KR102557259B1 - Automatic Disassembly Device For PCB Connector - Google Patents

Abstract

The present invention is a flip open tool coupled to the first articulated robot to open the flip of the PCB CNT; An FFC separation tool coupled to the second articulated robot and separating the FFC from the CNT of the PCB by adsorbing the FFC already fastened to the CNT of the flip-open PCB; and a flip close tool coupled to a third articulated robot to close the flip of the CNT of the PCB from which the FFC is separated.
According to an embodiment of the present invention, the efficiency of disassembly work is automatically dismantled instead of manually disassembling FFC (Flexible Flat Cable) or FPC (Flexible Printed Circuit) used for electrical signal connection between PCBs or between PCBs and components. And there is an effect of increasing convenience. In addition, there is an effect that a separate displacement sensor does not need to be installed by providing a buffer for Z-axis compensation to cover the Z-axis error of the PCB. In addition, by pressing and fixing the PCB by the pusher, there is an effect that the PCB is not fixed and can be dismantled even if there is movement.

Description

PCB CNT Automatic Disassembly Device {Automatic Disassembly Device For PCB Connector}

The present invention relates to an automatic PCB CNT disassembly device, and more particularly, to a device that automatically, rather than manually, dismantles an FFC or FPC used for connection between PCB CNTs (connectors).

In general, almost all electronic products use a flexible flat cable (FFC) or flexible printed circuit (FPC) in the form of a thin plate to connect a PCB with various circuit patterns and electrical signals between the PCBs or between the PCB and parts. Electrically connects the PCB and the PCB or the PCB and peripheral components by using.

As shown in FIG. 1, a CNT (Connector) 11 is provided in the terminal part of the PCB 10 to electrically connect the FFC or FPC (hereinafter referred to as FFC (Flexibe Flat Cable)) and the PCB, and the FFC The PCB 10 and the FFC 13 were connected by inserting the terminal of (13) into the CNT (Connector) 11.

In addition, in order to disconnect the PCB 10 or the connection between the PCB 10 and components, the terminal of the FFC 13 is pulled out and separated from the CNT 11 of the PCB 10 to disconnect the connection.

However, in the prior art, work efficiency is greatly reduced and productivity is reduced because the work of connecting the PCB and FFC by inserting the terminal of the FFC into the CNT and the work of disassembling the connection of the PCB and the FFC are manually performed.

Republic of Korea Patent Registration No. 10-0878228 (registration date 2009.01.06) Republic of Korea Patent Registration No. 10-1558277 (registration date 2015.10.01)

The present invention has been made to solve the conventional problems,

An object of the present invention is to improve the efficiency and convenience of disassembly work by automatically dismantling FFC (Flexible Flat Cable) or FPC (Flexible Printed Circuit) used for electrical signal connection between PCBs or between PCBs and parts. It is to provide a PCB CNT automatic disassembly device that increases.

The PCB CNT automatic dismantling device according to an embodiment of the present invention provided to achieve the above object is a flip open tool coupled to the first articulated robot to open the flip of the PCB CNT, and to the second articulated robot. An FFC separation tool that separates the FFC from the CNT of the PCB by adsorbing the FFC pre-fastened to the CNT of the flip-open PCB, and the CNT of the PCB from which the FFC is separated by being coupled to a third articulated robot It is characterized in that it includes a flip close tool that closes the flip of the.

The flip open tool includes a housing coupled to the first articulated robot, a pusher coupled to the housing and pressing and fixing the PCB by ascending and descending motions, and coupled to the housing and pressed and fixed by the pusher It is characterized in that it is configured to include a blade portion that opens the flip of the PCB CNT.

The pusher unit includes a first pusher unit and a second pusher unit that press and fix the first PCB and the second PCB, respectively, and the first and second pusher units each have a pusher bar that presses and fixes the PCB, and the pusher. It is characterized in that it is configured to include a pusher up and down cylinder for raising and lowering the bar.

And, the blade unit is located between the first pusher unit and the second pusher unit and opens the flip of the PCB CNT, a blade left and right moving cylinder that moves the blade left and right, and raises the blade. , It is characterized in that it is configured to include a blade up to down, a down cylinder.

Here, while the pusher bar of the first pusher unit is down to fix the first PCB, the pusher bar of the second pusher unit is raised to avoid interference, and the blade unit is used to drive the blade left and right moving cylinders. moves to the side of the first PCB fixed to the pusher bar of the first pusher unit, inserts the blade between the flip of the first PCB CNT and the FFC, and raises the blade by driving the blade up and down cylinders to The flip of the PCB CNT is opened, and while the first articulated robot moves to the second PCB, the blade that was up is down again, the first pusher part is up to prevent interference, and the pusher bar of the second pusher part is down. to fix the second PCB, and the blade part is moved toward the second PCB fixed to the pusher bar of the second pusher part by driving the blade left and right moving cylinders, and the blade is moved between the flip of the second PCB CNT and the FFC Insertion and up the blade by driving the blade up and down cylinder to open the flip of the second PCB CNT.

In addition to this, the housing is characterized in that a buffer for Z-axis compensation corresponding to the error of the Z-axis height of the PCB is provided.

Here, the housing is composed of an upper housing coupled to the first articulated robot and a lower housing supporting the pusher unit and the blade unit, and the Z-axis compensation buffer unit has one side coupled to the upper housing and the other side An LM guide coupled to the lower housing and slidably coupled in a vertical direction. It is characterized in that it is configured to include a buffer spring interposed between the upper and lower mounting surfaces of the upper housing and the lower housing and corresponding to the error of the Z-axis height of the PCB.

In addition, the flip open tool is characterized in that it includes an adsorption unit that removes the lifting phenomenon of the PCB by adsorbing and pulling the warped FFC when the FFC is warped according to the fastening state of the FFC. The unit is characterized in that it comprises a suction pad for adsorbing FFC, a vacuum pump for providing a suction force to the suction pad, a support for fixing the suction pad, and an up-down cylinder for up-downing the support.

And, the FFC separation tool is configured to include a support frame coupled to the second articulated robot, a suction pad coupled to the support frame to absorb the FFC, and a vacuum pump providing suction force to the suction pad. to be characterized

Here, the support frame is composed of a first support frame coupled to the second articulated robot and a second support frame for fixing the suction pad, and between the first support frame and the second support frame there is a Z-axis height A Z-axis compensating buffer unit corresponding to the error of is provided, and the Z-axis compensating buffer unit has one side coupled to the first support frame and the other side coupled to the second support frame to slide in a vertical direction; and It is characterized in that it is configured to include a buffer spring interposed between the upper and lower arrangement surfaces of the first support frame and the second support frame and corresponding to the error of the Z-axis height.

In addition, the flip close tool is coupled to a fixed frame coupled to the third articulated robot, a pusher coupled to one end of the fixed frame to fix the PCB, and coupled to the fixed frame to provide forward and backward moving force. It is characterized in that it comprises a front and rear moving cylinder, and a roller part that pushes and closes the open flip of the CNT of the PCB with the driving force of the front and rear moving cylinder.

And, the fixing frame is composed of a first fixing frame coupled to the third articulated robot and a second fixing frame fixing the pusher and the front and rear moving cylinders, and between the first fixing frame and the second fixing frame. is provided with a buffer for Z-axis compensation corresponding to the error of the Z-axis height, the buffer for Z-axis compensation has one side coupled to the first fixed frame and the other side coupled to the second fixed frame to slide in the vertical direction It is characterized in that it is configured to include an LM guide and a buffer spring interposed between the upper and lower arrangement surfaces of the first fixed frame and the second fixed frame to correspond to the error of the Z-axis height.

According to an embodiment of the present invention, the efficiency of disassembly work is automatically dismantled instead of manually disassembling FFC (Flexible Flat Cable) or FPC (Flexible Printed Circuit) used for electrical signal connection between PCBs or between PCBs and parts. And there is an effect of increasing convenience.

In addition, a buffer for Z-axis compensation is provided to cover the error of the Z-axis of the PCB, so that there is no need to mount a separate displacement sensor.

In addition, by pressing and fixing the PCB by the pusher, there is an effect that the PCB is not fixed and can be dismantled even if there is movement.

1 is a conceptual diagram showing a state in which an FFC is generally fastened to a PCB CNT (Connector) to connect electrical signals between PCBs.
Figure 2 is an overall configuration diagram of a PCB CNT automatic disassembly device according to an embodiment of the present invention.
Figure 3 is a perspective view showing a flip open tool of the PCB CNT automatic disassembly device according to an embodiment of the present invention.
4 is a perspective view of the pusher part taken out for explaining the configuration of the pusher part in the flip open tool of FIG. 3;
5 is a perspective view of a blade part taken out for explaining the configuration of a blade in the flip open tool of FIG. 3;
6(a) and (b) are front views for explaining the operation of the pusher part and the blade part in the flip open tool of FIG. 3;
7 (a) and (b) are plan views for explaining the operation of the pusher part and the blade part in the flip-open tool of FIG.
8 is an exploded perspective view of a housing for explaining a buffer for Z-axis compensation in the flip open tool of FIG. 3;
Figure 9 (a), (b) is a conceptual diagram for explaining a state in which the Z-axis error of the PCB in the PCB CNT automatic disassembly apparatus according to an embodiment of the present invention occurs.
Figure 10 is a perspective view showing an FFC separation tool in the PCB CNT automatic disassembly device according to an embodiment of the present invention.
Figure 11 is a perspective view showing a flip Close tool in the PCB CNT automatic disassembly device according to an embodiment of the present invention.
12 and 13 are cases where the second PCB is lifted due to the bending of the FFC in the PCB CNT automatic disassembly apparatus according to an embodiment of the present invention. A conceptual diagram showing the process of straightening the FFC to remove the excitation of the 2nd PCB.

The detailed description of the present invention below is an embodiment in which the present invention can be practiced, and reference is made to the accompanying drawings shown as examples for the embodiment. These embodiments are described in sufficient detail to enable one skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in one embodiment in another embodiment without departing from the spirit and scope of the present invention. It should also be understood that the location or arrangement of individual components within each described embodiment may be changed without departing from the spirit and scope of the invention.

Accordingly, the detailed description set forth below is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all equivalents as claimed by those claims. Like reference numbers in the drawings indicate the same or similar function throughout the various aspects.

The terms used in the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but these may vary depending on the intention of a person skilled in the art or precedent, the emergence of new technologies, and the like. In addition, in certain cases, there are also terms arbitrarily selected by the applicant, and in this case, their meanings will be described in detail in the description of the relevant invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, not simply the name of the term.

When a part in the whole of the invention is said to "include" a certain component, this means that it may further include other components, not excluding other components, unless otherwise stated. In addition, terms such as “…unit” and “…module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

In the present invention, separating and disassembling a flexible flat cable (FFC) connecting the PCB and the PCB from the PCB will be described as an example of an embodiment.

As shown in FIG. 2, the automatic PCB CNT disassembling device according to an embodiment of the present invention adsorbs the flip open tool 100 for opening the flip of the PCB CNT and the FFC previously fastened to the CNT of the flip-open PCB. It is configured to include an FFC separation tool 200 that separates the FFC from the CNT of the PCB and a flip close tool 300 that closes the flip of the CNT of the PCB from which the FFC is separated. And, the flip open tool 100, the FFC separation tool 200, and the flip close tool 300 are coupled to the articulated robots R1, R2, and R3, respectively.

As shown in FIG. 3, the flip open tool 100 is coupled to the housing 110 coupled to the first articulated robot R1, and the PCB 10 coupled to the housing 110 by ascending and descending motions. It is configured to include a pusher unit 120 for pressing and fixing, and a blade unit 130 for opening the flip 12 of the PCB CNT 11 coupled to the housing 110 and pressing and fixed to the pusher unit 120.

And, as shown in FIGS. 3 and 4, the pusher unit 120 includes a first pusher unit 120a and a second pusher unit that press and fix the first PCB 10a and the second PCB 10b to be connected, respectively. The first pusher part 120a and the second pusher part 120b include pusher bars 121a and 121b for pressing and fixing the PCBs 10a and 10b, respectively, and pusher bars 121a and 121b. ) It is configured to include pusher up and down cylinders 122a and 122b that up and down. At this time, the pusher bars 121a and 121b are provided to accommodate the PCB CNT 11 and press and fix the left and right sides of the PCB CNT 11.

And, as shown in FIGS. 3 and 5, the blade unit 130 is positioned between the first pusher unit 120a and the second pusher unit 120b to open the flip 12 of the PCB CNT 11. It is configured to include a blade 131, a blade left/right moving cylinder 132 that moves the blade 131 left and right, and a blade up/down cylinder 133 that moves the blade 131 up and down.

The flip open tool 100 configured as described above is a pusher bar 121a of the first pusher unit 120a, as shown in (a) and (b) of FIG. 6 and (a) and (b) of FIG. 7 While the first PCB 10a is fixed by going down, the pusher bar 121b of the second pusher unit 120b moves up to avoid interference. Then, the blade unit 130 is moved toward the side of the first PCB 10a fixed to the pusher bar 121a of the first pusher unit 120a by driving the blade left and right moving cylinders 132 to move the blade 131 is inserted between the flip 12a of the CNT 11a of the first PCB 10a and the FFC 13. In this process, a roller 131a is assembled to the blade 131, and even if the FFC is not flat and is bent, the roller 131a plays an auxiliary role in pressing and straightening it. Then, the blade 131 inserted between the flip 12a and the FFC 13 is raised by driving the blade up/down cylinder 133 to flip the CNT 11a of the first PCB 10a ( 12a) is opened.

Subsequently, after the flip 12a of the first PCB CNT is opened, the first articulated robot R1 moves to the second PCB 10b, and during the movement, the first pusher part 120a moves up to prevent interference. And, the blade 131 prepares to open the flip 12 by being lowered again by driving the up/down cylinder 133. In addition, the pusher bar 121b of the second pusher part is lowered to fix the second PCB 10b.

Subsequently, the blade unit 130 is moved toward the second PCB 10b fixed to the pusher bar 121b of the second pusher unit 120b by driving the blade left and right moving cylinders 132, thereby moving the blade 131 is inserted between the flip 12b of the 2nd PCB CNT 11b and the FFC 13, and the blade 131 is raised by the drive of the blade up/down cylinder 133 to raise the 2nd PCB CNT 11b ) opens the flip 12b.

That is, when the first pusher part 120a descends and opens the CNT flip 12 of one PCB 10, the second pusher part 120b on the opposite side goes up to prevent interference, and the blade 131 After going down again, move toward the side of the fixed PCB (10) and open the flip (12) up.

Meanwhile, as shown in FIG. 8 , the housing 110 further includes a Z-axis compensation buffer unit 140 corresponding to an error in the Z-axis height of the PCB 10 .

Here, the housing 110 is composed of an upper housing 110a coupled to the first articulated robot R1 and a lower housing 110b supporting the pusher unit 120 and the blade unit 130,

The buffer unit 140 for Z-axis compensation includes an LM guide 141 having one side coupled to the upper housing 110a and the other side coupled to the lower housing 110b to be slidably coupled in the vertical direction, and the upper housing 110a ) and a buffer spring 142 interposed between the upper and lower arrangement surfaces of the lower housing 110b and corresponding to the error of the Z-axis height of the PCB 10.

In the LM guide 141, the rail groove of the guide rail bar 141a vertically coupled to one surface of the vertical frame of the lower housing 110b and the guide block 141b coupled to one surface of the vertical frame of the upper housing 110a can slide. are tightly coupled In addition, a cover 141C for preventing floating objects is provided on one side of the LM guide. That is, as the guide rail bar 141a of the lower housing moves vertically along the rail groove of the guide block 141b of the upper housing, the lower housing 110b corresponds to the error of the Z-axis height of the PCB 10.

In addition, the buffer spring 142 is inserted into the stopper 143 provided in the lower housing 110b and positioned below the vertical frame of the upper housing 110a. That is, it is interposed between the upper and lower arrangement surfaces of the upper housing 110a and the lower housing 110b to provide a cushion corresponding to the error of the Z-axis height of the PCB 10.

The PCB 10 is transferred to the carrier and placed in front of the PCB CNT automatic disassembly device. At this time, the Z-axis height of the transferred PCB 10 may be different according to the height of the carrier. However, the Z-axis positions of the pusher unit 120 and the blade unit 130 are mechanically fixed and are always constant.

Therefore, as shown in (a) of FIG. 9 , the pusher bars 121a and 121b may not reach the PCB 10 or may enter deeper than the original position due to the Z-axis error of the PCB 10 . For example, if the number of squares of the PCB (10) is 5 mm and a step difference of ㅁ2 mm occurs due to the processing tolerance or the level of the PCB (10), products up to about 3 to 7 mm must be supported. However, if the robot does not have a displacement sensor, it cannot know the exact value of the Z axis and moves only with the value entered by the program. That is, as shown in FIG. 8, a situation may occur in which the pusher bars 121a and 121b do not reach the PCB surface due to Z-axis error or may enter deeper than the original position.

In addition, as shown in (b) of FIG. 9, the distance between the pre-coupled FFC 13 and the flip 12 of the PCB CNT is about 0.2 mm, and the flip 12 and the FFC ( 13), the blade 131 is not inserted between them.

To solve this, the Z-axis compensation buffer unit 140 separates the housing 110 into upper and lower parts, and in case of + error, the lower part is pressed by the inserted buffer spring, and in case of - error, Robot Program the Z-axis position of to always press slightly more than the fixed number. At this time, since the pusher unit 120 and the blade unit 130 are mechanically fixed, a height difference between the pusher unit 120 and the blade unit 130 is always maintained constant.

Accordingly, when the pusher bars 121a and 121b of the pusher unit come down to a position where they come into contact with the PCB 10, the blade 131 comes to a position where it can be inserted between the flip 12 and the FFC 13. That is, the pusher unit 120 serves to fix the PCB 10 and to determine the insertion position of the blade 131.

As such, the Z-axis compensation buffer unit 140 serves as a buffer by covering the error of the Z-axis, so that the insertion position of the blade is automatically determined the moment the pusher bar touches the PCB, so that a separate displacement sensor is not installed. The Z-axis problem is solved.

In addition, the flip open tool 100 removes the lifting phenomenon of the PCB by adsorbing and pulling the bent FFC 13 when the FFC 13 is warped according to the fastening state of the FFC 13. It includes an adsorption unit 150.

Here, the adsorption unit 150 includes an adsorption pad 151 that adsorbs FFC, a vacuum pump (not shown) that provides a suction force to the adsorption pad 151, and a support 152 that fixes the adsorption pad 151 and , It is configured to include an up-down cylinder 153 for up-down the support 152.

On the other hand, as shown in FIG. 10, the FFC separation tool 200 includes a support frame 210 coupled to the second articulated robot R2, and a suction pad 230 coupled to the support frame 210 to absorb the FFC. ) and a vacuum pump (not shown) for providing a suction force to the suction pad 230. Here, the vacuum pump is not shown in the drawings, and is connected to the suction pad 230 through a connection pipe 220 shown in the drawings.

Here, the suction pad 230 adsorbs the FFC 13 already fastened to the CNT 11 of the PCB with the flip 12 open, separates and dismantles the FFC 13 from the CNT 11 of the PCB, and Load the FFC (13) into the FFC collection box.

Here, the support frame 210 may also include a Z-axis compensation buffer unit 240 corresponding to an error in the Z-axis height of the PCB 10 .

The support frame 210 is composed of a first support frame 211 coupled to the second articulated robot R2 and a second support frame 212 fixing the suction pad 230 .

In addition, the first support frame 211 includes a horizontal frame 211a coupled to the second articulated robot, a vertical frame 211b vertically coupled to the horizontal frame 211a, and a lower end of the vertical frame 211b. It is composed of a support frame 211c coupled to support the second support frame 212, and the second support frame 212 includes a horizontal frame 212a mounted on the support frame 211c and a horizontal frame 212a. It consists of a vertical frame (212b) connected vertically at one end.

The buffer unit 240 for Z-axis compensation has one side coupled to the vertical frame 211b of the first support frame 211 and the other side coupled to the vertical frame 212b of the second support frame 212 to slide in the vertical direction. Interposed between the LM guide 241 that is possibly coupled, the horizontal frame 211a of the first support frame 211 and the vertical frame 212b of the second support frame 212, corresponding to the error of the Z-axis height It is configured to include a buffer spring 242.

Here, the Z-axis compensation buffer unit 240 functions to buffer the Z-axis height of the suction pad 230 for adsorbing the FFC.

And, as shown in FIG. 11, the flip close tool 300 is coupled to the fixing frame 310 coupled to the third articulated robot R3 and to the bottom of one end of the fixing frame 310, and the flip is opened PCB. The pusher 320 for fixing, the front and rear moving cylinders 330 coupled to the fixed frame 310 to provide front and rear moving force, and the driving force of the front and rear moving cylinders 330 to open the PCB CNT. It is configured to include a roller unit 340 that closes the flip 12 by pushing it.

Here, the fixing frame 310 may also include a Z-axis compensation buffer unit (not shown) corresponding to an error in the Z-axis height of the PCB 10 . That is, the fixing frame 310 is separated into a first fixing frame 311 coupled to the third articulated robot R3 and a second fixing frame 312 fixing the pusher and the front and rear moving cylinders. Between the fixing frame 311 and the second fixing frame 312, a buffer unit (not shown) for Z-axis compensation composed of an LM guide and a buffer spring for buffering the height of the Z-axis may be provided.

Then, the pusher 320 presses and fixes the left and right sides of the PCB CNT 11 by the movement of the third articulated robot R3, and makes the roller part 340 to be located at the center of the flip 11 and flips at the same time. It serves to determine the Z-axis positioning of the roller unit 340 with respect to (11). Then, the roller unit 340 moves linearly by driving the front and rear moving cylinders 330 to push and close the open flip 12 of the PCB CNT.

At this time, the front and rear moving cylinders 330 and the roller unit 340 may be provided alone, but preferably, they are provided as a pair. Since the pusher 320 uses a pair of pusher bars to fix the left and right sides of the CNT, there is no problem in fixing the PCB with one pusher 320, and the front and rear moving cylinders 330 and the roller unit 340 are a pair. By applying to close two flips at the same time, the closing time can be shortened compared to when the flips 12 are individually closed.

In addition, the PCB CNT automatic disassembly device of the present invention checks whether the flip is open or closed, checks whether the FFC is separated, and uses a machine vision (not shown) to execute the precise movement and overall operation of the robot. can include

And, the image acquisition unit (Machine Vision) checks whether the flip is normal and open or close by comparing the lighting unit that illuminates the PCB, the camera that captures the image of the PCB, and the captured image information with the original image that has been previously registered. It can include a computer and software that checks whether the FFC is fastened and separated, analyzes the image of the robot performing accurate movement and overall operation, and makes a decision.

In the PCB CNT automatic disassembling device configured as described above, first, the flip open tool 100 coupled to the first articulated robot R1 opens the flip 12 of the PCB CNT 11 transferred while being placed on the carrier. In more detail, as shown in FIG. 6, in the flip open tool 100, the pusher bar 121a of the first pusher unit 120a is driven down by the driving of the pusher up/down cylinder 122a, and the first PCB 10a ) is fixed, the blade 131 moves toward the first PCB 10a by driving the blade left and right moving cylinder 132 and is inserted between the flip 12a of the first PCB CNT 11a and the FFC 13 do. At this time, the center of the blade 131 and the center of the CNT (11a) are aligned. Next, as the blade 131 is raised by driving the blade up/down cylinder 133, the flip 12a of the first PCB CNT 11a is opened. At this time, the pusher bar 121b of the second pusher unit 120b moves up to avoid interference.

Subsequently, after the flip 12a of the first PCB CNT is opened, the first articulated robot R1 moves to the second PCB 10b, and during the movement, the first pusher part 120a moves up to prevent interference. do.

Then, the blade 131 prepares to open the flip 12 by being lowered by driving the up/down cylinder 133 again.

Subsequently, when the pusher bar 121b of the second pusher unit 120b is driven down by the driving of the pusher up/down cylinder 122b to fix the second PCB 10b, the blade left/right moving cylinder 132 is driven. As a result, the blade 131 moves toward the second PCB 10b and is inserted between the flip 12b of the second PCB CNT and the FFC 13. At this time, the center of the blade 131 and the center of the CNT (11b) are aligned. Next, as the blade 131 is raised by driving the blade up/down cylinder 133, the flip 12b of the second PCB CNT 11b is opened.

At this time, as shown in FIG. 12, the first PCB on the carrier side is mechanically fixed so that the camera can recognize it without problems and fix it to the pusher bar. However, if the 2nd PCB on the panel side is bent depending on the fastening state of the FFC, the 2nd PCB may not be attached to the floor and may be lifted. If the 2nd PCB is lifted, it may not be dismantled because the camera of the image acquisition unit does not recognize it because it does not match with the registered image. In this case, open Flip in the following order. As shown in FIG. 13, the flip 12 of the first PCB 10 fixed to the carrier side is first opened. In addition, the suction pad 151 of the suction unit 150 absorbs and pulls the FFC 13 on the opened side, thereby removing the lifting phenomenon of the second PCB on the panel side. After that, the flip 12 of the second PCB is opened.

Then, the suction pad 230 of the FFC separation tool 200 (see FIG. 10) coupled to the second articulated robot R2 is already fastened to the CNT 11 of the flip-open PCB 10. (13) is adsorbed to separate and dismantle the FFC (13) from the CNT (11) of the PCB.

Subsequently, the third articulated robot R3 moves and presses the left and right sides of the PCB CNT 11 with the pusher 320 of the flip close tool 300 (see FIG. 11) coupled to the third articulated robot to fix it. do. At this time, when the pusher 320 presses the left and right sides of the PCB CNT 11 to fix the PCB, the roller unit 340 is positioned at the center of the flip 12. Then, the roller unit 340 pushes and closes the flip 12 of the CNT 11 of the PCB from which the FFC 13 is separated while linearly moving by the driving of the front and rear moving cylinder 330.

Here, a plurality of flip open tools 100 coupled to the articulated robot may be provided as needed, and the open and close states of the flip and the disassembly state of the FFC may be inspected using an image acquisition unit.

As described above, the present invention improves the efficiency and convenience of disassembly work by automatically dismantling FFC (Flexible Flat Cable) or FPC (Flexible Printed Circuit) used for electrical signal connection between PCBs or between PCBs and parts. will increase

In addition, by providing a buffer for Z-axis compensation to cover the error of the Z-axis of the PCB, there is no need to mount a separate displacement sensor, and the problem of the Z-axis of the blade can be solved.

In addition, since the pusher unit presses and fixes the PCB, it is possible to dismantle the PCB even if the PCB is not fixed and there is movement.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the specific embodiments described above. That is, those skilled in the art to which the present invention belongs can make many changes and modifications to the present invention without departing from the spirit and scope of the appended claims, and all such appropriate changes and modifications Equivalents should be regarded as falling within the scope of this invention.

10: PCB 11: CNT
12: flip 13: FFC
100: flip open tool 110: housing
110a: upper housing 110b: lower housing
120: pusher part 120a: first pusher part
120b: second pusher part 121a, 121b: pusher bar
122a, 122b: pusher up, down cylinder 130: blade unit
131: blade 132: blade left and right moving cylinder
133: blade up, down cylinder 140: buffer for Z-axis compensation
141: LM guide 141a: guide rail bar
141b: guide block 142: buffer spring
143: stopper 150: adsorption unit
151: suction pad 152: support
153: up-down cylinder 200: FFC separation tool
210: support frame 211: first support frame
211a: horizontal frame 211b: vertical frame
211c: support frame 212: second support frame
212a: horizontal frame 212b: vertical frame
220: air cylinder 230: suction pad
240: Z-axis compensation buffer unit 241: LM guide
242: buffer spring 300: flip close tool
310: fixed frame 311: first fixed frame
312: second fixed frame 320: pusher
330: forward and backward movement cylinder 340: roller unit

Claims (14)

A flip open tool coupled to the first articulated robot to flip open the first and second PCB CNTs of the first and second PCBs;
An FFC separating tool coupled to the second articulated robot and separating the FFC from the first and second PCB CNTs by adsorbing the FFCs pre-fastened to the flip-open first and second PCB CNTs; and
A flip close tool coupled to a third articulated robot to close the flips of the first and second PCB CNTs from which the FFCs are separated; includes,
The flip open tool includes a housing coupled to the first articulated robot;
A pusher unit coupled to the housing and pressing and fixing the first and second PCBs by ascending and descending operations;
It is configured to include a blade part coupled to the housing and opening flips of the first and second PCB CNTs of the first and second PCBs pressed and fixed by the pusher part,
The housing is provided with a buffer for Z-axis compensation corresponding to the error of the Z-axis height of the first and second PCBs,
The housing is composed of an upper housing coupled to the first articulated robot and a lower housing supporting the pusher unit and the blade unit,
The Z-axis compensation buffer unit has one side coupled to the upper housing and the other side coupled to the lower housing so that the LM guide is slidably coupled in a vertical direction. A buffer spring interposed between the upper housing and the upper and lower mounting surfaces of the lower housing and corresponding to the error of the Z-axis height of the first and second PCBs,
When the pusher bar does not reach the surface of the 1st and 2nd PCBs due to the Z-axis error of the PCB or the NG situation occurs where the pusher bar goes deeper than the normal position, the Z-axis compensation buffer unit The lower part of the pusher bar is pressed and buffered by the inserted buffer spring, and it does not touch the surface of the 1st and 2nd PCB - In the case of an error, the Z-axis position of the 1st articulated robot is always pressed slightly more than the positive number. characterized in that,
PCB CNT automatic disassembly device. delete According to claim 1,
The pusher unit includes a first pusher unit and a second pusher unit that press and fix the first PCB and the second PCB, respectively.
The first pusher unit and the second pusher unit each include a pusher bar for pressing and fixing the first PCB and the second PCB, and pusher up and down cylinders for lifting and lowering the pusher bar, respectively. Device. According to claim 3,
The blade unit includes a blade located between the first pusher unit and the second pusher unit to open the flip of the first and second PCB CNTs, a blade left and right moving cylinder for moving the blade left and right, PCB CNT automatic disassembly device, characterized in that it comprises a blade up and down cylinder for raising and lowering the blade. According to claim 4,
While the pusher bar of the first pusher unit is down to fix the first PCB, the pusher bar of the second pusher unit is raised to avoid interference, and the blade unit moves the blade left and right by driving the cylinder. The first pusher unit moves toward the side of the first PCB fixed to the pusher bar, inserts the blade between the flip of the first PCB CNT and the FFC, and raises the blade by driving the blade up/down cylinder to move the first PCB CNT opens the flip, and while the first articulated robot moves to the second PCB, the first pusher part is raised to prevent interference, the pusher bar of the second pusher part is down to fix the second PCB, and the blade part By driving the blade left and right moving cylinders, the blade moves toward the side of the second PCB fixed to the pusher bar of the second pusher unit, inserts the blade between the flip and FFC of the second PCB CNT, and drives the blade up and down cylinders PCB CNT automatic disassembly apparatus, characterized in that by raising the blade to open the flip of the second PCB CNT. delete delete According to claim 1,
The flip open tool further includes a suction unit for removing the lifting phenomenon of the PCB by adsorbing and pulling the bent FFC when the FFC is bent according to the fastening state of the PCB CNT automatic disassembly device, characterized in that . According to claim 8,
The adsorption unit comprises an adsorption pad adsorbing FFC, a vacuum pump providing a suction force to the adsorption pad, a support station fixing the adsorption pad, and an up-down cylinder for up-down the support station. automatic dismounting device. According to claim 1,
The FFC separation tool includes a support frame coupled to the second articulated robot, a suction pad coupled to the support frame to absorb FFC, and a vacuum pump providing suction force to the suction pad. PCB CNT automatic disassembly device. According to claim 10,
The support frame is composed of a first support frame coupled to the second articulated robot and a second support frame for fixing the suction pad,
Between the first support frame and the second support frame, a buffer for Z-axis compensation corresponding to an error in the Z-axis height is provided,
The Z-axis compensation buffer part has one side coupled to the first support frame and the other side coupled to the second support frame and an LM guide sliding in the vertical direction, and the upper and lower parts of the first support frame and the second support frame PCB CNT automatic disassembly device, characterized in that it comprises a buffer spring interposed between the placement surfaces and corresponding to the error of the Z-axis height. According to claim 1,
The flip close tool includes a fixed frame coupled to the third articulated robot, a pusher coupled to one end of the fixed frame to fix the PCB, and a front and back coupled to the fixed frame to provide forward and backward moving force. A PCB CNT automatic disassembly device, characterized in that it comprises a rear moving cylinder and a roller part that pushes and closes the open flip of the CNT of the PCB with the driving force of the front and rear moving cylinders. According to claim 12,
The fixing frame is composed of a first fixing frame coupled to the third articulated robot (R3) and a second fixing frame fixing the pusher and the front and rear moving cylinders,
Between the first fixed frame and the second fixed frame, a buffer for Z-axis compensation corresponding to an error in the Z-axis height is provided,
The Z-axis compensation buffer part has one side coupled to the first fixed frame and the other side coupled to the second fixed frame, and an LM guide sliding in the vertical direction, and the upper and lower parts of the first and second fixed frames PCB CNT automatic disassembly device, characterized in that it comprises a buffer spring interposed between the placement surfaces and corresponding to the error of the Z-axis height. According to claim 1,
In the LM guide, a guide rail bar vertically coupled to one surface of the lower housing and a rail groove of a guide block coupled to one surface of the upper housing are slidably coupled,
A cover is provided on one side of the LM guide to prevent floating objects, and as the guide rail bar of the lower housing moves vertically along the guide block rail groove of the upper housing, the lower housing responds to the error in the Z-axis height of the first and second PCBs. to do,
The buffer spring is interposed between the upper and lower arrangement surfaces of the upper housing and the lower housing in a state of being inserted into the stopper provided in the lower housing, thereby serving as a cushion corresponding to the error in the Z-axis height of the first and second PCBs. characterized by,
PCB CNT automatic disassembly device.