdrawal, control the hot air flow in the target chip area, and reduce the impact on the surrounding high-recovery value components. At the same time, the hot air circulation also reduces the power consumption of the heating wire 208 to maintain the temperature, and the negative pressure generated by the withdrawal can also adsorb and pick up the chip.

[0033] To achieve the above-mentioned objective functions, the present invention relates to the following technical details:

[0034] First, regarding the proportional control of the outflow and return flow, refer to Figure 4 It can be seen that the blade disassembly mechanism 200 uses only a single motor 205, but it drives the fan blade 203 and the return paddle 204 to rotate at the same time. The rotation speed of the fan blade 203 and the return paddle 204 is the same. First, since the linear speed of the fan blade 203 is significantly higher than that of the return paddle 204, in addition to the pitch of the fan blade 203 being smaller than that of the return paddle 204, the flow area of ​​the air duct where the fan blade 203 is located must be reduced relative to the return paddle 204. Therefore, Figure 4 As shown, the gap between the static cone cover 2022 and the conical narrowing section 2012 is small, while there is a large space between the static cone cover 2022 and the dynamic cone cover 2021;

[0035] In addition to the above-mentioned direct proportional control of the air duct flow area, the control of the blade size and pitch, the dynamic regulation of the return paddle 204 is also used to achieve a strong proportional control of the air flow and the return flow, wherein the fan blade 203 and the dynamic cone cover 2021 are integrated and fixed, and the return paddle 204 can move along the hollow output shaft of the motor 205 through the hexagonal rod 206, such as Figure 4As shown, the return paddle 204 and the dynamic cone cover 2021 can be regarded as a ducted fan structure, and its overall working efficiency is strongly related to the tip efficiency of the return paddle 204. In layman's terms, when the return paddle 204 moves upward so that the edge of its blade is close to the inner wall of the dynamic cone cover 2021, the tip flow and vortex of the return paddle 204 will be significantly reduced, and the exhaust efficiency of the return paddle 204 will be significantly improved, so that it can draw in more airflow more forcefully through the suction cup 211, while the working efficiency of the fan blade 203 remains relatively unchanged, which makes the return flow The relative air flow rate is increased. On the contrary, the return paddle 204 is moved to the widest position between the dynamic cone cover 2021 and the static cone cover 2022. There is a large gap between the tip of the return paddle 204 and the inner wall of the inner guide cover 202. The efficiency of the return paddle 204 tip is reduced. At the same time, the turbulence reflected by the dynamic cone cover 2021 increases, suppressing the return flow rate. In this way, the return flow rate is reduced relative to the air flow rate, thereby effectively adjusting the diffusion degree of the hot air outlet, the temperature of the hot air circulation, the suction force of the suction cup 211 on the chip and other parameters.

[0036] The dynamic control of the return paddle 204 is completed by the superimposed electromagnet and the strong magnetic metal short column 2061, refer to Figure 3 , the electromagnets at different positions will magnetically attract the short column to the corresponding position, thereby driving the hexagonal rod 206 and the reflux paddle 204 to move. Figure 5 As shown, balls are used between the dynamic cone cover 2021 and the static cone cover 2022 to reduce the rotation resistance.

[0037] Second, pick up the chip after the solder joints melt, such as Figure 6 and Figure 7 As shown, the suction cup 211 is composed of a short circular tube and a suction nozzle fixedly connected to its bottom end. The suction nozzle is made of high-temperature resistant silicone material, and the suction nozzle part of the suction cup 211 extends out of the outer air guide cover 201. This is to prevent the chip from being poorly adsorbed due to blocking the air outlet after the suction cup 211 adsorbs the chip. At the same time, it can also make the hot air outlet slightly away from the chip to avoid local high temperature. The conical inner wall of the static cone cover 2022 is used to connect the support ring 212, and the support ring 212 supports the spring 213 so that the suction cup 211 has a short stroke elastically extending toward the outward end. Before the chip solder joint melts, the negative pressure between the suction cup 211 and the chip can make the suction cup 211 overcome the elastic force of the spring 213 and extend close to the chip to adsorb it in time after the chip is desoldered. Relatively, it can also increase the distance between the hot air outlet and the chip, so that the chip is heated more evenly.

[0038] In summary, the present invention can efficiently disassemble and transfer chips on recycled circuit boards through the intelligent robotic arm and its structural terminal chip removal mechanism 200, wherein the chip removal mechanism 200 can greatly reduce the diffusion of hot air flow through annular air outlet and central hot air suction, control the hot air flow in the target chip area, and reduce the impact on surrounding high-recycling value components. At the same time, the hot air circulation also reduces the power consumption of the heating wire 208 to maintain the temperature, and the negative pressure generated by the suction can also realize chip adsorption and picking, which effectively solves the problem of the difficulty of recycling old circuit board chips.

[0039] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A device for separating components on a circuit board from a circuit board substrate, comprising a manipulator (100), characterized in that: The device also includes a disassembly mechanism (200) provided on the manipulator (100), wherein the disassembly mechanism (200) includes an outer shroud (201) and an inner shroud (202), wherein the outer shroud (201) is composed of a continuous large-diameter cylindrical section (2011), a conical narrowing section (2012), and a small-diameter cylindrical section (2013), and the inner shroud (202) is composed of an upper dynamic cone shroud (2021) and a lower static cone shroud. (2022), and the wide openings of the moving cone cover (2021) and the static cone cover (2022) are relatively connected and rotatably, the outer edge of the bottom edge of the moving cone cover (2021) is located in the large diameter cylindrical section (2011) of the outer guide cover (201) and is provided with a fan blade (203), and a return paddle (204) is provided in the moving cone cover (2021), and the spiral directions of the blades of the return paddle (204) and the fan blade (203) are opposite; The top end of the outer shroud (201) is fixedly connected to a motor (205), an output shaft of the motor (205) passes through the motor (205), and the output shaft of the motor (205) is fixedly connected to the top end of the moving cone shroud (2021), the output shaft of the motor (205) is a hollow shaft, and the return paddle (204) is fixedly connected to a hexagonal rod (206) plugged into the output shaft of the motor (205).

2. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The motor (205), the hexagonal rod (206), the return paddle (204), the outer guide cover (201) and the inner guide cover (202) are coaxially arranged.

3. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The gap between the moving cone cover (2021) and the static cone cover (2022) is filled with balls, and the fan blades (203) are distributed in a ring array with respect to the moving cone cover (2021).

4. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The outer edge of the blade of the return paddle (204) and the conical inner wall of the dynamic cone cover (2021) can be matched and fitted.

5. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The narrow opening of the moving cone cover (2021) extends vertically and is connected to the output shaft of the motor (205), and return air ports (20211) are provided in a circular array on the peripheral wall of the extended portion of the moving cone cover (2021), and reinforcing ribs are provided between the outer portion of the cone of the moving cone cover (2021) and the extended portion.

6. The device for separating components on a circuit board from a circuit board substrate according to claim 5, wherein: The top end of the moving cone cover (2021) is connected to the output shaft of the motor (205) and is arranged in a downward conical flow-guiding shape.

7. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: An air intake cover (207) is fixedly connected between the bottom end surface of the housing of the motor (205) and the top end of the outer air guide cover (201), and a heating wire (208) is provided between the outer wall of the dynamic cone cover (2021), the inner wall of the outer air guide cover (201) and the air intake cover (207).

8. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The top of the housing of the motor (205) is coaxially stacked with four groups of electromagnetic coils (209), the top of the hexagonal rod (206) passes through the output shaft of the motor (205), and the top of the hexagonal rod (206) is provided with a magnetic short metal column (2061), and the metal short column (2061) is contactlessly sleeved in the electromagnetic coil (209).

9. The device for separating components on a circuit board from a circuit board substrate according to claim 1, wherein: The narrow mouth of the static cone cover (2022) extends vertically, and a support member (210) is clamped between the extended portion of the static cone cover (2022) and the small-diameter cylindrical section (2013). The support members (210) are distributed in a ring array with respect to the small-diameter cylindrical section (2013), and the contours of the support members (210) are fan-shaped and fit together.

10. The device for separating components on a circuit board from a circuit board substrate according to claim 9, wherein: The bottom end of the static cone cover (2022) is slidably connected with a suction cup (211), and the top end of the short tube of the suction cup (211) is provided with a filter screen. The static cone cover (2022) is located on its conical inner wall and is sleeved with a support ring (212) with an "L"-shaped cross-sectional profile. The top end of the short tube of the suction cup (211) is higher than the support ring (212), and a conical spring (213) is sleeved between the outer edge of the top end of the short tube and the support ring (212).

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