Tool changer and vertical circulation transfer mechanism and material taking mechanism and method

Abstract

Tool automatic replacement device and vertical circulation conveying mechanism and material taking mechanism and method, the tool automatic replacement includes feeding mechanism, material taking mechanism, grabbing mechanism and vertical circulation conveying mechanism, wherein the vertical circulation conveying mechanism includes storage cavity, tool disc carrier and conveying device, the conveying device includes conveying power source and conveying assembly arranged in the vertical direction, the tool disc carrier is connected to the conveying assembly, and the tool disc is adapted to be transferred between the feeding mechanism and the tool disc carrier through the second tool disc import and export of the storage cavity, and the tool disc is adapted to be transferred between the tool disc carrier and the material taking mechanism through the first tool disc import and export of the storage cavity, the grabbing mechanism is used for feeding and discharging the tool between the material taking mechanism and the PCB drilling machine, so as to realize the tool automatic replacement of the PCB drilling machine.

Description

TECHNICAL FIELD

[0001] The present application relates to a tool changing device of a processing equipment, more particularly to a PCB drilling machine tool automatic changing device, a vertical circulation conveying mechanism and a material taking mechanism thereof, and a tool automatic changing method. BACKGROUND

[0002] A PCB drilling machine is a machine applied to a drilling process in a PCB processing process. In the drilling process, a tool is used to realize drilling. The total cutting time of a new tool from being put into processing to being scrapped due to processing wear is called tool life. In the drilling process, in order to ensure that the tool life on the tool holder is sufficient to ensure the drilling task required for processing completion, the tool is replaced before or in advance of the tool life, and sometimes the tool is replaced when the tool specification detection is unqualified. This replacement is generally replaced manually.

[0003] At present, the manual mode adopts two modes of single tool box replacement and partial tool replacement. Single tool box replacement requires manual taking out and replacing of tool boxes one by one, and single tool replacement also requires manual replacement one by one. Manual processing of tools, tool boxes, tool holder replacement and tool abnormality processing has low efficiency and cannot realize automatic production. Moreover, manual arrangement of tools cannot intuitively understand the tool information in the tool box, and is more likely to be placed incorrectly. In addition, because the tool holder is large and the drilling machine channel is limited, a large number of tool holders of different types cannot be transported at one time.

[0004] CN216991005U discloses a tool changing buffer device, which is an automatic tool changing device and includes a moving base, a placing table and a grabbing mechanism. The placing table has a first storage area for storing unused tools and a second storage area for storing used tools. The grabbing mechanism can transfer the tools in the first storage area to the processing equipment and transfer the used tools of the processing equipment to the second storage area. The moving base drives the tool changing buffer device to move, so that the tool changing buffer device realizes automatic operation, without manual disassembly and replacement of tools, reducing the risk of incorrect placement and missing placement of tools caused by manual operation, and saving labor costs.

[0005] However, the first storage area and the second storage area of the existing tool changing buffer device can store a limited number of tools, and cannot continuously transport a large number of tools. In use, a special transfer trolley is needed to move between the first storage area and the second storage area of the placing table. Specifically, when the transfer trolley is moved to the first storage area of the placing table and is docked with the tool changing buffer device, more unused tools are transported to the first storage area, or when the transfer trolley is moved to the second storage area of the placing table and is docked with the tool changing buffer device, the used tools stored in the second storage area are removed.

[0006] In addition, the PCB drilling machine needs various tool holders such as a module tool holder, a universal tool holder, and an abnormal tool holder in the drilling process. However, the existing automatic tool changing device is suitable for loading and unloading of the standard tool holder, and cannot simultaneously place the various tool holders in the first storage area and the second storage area for intelligent management and conveying. Moreover, although the placement table divides the first storage area and the second storage area, the possibility of misplacement cannot be completely avoided because the tool holders stored in the first storage area and the second storage area are not intelligently managed. SUMMARY

[0007] An object of the present application is to provide a tool automatic changing device for a PCB drilling machine, a vertical circulation conveying mechanism thereof, and a tool automatic changing method, in which a large number of tool holders can be stored and automatically circulated by the vertical circulation conveying mechanism, thereby improving the tool changing efficiency.

[0008] Another object of the present application is to provide a tool automatic changing device for a PCB drilling machine, a vertical circulation conveying mechanism thereof, and a tool automatic changing method, in which a new tool holder to be used and an old tool holder changed can be temporarily stored in the vertical circulation conveying mechanism, thereby uniformly storing and managing the new tool holder and the old tool holder by the vertical circulation conveying mechanism.

[0009] Another object of the present application is to provide a tool automatic changing device for a PCB drilling machine, a vertical circulation conveying mechanism thereof, and a tool automatic changing method, in which the vertical circulation conveying mechanism can store various tool holders such as a module tool holder, a universal tool holder, and an abnormal tool holder, and allow intelligent information management of the various tool holders.

[0010] Another object of the present application is to provide a tool automatic changing device for a PCB drilling machine, a vertical circulation conveying mechanism thereof, and a tool automatic changing method, in which, compared to the conventional tool changing device that can only convey the tool holder in the horizontal direction, the vertical circulation conveying mechanism effectively utilizes the height space to store a plurality of tool holders and allows the tool holders to be cyclically moved in the vertical direction, thereby being able to store a large number and a large variety of tool holders in a relatively narrow space.

[0011] Another object of the present application is to provide a tool automatic changing device for a PCB drilling machine, a vertical circulation conveying mechanism thereof, and a tool automatic changing method, in which the vertical circulation conveying mechanism supports the load of the tool holders by a tool holder carrier, and allows the tool holder carrier to cyclically displace to convey the tool holders to the desired positions, and the tool holder carrier is designed to facilitate the tool holders to be conveyed from a feeding mechanism or a taking mechanism of the tool automatic changing device to the tool holder carrier and to keep the tool holders fixed to the tool holder carrier.

[0012] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein the vertical circulation conveying mechanism is driven in and out by an automatically controlled feeding drive assembly and a discharging drive assembly.

[0013] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein each tool holder has an identification mark, which can be identified when it is driven in and out of the vertical circulation conveying mechanism, and the position information of each tool holder when it is carried on the corresponding tool holder carrier of the vertical circulation conveying mechanism is recorded, so that each tool holder can be located and tracked, and the misplacement and mispick of the tool holder are prevented.

[0014] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein the tool pick-up mechanism of the PCB drilling machine tool automatic replacement device can cooperate with the vertical circulation conveying mechanism to transfer and guide the tool holder from the vertical circulation conveying mechanism to a suitable position of the tool pick-up mechanism.

[0015] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein the tool pick-up mechanism is provided with different tool holder placement stations for new and old tool holders, so that the new and old tool holders can be temporarily stored and placed in different areas, and the tool holder information can be identified to prevent misplacement and mispick of the new and old tool holders.

[0016] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein the PCB drilling machine tool automatic replacement device includes a grabbing mechanism, which can automatically pick up the tool holder from the tool pick-up mechanism, and can pick up and place the tool holder, tool or tool box by an automatically controlled mechanical arm and clamp, so as to realize automatic replacement of the tool holder, tool or tool box.

[0017] Another object of the present application is to provide a tool automatic replacement device for a PCB drilling machine, a vertical circulation conveying mechanism and a tool automatic replacement method, wherein the PCB drilling machine tool automatic replacement device can efficiently cooperate with the tool house / tool magazine to automatically feed the tool holder, tool box and tool, and cooperate with the PCB drilling machine to realize automatic replacement of the tool holder, tool and tool box.

[0018] Another object of the present application is to provide a tool automatic replacement device applied to a PCB drilling machine, a vertical circulation conveying mechanism and a material taking mechanism thereof, and a tool automatic replacement method, wherein the tool automatic replacement device, the vertical circulation conveying mechanism, the material taking mechanism and the tool automatic replacement method can maximize the reduction of manual participation, improve efficiency, reduce downtime, and can implement automatic and information management of the tool.

[0019] According to an aspect of the present application, the present application provides a vertical circulation conveying mechanism for storing and conveying a tool disc, and comprising:

[0020] a storage cavity having a storage cavity and having a first tool disc inlet and outlet and a second tool disc inlet and outlet communicated with the storage cavity;

[0021] a tool disc carrier located in the storage cavity for carrying the tool disc so as to store the tool disc in the storage cavity; and

[0022] a conveying device comprising a conveying power source and a conveying assembly arranged in a vertical direction, wherein the tool disc carrier is connected to the conveying assembly and driven by the conveying assembly under the power provided by the conveying power source, so that the tool disc carrier is cyclically displaced and the conveying device conveys the tool disc carrier between two positions corresponding to the first tool disc inlet and outlet and the second tool disc inlet and outlet.

[0023] The present application also provides a tool automatic replacement device applied to implement tool automatic replacement of a PCB drilling machine, and comprising:

[0024] a material taking mechanism;

[0025] a grabbing mechanism; and

[0026] a vertical circulation conveying mechanism comprising a storage cavity, a tool disc carrier and a conveying device, wherein the storage cavity has a storage cavity and has a first tool disc inlet and outlet and a second tool disc inlet and outlet communicated with the storage cavity, the tool disc carrier is used for carrying the tool disc so as to store the tool disc in the storage cavity, and the conveying device comprises a conveying power source and a conveying assembly arranged in a vertical direction, wherein the tool disc carrier is connected to the conveying assembly and driven by the conveying assembly under the power provided by the conveying power source, so that the tool disc carrier is cyclically displaced and the conveying device conveys the tool disc carrier between two positions corresponding to the first tool disc inlet and outlet and the second tool disc inlet and outlet, wherein the tool disc is adapted to be transferred from the tool disc carrier to the material taking mechanism through the first tool disc inlet and outlet, and the grabbing mechanism is used for loading and unloading the tool disc between the material taking mechanism and the PCB drilling machine.

[0027] In some embodiments, the conveying device comprises two of the conveying assemblies arranged in parallel and in vertical direction with a space between them, wherein the cutter carrier is connected between the two conveying assemblies and is driven by the two conveying assemblies to move the cutter carrier between two positions corresponding to the first cutter inlet and outlet and the second cutter inlet and outlet under the power provided by the conveying power source.

[0028] In some embodiments, each of the conveying assemblies comprises a driving element and an endless transmission element, wherein the driving element is driven by the conveying power source to drive the transmission element to rotate cyclically, thereby driving the cutter carrier to move synchronously to move the cutter to the first cutter inlet and outlet or the second cutter inlet and outlet.

[0029] In some embodiments, the transmission element is a transmission chain or a transmission belt, and the driving element comprises two driving wheels engaged with opposite ends of the transmission element, wherein at least one of the driving wheels is connected to the conveying power source through a driving arm as a driving wheel, so that under the power of the conveying power source, the driving wheel is driven to rotate to drive the transmission element to rotate cyclically.

[0030] In some embodiments, the cutter carrier comprises a connecting rod, and each of the transmission elements is provided with a plurality of fixing elements, wherein the connecting rod of the cutter carrier is fixed between the two transmission elements by passing through two of the fixing elements of the two transmission elements at both ends of the connecting rod.

[0031] In some embodiments, each of the conveying assemblies comprises two limiting elements arranged on the storage cavity and adjacent to the first cutter inlet and outlet and the second cutter inlet and outlet, and each of the limiting elements comprises an outer guide portion and an inner guide portion, wherein the outer guide portion and the inner guide portion have a gap therebetween, and the cutter carrier comprises a connecting rod connected between the two transmission elements, and the gap allows the transmission elements and the connecting rod to move in vertical direction in the gap.

[0032] In some embodiments, at least one of the outer guide portion and the inner guide portion of the limiting element has a guide groove, and the cutter carrier is provided with at least one guide pulley at both ends thereof, and the guide pulley is adapted to slide in the guide groove.

[0033] In some embodiments, the outer and inner guiding portions of the limiting element each has an outer and inner guiding slot, wherein the cutter carrier is provided with two guiding pulleys at its two ends, and the two guiding pulleys are adapted to slide in the outer and inner guiding slots respectively, and the connecting rod slides in the gap between the outer and inner guiding slots.

[0034] In some embodiments, the cutter carrier comprises a support plate for supporting the cutter, a connecting rod connected between the two transmission elements, and a connecting element connecting the connecting rod and the support plate.

[0035] In some embodiments, the cutter carrier further comprises at least one guiding element provided on the support plate, wherein the guiding element has a guiding slot, and the bottom side of the cutter is provided with a limiting guiding body adapted to be placed in the guiding slot of the guiding element.

[0036] In some embodiments, the cutter carrier comprises two guiding elements provided on the support plate, wherein the guiding slot of each guiding element has an opening at its opposite ends and a guiding slot communicating with the openings, and the guiding slot has a larger opening size outside the guiding slot and gradually decreases in size along the direction towards the opening, thereby facilitating the guiding of the limiting guiding body of the cutter into the guiding slot of the guiding element.

[0037] In some embodiments, the cutter carrier comprises two guiding plates provided at the two ends of the support plate for guiding the sliding of the two end faces of the cutter, and the cutter carrier further comprises at least one guiding pulley on the opposite sides of the support plate, and each transmission assembly further forms at least one guiding slot for guiding the guiding pulley.

[0038] In some embodiments, the vertical circulation transmission mechanism is applied to a cutter automatic replacement device, which comprises a feeding mechanism and a taking mechanism, wherein the storage cavity has the first cutter inlet and outlet and the second cutter inlet and outlet at opposite sides, and the cutter is adapted to be transferred between the cutter carrier and the taking mechanism through the first cutter inlet and outlet, and the cutter is adapted to be transferred between the cutter carrier and the feeding mechanism through the second cutter inlet and outlet.

[0039] In some embodiments, the vertical circulation transmission mechanism further comprises two feeding driving assemblies for driving the cutter from the feeding mechanism into the cutter carrier in the storage cavity through the second cutter inlet and outlet and for driving the cutter from the taking mechanism into the cutter carrier in the storage cavity through the first cutter inlet and outlet.

[0040] In some embodiments, each of the feeding driving assemblies comprises at least one feeding driving element, which comprises a cutter disc poking member, a rotating device and an extending device, the cutter disc poking member generates rotary displacement and extending displacement under the action of the rotating device and the extending device so as to act on the side panel of the cutter disc to drive the cutter disc to move onto the cutter disc carrier.

[0041] In some embodiments, the feeding mechanism and the taking mechanism respectively transport a part of the cutter disc to the cutter disc carrier, wherein the remaining part of the cutter disc is subjected to the force applied by the cutter disc poking member to realize loading of the whole cutter disc onto the cutter disc carrier.

[0042] In some embodiments, the vertical circulating conveying mechanism further comprises two discharging driving assemblies, which are respectively used to drive the cutter disc to move away from the cutter disc carrier in the storage cavity and to be transferred to the taking mechanism via the first cutter disc inlet and outlet and to drive the cutter disc to move away from the cutter disc carrier in the storage cavity and to be transferred to the feeding mechanism via the second cutter disc inlet and outlet.

[0043] In some embodiments, each of the discharging driving assemblies comprises a pushing driving element and a pushing member, the pushing member is driven by the pushing driving element to push the cutter disc to move away from the cutter disc carrier and to be transferred to the taking mechanism or the feeding mechanism.

[0044] In some embodiments, the feeding mechanism comprises a feeding power source, a feeding driving assembly and at least one feeding transmission element, wherein the feeding transmission element is a transmission chain or a transmission belt, when the feeding power source drives the feeding driving assembly to rotate, the feeding transmission element rotates to send at least a part of the cutter disc located on the feeding transmission element into the cutter disc carrier in the storage cavity through the second cutter disc inlet and outlet or to continue transferring the cutter disc to the feeding mechanism through the second cutter disc inlet and outlet when at least a part of the cutter disc moves away from the cutter disc carrier, so that the cutter disc is adapted to be transferred between the feeding mechanism and the cutter disc carrier through the second cutter disc inlet and outlet.

[0045] In some embodiments, the taking mechanism comprises a cutter disc temporary storage base and a taking conveying assembly, wherein the taking conveying assembly is used to continue transferring the cutter disc to the temporary storage base through the first cutter disc inlet and outlet when at least a part of the cutter disc moves away from the cutter disc carrier, or the taking conveying assembly sends at least a part of the cutter disc into the cutter disc carrier in the storage cavity through the first cutter disc inlet and outlet, so that the cutter disc is adapted to be transferred between the taking mechanism and the cutter disc carrier through the first cutter disc inlet and outlet.

[0046] In some embodiments, the cutter temporary storage base comprises a base body and at least one base guide provided on the base body, wherein the base guide has a base guide slot, and the cutter bottom side has at least one limiting guide body adapted to slide in the base guide slot of the base guide.

[0047] In some embodiments, the cutter temporary storage base comprises two base guides, each of which has a base guide slot, and the cutter bottom side has two rows of limiting guide bodies, each row of limiting guide bodies comprises at least one limiting guide body, and the two rows of limiting guide bodies are adapted to slide in the base guide slots of the corresponding two base guides, wherein the cutter temporary storage base further comprises a limiting stop body extending from both ends of the base body.

[0048] In some embodiments, the cutter temporary storage base has a first cutter placement station and a second cutter placement station for respectively placing the used cutter from the PCB drilling machine and the unused cutter from the vertical circulating conveying mechanism, wherein the material taking conveying assembly is adapted to drive the cutter to switch between the first cutter placement station and the second cutter placement station.

[0049] In some embodiments, the material taking conveying assembly comprises a material taking power source, a material taking driving element, and at least one material taking transmission element, wherein the material taking transmission element is a transmission chain or a transmission belt, the material taking power source drives the material taking driving element to rotate so as to drive the material taking transmission element to rotate, so as to synchronously move the cutter located on the material taking transmission element.

[0050] In some embodiments, the cutter temporary storage base further comprises a cutter limiting plate extending from the base body and located on the side of the base body away from the first cutter import and export, wherein the material taking conveying assembly, the first cutter placement station, and the second cutter placement station are located on the inner side of the cutter limiting plate, and the cutter limiting plate is used to prevent the cutter from escaping from the cutter temporary storage base.

[0051] In some embodiments, the cutter automatic replacement device further comprises an intelligent recognition mechanism comprising a first recognition device and a second recognition device, wherein the cutter comprises a recognition mark, and the first recognition device and the second recognition device are used to recognize the recognition mark, so as to respectively recognize the cutter transferred between the material taking mechanism and the vertical circulating conveying mechanism and the cutter transferred between the feeding mechanism and the vertical circulating conveying mechanism.

[0052] In some embodiments, the first and second identification devices are RFID identification devices arranged on the material taking mechanism and the material feeding mechanism respectively, and the identification mark of the tool disc is an RFID electronic tag.

[0053] In some embodiments, the grabbing mechanism is used to transfer the tool disc, the single tool or the single tool box between the material taking mechanism and the PCB drill.

[0054] In some embodiments, the grabbing mechanism comprises a mechanical arm group and a grabbing assembly, and the tool disc has a socket, wherein the grabbing assembly comprises a base plate, a quick-release driving element and a quick-release pin, and the quick-release pin is movably arranged on the base plate and is driven by the quick-release driving element to be inserted into the socket of the tool disc, so as to further transfer the tool disc between the material taking mechanism and the PCB drill under the guidance of the mechanical arm group.

[0055] In some embodiments, the grabbing mechanism comprises a mechanical arm group and a grabbing assembly, and the tool disc comprises a tool box and a tool arranged in the tool box, wherein the grabbing assembly comprises a tool clamping device and a tool box clamping device to clamp the single tool and the single tool box respectively, so as to further transfer the tool or the tool box between the material taking mechanism and the PCB drill under the guidance of the mechanical arm group.

[0056] According to another aspect of the present application, the present application provides a material taking mechanism, which comprises:

[0057] a tool disc temporary storage base having a first tool disc placing station and a second tool disc placing station for placing used tool discs and unused tool discs respectively; and

[0058] a material taking conveying assembly for driving the tool disc to switch between the first tool disc placing station and the second tool disc placing station.

[0059] Preferably, the tool disc temporary storage base comprises a base body and at least one base guide arranged on the base body, wherein the base guide has a base guide groove, and the bottom side of the tool disc has at least one limiting guide body adapted to slide in the base guide groove of the base guide.

[0060] Preferably, the tool disc temporary storage base comprises two base guides each having a base guide groove, and the bottom side of the tool disc has two rows of limiting guide bodies, each row of the limiting guide bodies comprises at least one limiting guide body, and the two rows of limiting guide bodies are adapted to slide in the base guide grooves of the corresponding two base guides, wherein the tool disc temporary storage base further comprises a limiting stop body extending from both ends of the base body.

[0061] Preferably, the taking mechanism is applied to temporarily store a tool holder from a vertical circulation conveying mechanism and a PCB drill, the taking conveying assembly is used to continuously transfer the tool holder to the temporary storage base when at least a part of the tool holder leaves the tool holder carrier of the vertical circulation conveying mechanism, or the taking conveying assembly sends at least a part of the tool holder into the tool holder carrier in the vertical circulation conveying mechanism, so that the tool holder is adapted to be transferred between the taking mechanism and the tool holder carrier, wherein the first tool holder placement station is adjacent to the vertical circulation conveying mechanism for placing the tool holder from the PCB drill, the second tool holder placement station is away from the vertical circulation conveying mechanism for placing the tool holder from the vertical circulation conveying mechanism, wherein the taking conveying assembly is adapted to drive the tool holder from the vertical circulation conveying mechanism to move from the first tool holder placement station to the second tool holder placement station.

[0062] Preferably, the taking mechanism further comprises a first identification device, which is an RFID identification device, and the tool holder comprises an identification mark implemented as an RFID electronic tag, so that the first identification device is used to identify the tool holder supported on the tool holder temporary storage base.

[0063] According to another aspect of the present application, the present application provides a tool holder carrier applied to a vertical circulation conveying mechanism, comprising:

[0064] a support plate;

[0065] at least one guide element arranged on the support plate, wherein the guide element has a guide groove adapted to a limiting guide body on the bottom side of a tool holder;

[0066] a connecting rod adapted to be connected to a driving element of the vertical circulation conveying mechanism; and

[0067] a connecting element connecting the connecting rod and the support plate.

[0068] Preferably, the tool holder carrier comprises two guide elements arranged on the support plate, wherein the guide groove of each guide element has openings at opposite ends and has a guide groove which is communicated with the openings and has a larger opening size outside the guide groove, and the opening size gradually decreases along the direction towards the opening, so as to facilitate the limiting guide body of the tool holder to enter the guide groove of the guide element.

[0069] Preferably, the two ends of the connecting rod are respectively adapted to be connected to two driving elements of the vertical circulation conveying mechanism.

[0070] Preferably, the cutter carrier comprises two guide plates arranged at both ends of the support plate to guide the sliding of the two end faces of the cutter, and at least one guide pulley is further arranged at opposite sides of the support plate, and the vertical circulating conveying mechanism further comprises at least one guide groove for guiding the at least one guide pulley.

[0071] Preferably, each of the connecting elements comprises two connecting plates, the top ends of the two connecting plates are overlapped with each other and are penetrated by one end of the connecting rod, and the bottom ends of the two connecting plates are spaced apart and are respectively fixed to the support plate, and the two guide pulleys are respectively connected to the bottom ends of the two connecting plates.

[0072] According to another aspect of the present application, the present application provides a cutter for a PCB drilling machine, comprising:

[0073] a disc body; and

[0074] a limiting guide body, the limiting guide body is protruded on the bottom side of the disc body and comprises a guide shaft, a guide shaft sleeve and a steel ball bearing, wherein the guide shaft sleeve is slidably arranged in the guide shaft, the steel ball bearing comprises a plurality of steel balls which are arranged at the bottom end of the guide shaft and are located outside the guide shaft sleeve, wherein the bottom side of the guide shaft sleeve forms an annular groove, and a part of the steel balls of the steel ball bearing can move into the groove to drive the up and down sliding displacement of the guide shaft sleeve when being acted by an external force.

[0075] Preferably, the bottom side of the disc body is provided with two rows of the limiting guide bodies, and each row of the limiting guide bodies comprises at least one limiting guide body.

[0076] Preferably, the cutter is provided with an RFID electronic tag identification.

[0077] Preferably, the cutter is provided with a plurality of jack holes for respectively inserting a plurality of quick-release pins of a grabbing assembly.

[0078] According to another aspect of the present application, the present application provides a cutter automatic feeding method of a PCB drilling machine, comprising the following steps:

[0079] (a) storing a cutter in a cutter carrier in a storage cavity of a vertical circulating conveying mechanism;

[0080] (b) moving the cutter carrier carrying the cutter to a first cutter inlet and outlet of the storage cavity by a conveying device of the vertical circulating conveying mechanism;

[0081] (c) moving the tool bit through the first tool bit inlet and outlet to a tool bit temporary storage base of the material taking mechanism by a material taking driving assembly and moving the tool bit to a tool bit placing station of the tool bit temporary storage base by a material taking conveying assembly; and

[0082] (d) feeding the tool bit temporarily stored in the tool bit temporary storage base to a tool bit station of the PCB drilling machine by a grabbing mechanism.

[0083] In some embodiments, the tool bit automatic feeding method further comprises the steps of:

[0084] (e) feeding a part of the tool bit into the tool bit carrier through the second tool bit inlet and outlet of the storage cavity by a feeding mechanism, and driving the tool bit to move by a feeding driving assembly so that the remaining part of the tool bit is moved to the tool bit carrier so that the whole tool bit is carried on the tool bit carrier.

[0085] In some embodiments, in the step (b), the tool bit carrier is driven to move to the first tool bit inlet and outlet by cyclically rotating two transmission elements arranged in a vertical direction to drive the tool bit carrier suspended between the two transmission elements to move.

[0086] In some embodiments, in the step (b), a guide groove formed by a guide part arranged in the storage cavity guides a guide pulley of the tool bit carrier to move in a vertical direction, and prevents the tool bit carrier from swinging towards the first tool bit inlet and outlet when the tool bit is transferred to the material taking mechanism.

[0087] In some embodiments, in the step (c), a guide groove formed by a guide element of the tool bit carrier guides a sliding of a limiting guide body of the tool bit towards the material taking mechanism and makes the limiting guide body of the tool bit enter a base guide groove of a base guide part of a tool bit temporary storage base of the material taking mechanism.

[0088] In some embodiments, in the step (c), further comprising the step of: identifying the tool bit by a first identification device by identifying an RFID electronic tag identification mark arranged on the tool bit.

[0089] In some embodiments, in the step (a), further comprising the step of: storing multiple types of the tool bit by the multiple tool bit carriers, including multiple types of module tool bits, universal tool bits and abnormal tool bits.

[0090] According to another aspect of the present application, the present application provides a tool bit automatic feeding method of a PCB drilling machine, comprising the steps of:

[0091] (A) transferring a tool bit of a PCB drilling machine to a tool bit temporary storage base of a material taking mechanism by a grabbing mechanism; and

[0092] (B) by the taking conveying assembly, a part of the tool disc is conveyed into the tool disc carrier in the storage cavity of the vertical circulating conveying mechanism through the first tool disc inlet and outlet of the storage cavity, and by the feeding driving assembly, the tool disc is driven to make the remaining part of the tool disc enter the tool disc carrier so that the whole tool disc is loaded in the tool disc carrier and stored in the vertical circulating conveying mechanism.

[0093] In some embodiments, the tool disc automatic unloading method further comprises the steps of:

[0094] (C) by the conveying device of the vertical circulating conveying mechanism, the tool disc carrier carrying the tool disc is moved to the second tool disc inlet and outlet of the storage cavity; and

[0095] (D) by the discharging driving assembly, the tool disc stored on the tool disc carrier is driven to make at least a part of the tool disc reach the feeding mechanism through the second tool disc inlet and outlet.

[0096] In some embodiments, in the step (C), by driving the two driving elements arranged in the vertical direction to rotate circularly, the tool disc carrier suspended between the two driving elements is driven to move to the second tool disc inlet and outlet.

[0097] In some embodiments, in the step (C), the guiding groove formed by the guide arranged in the storage cavity guides the vertical movement of the guide pulley of the tool disc carrier, and in the step (D), the tool disc is transferred to the feeding mechanism, the tool disc carrier is prevented from shaking towards the second tool disc inlet and outlet.

[0098] In some embodiments, in the step (D), the guide groove formed by the guide element of the tool disc carrier guides the sliding of the limiting guide body of the tool disc towards the feeding mechanism.

[0099] In some embodiments, in the step (A), the method further comprises the steps of: respectively identifying the RFID electronic tag identification of the tool disc on the tool disc temporary storage base of the taking mechanism by the first identification device and identifying the RFID electronic tag identification of the tool disc on the feeding mechanism by the second identification device to identify the tool disc.

[0100] In some embodiments, when the tool disc is unloaded from the PCB drilling machine to form an empty tool disc station, by placing the unused tool disc conveyed from the vertical circulating conveying mechanism to the taking mechanism on the empty tool disc station of the PCB drilling machine through the grabbing mechanism, the tool replacement is completed.

[0101] In some embodiments, the first and second blade placement stations of the blade pallet buffer station buffer the used blades from the PCB drill and the unused blades from the vertical circulation transfer mechanism, respectively, and the blade switching of the blade transfer assembly is driven by the blade transfer assembly. BRIEF DESCRIPTION OF DRAWINGS

[0102] Figure 1 is a perspective view of a tool automatic changing apparatus for a PCB drill according to a preferred embodiment of the present application.

[0103] Figure 2 is another perspective view of the tool automatic changing apparatus according to the above preferred embodiment of the present application.

[0104] Figure 3a is a perspective view of a vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application.

[0105] Figure 3b is an enlarged view of a transfer assembly of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application.

[0106] Figure 4 is another perspective view of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application.

[0107] Figure 5 is another perspective view of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application, in which the top plate of the storage cavity of the vertical circulation transfer mechanism is removed to show the internal structure thereof.

[0108] Figure 6 is a longitudinal sectional view of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application to show the transfer assembly thereof.

[0109] Figure 7 is a transverse sectional view of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application to show the blade carrier, the infeed drive assembly and the outfeed drive assembly thereof.

[0110] Figure 8 is a perspective view of the blade carrier of the vertical circulation transfer mechanism of the tool automatic changing apparatus according to the above preferred embodiment of the present application.

[0111] Figure 9is a perspective view of the feeding drive assembly of the vertical circulation conveying mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0112] Figure 10 is an enlarged perspective view of the feeding mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0113] Figure 11 is a perspective view of the taking mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0114] Figure 12 is a perspective view of the taking mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application, which is removed its disc limiting plate to show its taking conveying assembly.

[0115] Figure 13 is a perspective view of the grabbing mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0116] Figure 14 is a perspective view of another variant embodiment of the grabbing mechanism of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0117] Figure 15 is a perspective view of the disc for automatic changing of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0118] Figure 16 is an additional view of the disc for automatic changing of the tool automatic changing equipment according to the above preferred embodiment of the present application.

[0119] Figure 17 is a view showing the structural relationship between the guiding sleeve and the steel ball bearing of the limiting guide body of the disc for automatic changing of the tool automatic changing equipment according to the above preferred embodiment of the present application when the limiting guide body is not subjected to external force.

[0120] Figure 18 is a view showing the structural relationship between the guiding sleeve and the steel ball bearing of the limiting guide body of the disc for automatic changing of the tool automatic changing equipment according to the above preferred embodiment of the present application when the limiting guide body is subjected to external force.

[0121] Figure 19 is a view showing the structural relationship between the guiding sleeve and the steel ball bearing of the limiting guide body of the disc for automatic changing of the tool automatic changing equipment according to the above preferred embodiment of the present application when the limiting guide body is subjected to external force.

[0122] In the figure: 100, tool automatic changing equipment; 10, disc; 10a, new disc; 10b, old disc; 11, disc body;

[0123] 111, bottom plate; 112, side plate; 113, end face; 12, cutter box; 13, cutter; 14, limiting guide body; 141, guide shaft; 142, guide shaft sleeve; 1421, groove; 143, steel ball bearing; 1431, steel ball; 144, groove; 15, identification mark; 16, insertion hole; 20, vertical circulation conveying mechanism; 21, storage cavity; 210, storage cavity; 211, top plate; 212, side plate; 213, first cutter disc inlet and outlet; 214, second cutter disc inlet and outlet; 22, conveying device; 221, conveying assembly; 2211, transmission element; 2212, driving element; 22121, driving wheel; 22122, driven wheel; 2213, limiting element; 22131, outer guide portion; 22132, inner guide portion; 22133, outer guide groove; 22134, inner guide groove; 22135, gap; 2214, fixing element; 222, conveying power source; 223, driving arm; 224, connecting arm; 23, cutter disc carrier; 231, support plate; 2311, support plate body; 2312, side edge; 232, connecting rod; 2321, end of connecting rod; 233, connecting element; 2331, connecting plate; 23311, top end of connecting plate; 23312, bottom end of connecting plate; 234, guide pulley; 235, guide element; 2351, guide groove;

[0124] 2352, opening; 2353, guide groove; 2354, guide wall; 236, guide plate; 24, feeding driving assembly; 24a, first feeding driving assembly; 24b, second feeding driving assembly; 241, feeding driving element; 2411, cutter disc stirring element; 2412, rotating device; 24121, rotating connecting rod; 24122, rotating driving element; 2413, telescopic device;

[0125] 24131, telescopic driving element; 24132, telescopic element; 25, discharging driving assembly; 25a, first discharging driving assembly;

[0126] 25b, second discharging driving assembly; 251, pushing driving element; 252, pushing element; 253, pushing guide element; 30, feeding mechanism; 31, feeding power source; 32, feeding driving assembly; 321, feeding driving rod; 322, feeding transmission wheel; 33, feeding transmission element; 40, taking mechanism; 41, cutter disc temporary storage base; 411, base main body; 412, base guide element; 4121, base guide groove; 413, limiting stop body; 414, cutter disc placing station; 414a, first cutter disc placing station; 414b, second cutter disc placing station; 415, cutter disc limiting plate; 42, taking conveying assembly; 421, taking power source; 422, taking driving element; 4221, taking driving rod; 4222, taking transmission wheel; 423, taking transmission element; 50, grabbing mechanism; 51, mechanical arm group; 52, grabbing assembly; 521, base plate; 522, quick-release driving element; 523, quick-release bolt; 524, cutter clamping device; 5241, clamping sleeve; 525, cutter box clamping device;

[0127] 53, image recognition and guiding assembly; 60, base; 70, intelligent recognition mechanism; 71, first recognition device; 72, second recognition device; 200, PCB drilling machine; 201, cutter disc station; S1, first direction; S2, second direction;

[0128] S3, third direction; S4, fourth direction. DETAILED DESCRIPTION

[0129] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but are only used to enable a clear and consistent understanding of the application. Accordingly, it should be apparent to those skilled in the art that the following description of various embodiments of the present application is provided for illustration purpose only and not for the purpose of limiting the application as defined by the appended claims and their equivalents.

[0130] Although numerals such as "first", "second", etc. will be used to describe various components, the components are not limited herein. The terms are used only to distinguish one component from another component. For example, a first component can be referred to as a second component, and likewise, a second component can also be referred to as a first component without departing from the teachings of the present application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0131] The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0132] As Figures 1 to 19 shown is a tool auto change device 100 according to a preferred embodiment of the present application for providing one or more replaceable tool heads 10 to one or more PCB drill machines 200, wherein the tool auto change device 100 comprises a vertical circulation transfer mechanism 20, a feeding mechanism 30, a taking mechanism 40 and a grabbing mechanism 50. The vertical circulation transfer mechanism 20 is used for storing the tool heads 10 and transferring the tool heads 10 to the feeding mechanism 30 or the taking mechanism 40, the tool heads 10 can be transferred and shifted among the feeding mechanism 30, the vertical circulation transfer mechanism 20 and the taking mechanism 40, the taking mechanism 40 is used for temporarily storing the tool heads 10 and the grabbing mechanism 50 takes the tool heads 10 from the taking mechanism 40 and places the tool heads 10 to or from the tool head stations of the PCB drill machines 200.

[0133] The vertical circulation transfer mechanism 20, the feeding mechanism 30, the taking mechanism 40 and the grabbing mechanism 50 can be disposed on an environmental surface, or the tool auto change device 100 further comprises a base 60, and the vertical circulation transfer mechanism 20, the feeding mechanism 30, the taking mechanism 40 and the grabbing mechanism 50 are supported and fixed on the base 60. The base 60 can be a fixed chassis, i.e. fixed on the environmental surface. The base 60 can also be a mobile chassis, which can be driven to move so as to move to the tool house / tool magazine for taking the tool heads 10, or move to the PCB drill machines 200 which need to replace the tool heads 10, to automatically replace the tool heads 10 for the PCB drill machines 200.

[0134] Referring to Figure 19As shown in FIG. 1, when the tool automatic changing device 100 is used to provide a new tool head 10a to the PCB drilling machine 200, the feeding mechanism 30 is used to transport the new tool head 10a in the tool house / tool magazine to the vertical circulating conveying mechanism 20, the vertical circulating conveying mechanism 20 is used to temporarily store the new tool head 10a and convey the required new tool head 10a to the taking mechanism 40, and then the grabbing mechanism 50 is used to automatically grab the required new tool head 10a from the taking mechanism 40 and place it in the required tool head station 201 on the PCB drilling machine 200 for drilling processing. When the tool automatic changing device 100 is used to recycle the used old tool head 10b on the PCB drilling machine 200, the grabbing mechanism 50 is used to automatically grab the old tool head 10b on the PCB drilling machine 200 and place it on the taking mechanism 40, and then transport it to the vertical circulating conveying mechanism 20 through the taking mechanism 40, the vertical circulating conveying mechanism 20 is used to temporarily store the old tool head 10b and convey the old tool head 10b to the feeding mechanism 30 as required, so as to further send the old tool head 10b into the tool house / tool magazine through the feeding mechanism 30.

[0135] In this embodiment, reference is made to Figure 15 As shown in FIG. 1, the tool head 10 includes a disc body 11, one or more tool boxes 12 carried in the disc body 11, and one or more tools 13 loaded in the tool box 12. In another embodiment, the tools 13 in the tool head 10 can be selected to be directly loaded in the disc body 11. The tool head 10 can be various types of tool heads such as a module tool head, a universal tool head, and an abnormal tool head. Among them, the module tool head is a conventional standard tool head, which arranges the tool boxes 12 or tools 13 according to the material number. The universal tool head is configured with all types of tools 13. The abnormal tool head is used to place abnormal tools such as broken tools, unqualified abnormal tools detected by the PCB drilling machine 200, etc.

[0136] It can be understood that the tool automatic changing device 100 of the present application refers to a device capable of changing the tools 13 on the PCB drilling machine 200, which can be achieved by changing the tool head 10 or the tool box 12 on the PCB drilling machine 200, or can be achieved by directly changing the tools 13 on the PCB drilling machine 200.

[0137] The vertical circulating conveying mechanism 20 of the present application refers to a conveying mechanism that is different from the prior art conveying mechanism that can only convey the cutter head 10 in the horizontal direction, and is a cutter head conveying mechanism that allows the cutter head 10 to be able to move in circulation and to be able to generate a vector displacement component in the vertical direction, which is perpendicular to the horizontal direction. Those skilled in the art should understand that the vertical circulating conveying mechanism 20 is not limited to the displacement of the cutter head 10 in a strict vertical direction, and the actual motion trajectory of the cutter head 10 can be a curve, as long as it generates a displacement change in the vertical direction, or at least part of the motion trajectory is along the vertical direction, so that the vertical circulating conveying mechanism 20 of the present application can effectively utilize the space in the height direction perpendicular to the working surface to store a larger number of cutter heads 10.

[0138] More specifically, the vertical circulating conveying mechanism 20 includes a storage cavity 21, a conveying device 22, and one or more cutter head carriers 23, the storage cavity 21 has a storage cavity 210, the conveying device 22 and the cutter head carrier 23 are located in the storage cavity 210 of the storage cavity 21, the cutter head carrier 23 is used to load one or more cutter heads 10 and is adapted to be conveyed vertically and circularly under the drive of the conveying device 22, so that the cutter head 10 can be temporarily stored in the storage cavity 21 of the vertical circulating conveying mechanism 20 and used to replace the cutter head 10 on the PCB drilling machine 200 as needed.

[0139] The storage cavity 210 in the storage cavity 21 can provide a larger height space, i.e. the space for storing the cutter head 10 can be expanded in the height direction, so that a larger number of cutter head carriers 23 can be accommodated in this height space, thereby temporarily storing a larger number of cutter heads 10 in the storage cavity 21 of the vertical circulating conveying mechanism 20, so that a larger amount of cutter heads and a larger variety of cutter heads, such as the modular cutter head, the universal cutter head, and the abnormal cutter head, can be stored in a relatively narrow space.

[0140] In this embodiment, the conveying device 22 includes at least one conveying assembly 221 and a conveying power source 222, and preferably includes two conveying assemblies 221 that are spaced apart from each other, parallel to each other, and arranged in the vertical direction, and each cutter head carrier 23 is connected between the two conveying assemblies 221, so as to store the cutter head 10 by utilizing the extended height space in the storage cavity 21, and each cutter head carrier 23 is driven by the two conveying assemblies 221 under the power of the conveying power source 222 to generate a circulating displacement and be conveyed to the desired position.

[0141] Each transmission assembly 221 comprises a ring-shaped transmission element 2211 and a driving element 2212, the driving element 2212 is driven by the transmission power source 222 to make the ring-shaped transmission element 2211 produce a circulating movement, each cutter carrier 23 is connected between two transmission elements 2211, so that the cutter carrier 23 can produce a circulating displacement along with the movement of the transmission element 2211, thereby driving the cutter head 10 loaded on the cutter carrier 23 to move synchronously, so as to move the cutter head 10 to the desired position.

[0142] As shown in Figures 3a to 6 In this embodiment, the ring-shaped transmission element 2211 is arranged along the vertical direction, which can be various circulating transmission structures, such as chain transmission structure or belt transmission structure, etc. In this example shown in Figures 3a to 6 The transmission element 2211 is configured as a ring-shaped transmission chain, which produces a circulating movement in the vertical direction. Two transmission elements 221 of two transmission assemblies 221 are arranged symmetrically and spaced apart from each other in parallel, and the space between the two transmission elements 221 is used to accommodate the cutter carrier 23 and temporarily store the cutter head 10. Each cutter carrier 23 is connected to the corresponding position of the two transmission elements 221, so that the two transmission elements 221 can synchronously drive each cutter carrier 23 to produce displacement when rotating. It can be understood that the arrangement of the transmission element 2211 along the vertical direction can allow assembly errors, that is, it can be offset by a predetermined small angle.

[0143] Each driving element 2212 comprises two driving wheels, such as a driving driving wheel 22121 and a driven driving wheel 22122, in this embodiment, the driving driving wheel 22121 and the driven driving wheel 22122 are respectively engaged with the transmission element 2211 implemented as a transmission chain. The transmission device 22 further comprises a driving arm 223 and a connecting arm 224. The transmission power source 222 can be various power providing structures, such as a driving motor, a hydraulic driving device or a pneumatic driving device, etc. In this embodiment, it can be implemented as a driving motor. The driving arm 223 is connected to the transmission power source 222, the driving driving wheel 22121 of each driving element 2212 is respectively connected to the driving arm 223, and the driven driving wheel 22122 of each driving element 2212 is connected to the connecting arm 224. That is, the two ends of the driving arm 223 of the transmission device 22 are respectively connected to a driving driving wheel 22121, and the two ends of the connecting arm 224 are respectively connected to a driven driving wheel 22122. As Figure 3a and Figure 6As shown, the two ends of the drive arm 223 of the conveying device 22 pass through the center of an active drive wheel 22121, thereby connecting the drive arm 223 to the two active drive wheels 22121. The two ends of the connecting arm 224 pass through the center of a driven drive wheel 22122, thereby connecting the connecting arm 224 to the two driven drive wheels 22122.

[0144] When the power source 222 of the conveying device 22, such as a motor, rotates under the power supply, it drives the drive arm 223 to rotate. In this way, the drive arm 223 drives the two active drive wheels 22121 to rotate, thereby driving the two transmission elements 2211, which are implemented as a transmission chain and mesh with the two active wheels 2212 respectively, to rotate. The two driven drive wheels 22122 also rotate together with the active drive wheels 22121 and the transmission elements 2211, thereby driving the cutter head carrier 23 connected to the two transmission elements 2211 to move synchronously, so as to convey the cutter head 10.

[0145] like Figures 3a to 5 As shown, in this embodiment, two active drive wheels 22121 are mounted on the bottom side of the storage cavity 21, while two driven drive wheels 22122 are mounted on the top side of the storage cavity 21. One active drive wheel 22121 and one driven drive wheel 22122 of the drive element 2212 of each transmission assembly 221 are located at both ends of the corresponding transmission element 2211. Accordingly, the transmission power source 222 of the transmission device 22 is mounted on the outer surface of the bottom side of the storage cavity 21, and one end of the drive arm 223 passes through the storage cavity 21 and is connected to the transmission power source 222. It is understood that in other modified embodiments, the two active drive wheels 22121 may be located on the top side of the storage cavity 21, while the two driven drive wheels 22122 may be located on the bottom side of the storage cavity 21.

[0146] In this embodiment, each drive element 2212 includes a driving wheel 22121 and a driven wheel 22122, each of which is implemented as a sprocket with evenly spaced teeth. Each transmission element 2211 is a chain with a groove that engages with the teeth of the corresponding sprocket. Those skilled in the art will appreciate that in other variations, each drive element 2212 can also be implemented as two driving wheels 22121, each driven by a power source 222, as long as the two power sources 222 drive the corresponding driving wheels 22121 synchronously.

[0147] In this embodiment of the present application, the storage cavity 21 is implemented as a box structure with vertically extending space, which comprises a top plate 211 and two side plates 211, and the storage cavity 21 can also optionally comprise two end plates. In the drawings, the two end plates are removed. In this way, the storage cavity 21 forms a substantially closed space to serve the purpose of dustproof and protection of the blade discs 10 therein. Figures 1 to 5

[0148] The storage cavity 21 has a first blade disc inlet and outlet 213 and a second blade disc inlet and outlet 214. The first blade disc inlet and outlet 213 is located at a material taking side of the storage cavity 21, i.e. a side adjacent to the material taking mechanism 40, and the second blade disc inlet and outlet 214 is located at a material feeding side of the storage cavity 21, i.e. a side adjacent to the material feeding mechanism 30. The first blade disc inlet and outlet 213 and the second blade disc inlet and outlet 214 are respectively located at opposite sides of the storage cavity 21. When the storage cavity 21 has end plates, the first blade disc inlet and outlet 213 and the second blade disc inlet and outlet 214 can be respectively located at the bottom sides of the end plates of the storage cavity 21 and between the two side plates 211.

[0149] The first blade disc inlet and outlet 213 of the storage cavity 21 is used to allow the blade discs 10 in the storage cavity 21 to be output to the material taking mechanism 40 or the blade discs 10 on the material taking mechanism 40 to be transported into the storage cavity 21, and the second blade disc inlet and outlet 214 is used to allow the blade discs 10 from the material feeding mechanism 30 to enter the storage cavity 21 or the blade discs 10 in the storage cavity 21 to be output to the material feeding mechanism 30.

[0150] The two side plates 211 respectively extend in parallel and at intervals from the top plate 211. The two ends of the driving arm 223 respectively extend through the two side plates 211 and are rotatably connected to the two side plates 211, and the two ends of the connecting arm 224 respectively extend through the two side plates 211 and are rotatably connected to the two side plates 211. The first blade disc inlet and outlet 213 and the second blade disc inlet and outlet 214 of the storage cavity 21 are respectively located between the edges of the two side plates 211.

[0151] Each blade disc carrier 23 is connected between the two transmission elements 2211 for carrying the blade discs 10. More specifically, as shown in Figure 8 , each blade disc carrier 23 comprises a support plate 231, a connecting rod 232, at least one connecting element 233 and at least two guide pulleys 234, wherein the connecting rod 232 is connected to the support plate 231 through the connecting element 233, and the two ends of the support plate 232 respectively have at least one guide pulley 234. As shown in Figure 8 , each blade disc carrier 23 is shown in this embodiment as comprising two connecting elements 233 and four guide pulleys 234.

[0152] ​The support plate 231 of each cutter head carrier 23 is used to support and carry one or more cutter heads 10, and the connecting rod 232 is located above the support plate 231 and has a distance from the support plate 231 greater than the height of the cutter head 10 and the top end of the cutter 13 in the cutter head 10, so that the cutter head 10 can be smoothly supported and carried on the support plate 231 without being hindered.

[0153] In this embodiment, each connecting element 233 includes two connecting plates 2331, the top ends 23311 of the two connecting plates 2331 overlap each other and are penetrated by one end 2321 of the connecting rod 232, and the bottom ends 23312 of the two connecting plates 2331 are spaced apart and are respectively fixed to the support plate 231, and two guide pulleys 234 are respectively connected to the bottom ends 23312 of the two connecting plates 2331, so that the connecting rod 232, the connecting plate 23331 and the support plate 231 are connected and fixed at three positions to form a stable triangular fixed structure.

[0154] As shown in Figure 8 The support plate 231 includes a support plate body 2311 and two side edges 2312, the two side edges 2312 respectively extend downward from both ends of the support plate body 2311, and two movable guide pulleys 234 are connected to the outer side of each side edge 2312, and the two guide pulleys 234 are symmetrically located on opposite sides of the connecting rod 232.

[0155] In order to ensure that each transmission element 2211 moves circularly along the vertical direction and each cutter head carrier 23 moves along the set trajectory, each transmission assembly 221 further includes two limiting elements 2213 for limiting the movement trajectory of the transmission element 2211 and the movement trajectory of the cutter head carrier 23 to prevent unnecessary deviation.

[0156] More specifically, each limiting element 2213 includes an outer guide portion 22131 and an inner guide portion 22132, the outer guide portion 22131 has an outer guide groove 22133, and the inner guide portion 22132 has an inner guide groove 22134, and the part of the transmission element 2211 between the driving wheel 22121 and the driven wheel 22122 is limited between the outer guide portion 22131 and the inner guide portion 22132 to prevent the transmission element 2211 from deviating from the vertical direction.

[0157] The two limiting elements 2213 are arranged along the vertical direction on the side plate 211 of the storage cavity 21 and are adjacent to the first cutter disc inlet and outlet. Another limiting element 2213 is also arranged along the vertical direction on the side plate 211 of the storage cavity 21 and is adjacent to the second cutter disc inlet and outlet 214. Thus, the two ends of the transmission element 2211 are respectively limited by the driving wheel 22121 and the driven wheel 22122. The two sections of the transmission element 2211 between the driving wheel 22121 and the driven wheel 22122 are respectively limited by the outer guide part 22131 and the inner guide part 22132 of the two limiting elements.

[0158] That is, the outer guide part 22131 and the inner guide part 22132 of each limiting element 2213 are arranged at intervals and form a gap 22135. The gap 22135 is used to install the transmission element 2211 into the gap between the outer guide part 22131 and the inner guide part 22132 of the corresponding limiting element 2213. Thus, the two sections of the transmission element 2211 between the driving wheel 22121 and the driven wheel 22122 are positioned in the gap 22135 to prevent them from falling off the limiting element 2213.

[0159] The two end parts 2321 of the connecting rod 232 of each cutter disc carrier 23 are respectively connected to the two transmission elements 2211. The size of the gap 22135 is greater than the size of the connecting rod 232. Thus, when the cutter disc carrier 23 moves along with the rotation of the transmission element 2211, the end part 2321 of the connecting rod 232 is allowed to move smoothly along the height direction of the limiting element 2213 in the gap 22135 without being hindered.

[0160] In addition, when the cutter disc carrier 23 moves to the position of the corresponding limiting element 2213 when the cutter disc carrier 23 moves along with the rotation of the transmission element 2211, one of the two guide pulleys 234 at each end of the support plate 231 slides in the outer guide groove 22133 of the outer guide part 22131 of the corresponding limiting element 2213 to limit and guide the movement track thereof. The other guide pulley 234 slides in the inner guide groove 22134 of the inner guide part 22132 of the corresponding limiting element 2213 to limit and guide the movement track thereof. Thus, the entire cutter disc carrier 23 is stably moved along the predetermined movement track to prevent it from deviating.

[0161] As Figure 3b and Figure 10As shown in the figures, each transmission assembly 221 comprises a plurality of fixing elements 2214 which are connected to the corresponding transmission element 2211 at intervals, such as being fixed to the transmission element 2211 implemented as a chain by screws or rivets, and each fixing element 2214 can be provided with a connecting hole for mounting one end 2321 of the connecting rod 232 of the cutter carrier 23, so that the two ends 2321 of the connecting rod 232 are fixed to a pair of fixing elements 2214 respectively, and the connecting rod 232 is fixed to the transmission element 2211 by the fixing elements 2214, the two fixing elements 2214 for fixing the two ends 2321 of the connecting rod 232 are symmetrically arranged and mount the connecting rod 232 in the horizontal direction, so that the connecting rod 232 extends in the direction perpendicular to the two side plates 211 of the storage cavity 21, and the cutter carrier 23 is connected to the fixing elements 2214 provided on the transmission element 2211 in a suspended state. The two pairs of fixing elements 2214 for mounting two adjacent cutter carriers 23 have a suitable spacing, so that the two connecting rods 232 of the two adjacent cutter carriers 23 have sufficient spacing, thereby providing sufficient space for the two adjacent cutter carriers 23 and the two cutters 10 carried thereby without interfering with each other.

[0162] That is, each cutter carrier 23 is supported in a suspended manner between the two transmission elements 2211 and moves synchronously with the rotation of the two transmission elements 2211, when the transmission element 2211 rotates one cycle, each cutter carrier 23 can also move one cycle with the transmission element 2211, and because the outer guide groove 22133 of the outer guide part 22131 and the inner guide groove 22134 of the inner guide part 22132 of each limiting element 2213 can guide and limit the two guide pulleys 234 respectively, when the cutter carrier 23 carries the cutter 10 and moves with the transmission element 2211, it will not produce unnecessary shaking to make the cutter 10 disengage from the cutter carrier 23.

[0163] On the other hand, because each cutter carrier 23 extends in the horizontal direction between the two transmission elements 2211, the two ends of the connecting rod 232 of the cutter carrier 23 are vertically abutted to the two transmission elements 2211 respectively, thereby also acting on the transmission element 2211 in reverse, so as to keep the transmission element 2211 in the vertical direction.

[0164] Each cutter carrier 23 further comprises at least one guide element 235, each guide element 235 has a guide groove 2351, both ends of the guide groove 2351 have openings 2352. For example, in Figure 8In the example shown, each cutter carrier 23 comprises two guide elements 235 which are parallel to each other and are protrusively arranged on the support plate 231 at intervals, for assembling the cutter 10 and guiding the sliding of the cutter 10.

[0165] More specifically, as shown in Figure 15 and Figures 17 to 18 , the cutter 10 comprises one or more limit guide bodies 14, for example four limit guide bodies 14, protruding from the bottom side of the disc body 11, and are divided into two groups, each group having two limit guide bodies 14 which are spaced apart from each other, each group of limit guide bodies 14 is adapted to be positioned in the guide groove 2351 of the corresponding guide element 235, and slides along the track formed by the guide groove 2351 of the corresponding guide element 235 when the cutter 10 is driven by the driving force, so as to enter or exit the support plate 231 of the cutter carrier 23 through the openings 2352 at both ends of the guide groove 2351. The two groups of limit guide bodies 14 and the two guide elements 235 are correspondingly adapted to further prevent the cutter 10 from being driven to rotate around one limit guide body 14. That is, the two groups of limit guide bodies 14 slide along the guide grooves 2351 of the corresponding two guide elements 235, thereby limiting the movement track of the cutter 10 to be along the extension direction of the guide elements 235.

[0166] As shown in Figure 17 and Figure 18 , the limit guide body 14 comprises a guide shaft 141, a guide sleeve 142 and a steel ball bearing 143, wherein the guide sleeve 142 is slidably arranged in the guide shaft 141, the steel ball bearing 143 comprises a plurality of steel balls 1431 which are arranged at the bottom end of the guide shaft 141 and outside the guide sleeve 142, the bottom side of the guide sleeve 142 forms an annular groove 1421, and a part of the steel balls 1431 of the steel ball bearing 143 can move into the groove 144 under the action of external force to drive the up and down sliding displacement of the guide sleeve 142.

[0167] As shown in Figure 18 , when the cutter 10 enters the cutter carrier 23 and slides in the guide groove 2351 of the guide element 235, the steel balls 1431 of the steel ball bearing 143 are moved into the groove 1421 under the action of the side walls of the two sides of the guide groove 2351, thereby driving the downward displacement of the guide sleeve 142. As shown in Figure 17 , when the cutter 10 exits the cutter carrier 23, the steel balls 1431 of the steel ball bearing 143 no longer have the tendency to move outward to leave the groove 1421 under the action of external force, at which time the guide sleeve 142 can be displaced upward.

[0168] It can be understood that when the cutter head 10 slides in the guide groove 2351 of the guide element 235 of the cutter head carrier 23, the limiting guide body 14 drives the rotation of the guide sleeve 142 through the action of the steel ball bearing 143, thereby converting sliding friction into rolling friction, thereby reducing the wear of the limiting guide body 14 and prolonging the service life of the limiting guide body 14.

[0169] In addition, those skilled in the art can appreciate that in another possible variant embodiment, it is also possible to arrange the limiting guide body 14 on the guide element 235 of the cutter head carrier 23, and form the guide groove 2351 on the bottom side of the cutter head 10, thereby playing a role in limiting and guiding the movement trajectory of the cutter head 10. In this embodiment, the guide element 235 not only forms the guide groove 2351 to guide the sliding of the limiting guide body 14 of the cutter head 10, but also the top surface of the guide element 235 also plays a role in supporting the disc body 11 of the cutter head 10.

[0170] Each cutter head carrier 23 further comprises two guide plates 236 protruding from the top surface of the two ends of the support plate 231 to guide the sliding of the two ends of the disc body 11 of the cutter head 10. More specifically, as shown in FIG. Figure 15 The disc body 11 of the cutter head 10 comprises a bottom plate 111, two side plates 112 and two end faces 113 extending from the bottom plate 111, and the disc body 11 forms a receiving cavity for accommodating the knife box 12 and the cutter 13. When the limiting guide body 14 protruding from the bottom plate 111 slides in the guide groove 2351 of the guide element 235 of the cutter head carrier 23, the two end faces 113 of the disc body 11 of the cutter head 10 slide along the two guide plates 236 at the two ends of the cutter head carrier 23, thereby the two guide plates 23 play a role in limiting the sliding trajectory of the two end faces 113 of the disc body 11 of the cutter head 10, and the cutter head 10 is limited between the two guide plates 236 of the cutter head carrier 23.

[0171] In addition, the guide element 235 of the cutter head carrier 23 further has a guide groove 2353 at its two ends, which is communicated with the opening 2352, and the outside of the guide groove 2353 has a larger opening size, and the opening size gradually decreases along the direction towards the opening 2352. As shown in FIG. Figure 8As shown in FIG. 23, the two guide walls 2354 forming the guide slot 2353 extend obliquely and form an enlarged opening of the guide slot 2353 on the side away from the opening 2352, so that when the tool holder 10 is driven to reach the support plate 231 of the tool holder carrier 23, it first enters the guide slot 2353 and is guided by the guide walls 2354 to enter the guide slot 2351 from the opening 2352, so that when the tool holder 10 is misaligned when entering the tool holder carrier 23, i.e. the limiting guide body 14 is not aligned with the guide slot 2351, the limiting guide body 14 is still easily guided into the guide slot 2353 by the guide of the guide slot 2353, and the two guide plates 236 at both ends of the tool holder carrier 23 are located inside the two connecting elements 233, which also limit and guide the end faces 113 of the two ends of the disc body 11 of the tool holder 10, thereby ensuring that the tool holder 10 can be accurately guided into the tool holder carrier 23 and the limiting guide body 14 slides along the guide slot 2351 of the guide element 235.

[0172] As shown in FIG. 23, the two guide walls 2354 forming the guide slot 2353 extend obliquely and form an enlarged opening of the guide slot 2353 on the side away from the opening 2352, so that when the tool holder 10 is driven to reach the support plate 231 of the tool holder carrier 23, it first enters the guide slot 2353 and is guided by the guide walls 2354 to enter the guide slot 2351 from the opening 2352, so that when the tool holder 10 is misaligned when entering the tool holder carrier 23, i.e. the limiting guide body 14 is not aligned with the guide slot 2351, the limiting guide body 14 is still easily guided into the guide slot 2353 by the guide of the guide slot 2353, and the two guide plates 236 at both ends of the tool holder carrier 23 are located inside the two connecting elements 233, which also limit and guide the end faces 113 of the two ends of the disc body 11 of the tool holder 10, thereby ensuring that the tool holder 10 can be accurately guided into the tool holder carrier 23 and the limiting guide body 14 slides along the guide slot 2351 of the guide element 235. Figures 3a to 6 As shown in FIG. 23, the two guide walls 2354 forming the guide slot 2353 extend obliquely and form an enlarged opening of the guide slot 2353 on the side away from the opening 2352, so that when the tool holder 10 is driven to reach the support plate 231 of the tool holder carrier 23, it first enters the guide slot 2353 and is guided by the guide walls 2354 to enter the guide slot 2351 from the opening 2352, so that when the tool holder 10 is misaligned when entering the tool holder carrier 23, i.e. the limiting guide body 14 is not aligned with the guide slot 2351, the limiting guide body 14 is still easily guided into the guide slot 2353 by the guide of the guide slot 2353, and the two guide plates 236 at both ends of the tool holder carrier 23 are located inside the two connecting elements 233, which also limit and guide the end faces 113 of the two ends of the disc body 11 of the tool holder 10, thereby ensuring that the tool holder 10 can be accurately guided into the tool holder carrier 23 and the limiting guide body 14 slides along the guide slot 2351 of the guide element 235.

[0173] More specifically, the two infeed drive assemblies 24 include a first infeed drive assembly 24a and a second infeed drive assembly 24b, and the two outfeed drive assemblies 25 include a first outfeed drive assembly 25a and a second outfeed drive assembly 25b, wherein the first infeed drive assembly 24a is used to drive the tool holder 10 on the picking mechanism 40 to enter the tool holder carrier 23 of the storage cavity 21 through the first tool holder inlet 213, the first outfeed drive assembly 25a is used to drive the tool holder 10 on the tool holder carrier 23 of the storage cavity 21 to be transferred to the picking mechanism 40 through the first tool holder inlet 213 to be picked by the grabbing mechanism 50, the second infeed drive assembly 24b is used to drive the tool holder 10 on the feeding mechanism 30 to enter the tool holder carrier 23 of the storage cavity 21 through the second tool holder inlet 214, and the second outfeed drive assembly 25b is used to drive the tool holder 10 on the tool holder carrier 23 of the storage cavity 21 to be transferred to the feeding mechanism 30 through the second tool holder inlet 214 to be further conveyed back to the tool room / tool magazine.

[0174] Each feeding driving assembly 24 comprises at least one feeding driving element 241, in this embodiment, each feeding driving assembly 24 comprises two feeding driving elements 241, which are respectively mounted on the outer side surface of the two side plates 211 of the storage cavity 21 and can act on the cutter head 10 to make the cutter head 10 enter the storage cavity 21. Preferably, the two feeding driving elements 241 are symmetrically mounted on the opposite sides of the storage cavity 21.

[0175] Each feeding driving element 241 can make the cutter head 10 enter the storage cavity 21 by pulling or pushing the cutter head 10. As shown in FIGS. 1 and 2, each feeding driving element 241 is arranged on the outer side surface of the corresponding side plate 211 of the storage cavity 21. Figure 7 and Figure 9 As shown in FIGS. 1 and 2, each feeding driving element 241 is implemented as a poking device in this embodiment, which comprises a cutter head poking piece 2411, a rotating device 2412 and an extension device 2413, wherein the rotating device 2412 is used to drive the rotating movement of the cutter head poking piece 2411, and the extension device 2413 is used to drive the extension movement of the cutter head poking piece 2411.

[0176] The rotating device 2412 comprises a rotating connecting rod 24121 and a rotating driving element 24122, wherein the cutter head poking piece 2411 is coupled to the rotating driving element 24122 through the rotating connecting rod 24121 to generate rotating movement under the driving action of the rotating driving element 24122, one end of the rotating connecting rod 24121 extends perpendicularly and transversely to the cutter head poking piece 2411 and the other end is connected to the rotating driving element 24122, and the rotating driving element 24122 provides a rotating power source, which can be a driving motor, a hydraulic driving structure, a pneumatic driving structure, etc. In this embodiment, the rotating driving element 24122 can comprise a driving motor, which can drive the rotating connecting rod 24121 to rotate synchronously when rotating, so as to make the cutter head poking piece 2411 rotate to move to the position corresponding to the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214 to reach the position capable of acting on the cutter head 10.

[0177] In this embodiment, the telescopic device 2413 comprises a telescopic driving element 24131 and a telescopic member 24132, the rotary driving element 24122 is connected to the telescopic member 24132 of the telescopic device 2413, and the telescopic member 24132 is telescopic to change its length under the action of the telescopic driving element 24131, thereby driving the rotary device 2412 and the knife disc pushing member 2411 to synchronously and telescopically move. The telescopic driving element 24131 provides a rotary power source, which can be a driving motor, a hydraulic driving structure, an air pressure driving structure, etc. In this embodiment, the telescopic driving element 24131 can comprise a driving motor and a structure such as a transmission screw rod for converting the rotation of the driving motor into linear motion, so that the driving motor can drive the telescopic member 24132 to synchronously and linearly telescopically move when the driving motor rotates, thereby causing the rotary device 2412 to also telescopically move, so that the knife disc pushing member 2411 moves towards the direction of approaching or moving away from the first knife disc inlet and outlet 213 or the second knife disc inlet and outlet 214, so as to push and push the knife disc 10, thereby causing the knife disc 10 to be pushed into the storage cavity 21 and loaded on the knife disc carrier 23.

[0178] More specifically, in this embodiment, the rotary driving element 24122 drives the rotary link 24121 to pivot upward or downward to rotate by a predetermined angle, such as to a position extending along the vertical direction, to drive the knife disc pusher 2411 to rotate to a position directly in front of the first knife disc inlet and outlet 213 or the second knife disc inlet and outlet 214, so that when the knife disc 10 is fed into the knife disc carrier 23 in the storage cavity 21 by the feeding mechanism 30 or the taking mechanism 40, the knife disc pusher 2411 and the rotary link 24121 have been rotated away and will not block the knife disc 10 from entering the storage cavity 21. When a knife disc 10 needs to enter the storage cavity 21, it is fed into the knife disc carrier 23 in the storage cavity 21 by the feeding mechanism 30 or the taking mechanism 40, and the limiting guide body 24 enters the guide groove 2351 of the guide element 235 on the support plate 231 of the knife disc carrier 23. At this time, the knife disc 10 has not completely separated from the feeding mechanism 30 or the taking mechanism 40, and the entire knife disc 10 is located on the knife disc carrier 23, i.e., part of the knife disc 10 is located on the feeding mechanism 30 or the taking mechanism 40, and part of the knife disc 10 is located on the support plate 231 of the knife disc carrier 23, i.e., part of the knife disc 10 is exposed outside the storage cavity 21 of the vertical circulation conveying mechanism 20, and part of the knife disc 10 is contained in the storage cavity 21 of the vertical circulation conveying mechanism 20. At this time, the rotating device 2412 is started to pivot the rotary link 24121 together with the knife disc pusher 2411 to a position directly in front of the first knife disc inlet and outlet 213 or the second knife disc inlet and outlet 214, and the telescopic device 2413 is started to drive the telescopic element 24132 to retract, thereby driving the rotating device 2412 and the knife disc pusher 2411 to move toward the first knife disc inlet and outlet 213 or the second knife disc inlet and outlet 214. In this way, the knife disc pusher 2411 acts on the outer surface of the side panel 112 adjacent to the feeding mechanism 30 or the taking mechanism 40 of the disc body 11 of the knife disc 10, thereby pushing the knife disc 10 into the knife disc carrier 23 and causing the limiting guide body 14 of the knife disc 10 to continue to slide inward along the guide groove 3251 of the guide element 235, until the entire knife disc 10 is located on the support plate 231 of the knife disc carrier 23 and is completely supported by the support plate 231 of the knife disc carrier 23, thereby completing the feeding of the knife disc 10 to the vertical circulation conveying mechanism 20.

[0179] After the completion of loading the cutter head 10 onto the cutter head carrier 23 in the storage cavity 21 of the vertical circulation conveying mechanism 20, the feeding driving assembly 24 is restored to the initial position. For example, the driving motor of the telescopic device 2413 is reversed to make the telescopic part 24132 elongate to drive the rotating device 2412 and the cutter head pushing part 2411 to move towards the direction away from the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214, and then the driving motor of the rotating driving element 24122 is reversed to drive the rotating connecting rod 24121 to rotate upward or downward by a predetermined angle to drive the cutter head pushing part 2411 to rotate to the position right in front of the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214, so as not to block the cutter head 10 from entering the cutter head carrier 23 in the storage cavity 21 from the feeding mechanism 30 or the taking mechanism 40 via the second cutter head inlet and outlet 214 or the first cutter head inlet and outlet 213.

[0180] Preferably, when the two cutter head pushing parts 2411 of the two feeding driving elements 241 are moved to the position right in front of the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214, the positions of the two cutter head pushing parts 2411 are just aligned with the two guide elements 235 of the cutter head carrier 23, so that the two cutter head pushing parts 2411 apply a pushing force to the outer surface of the side panel 112 of the disc body 11 of the cutter head 10 to drive the cutter head 10 into the cutter head carrier 23 in the storage cavity 21, and the applied pushing force can be effectively utilized to drive the limiting guide body 14 to slide along the guide groove 2351 of the corresponding guide element 235.

[0181] It can be understood that the first cutter head inlet and outlet 213 and the second cutter head inlet and outlet 214 can be located at the same height position, or can be staggered in the height position, so that the first feeding driving assembly 24a and the second feeding driving assembly 24b can be conveniently arranged. That is, the first feeding driving assembly 24a and the second feeding driving assembly 24b can be assembled at different height positions of the two side plates 211 of the storage cavity 21 of the vertical circulation conveying mechanism 20, so that the work of the two assemblies can not interfere with each other. For example, as shown in Figure 1 and Figure 2 The taking mechanism 40 is at a lower height position and the feeding mechanism 30 is at a higher position, the second feeding driving assembly 24b corresponding to the feeding mechanism 30 can be arranged at a higher position of the side plate 211 of the storage cavity 21, and the first feeding driving assembly 24a corresponding to the taking mechanism 40 can be arranged at a lower position of the side plate 211 of the storage cavity 21.

[0182] It can be understood that the feeding driving element 241 of the feeding driving assembly 24 is configured to push the cutter head 10 in a combination of rotary and telescopic structures, and the specific structure is only an example and does not limit the present application. That is, the feeding driving assembly 24 of the present application can also be implemented in other possible structures. For example, the feeding driving assembly 24 comprises a sliding device sliding along the side plate 211 of the storage cavity 21 and in the vertical direction, and a telescopic pushing plate. When the sliding device is displaced to the front of the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214, the telescopic pushing plate is used to push the cutter head 10 into the cutter head carrier 23 of the storage cavity 21. When the cutter head 10 is transported into the vertical circulation conveying mechanism 20, the telescopic pushing plate is restored to the extended position and the sliding device can slide away from the front of the first cutter head inlet and outlet 213 or the second cutter head inlet and outlet 214.

[0183] In addition, in the above embodiment, the feeding driving assembly 24 is assembled to the side plate 211 of the storage cavity 21 of the vertical circulation conveying mechanism 20. Those skilled in the art can understand that two feeding driving assemblies 24 can also be assembled to the feeding mechanism 30 and the taking mechanism 40 respectively in other embodiments.

[0184] In this embodiment, each discharging driving assembly 25 is installed on the inner side of the two side plates 211 of the storage cavity 21 and can act on the cutter head 10 carried on the cutter head carrier 23 to detach the cutter head 10 from the cutter head carrier 23 and make the cutter head 10 leave the storage cavity 21. Each discharging driving assembly 25 can make the cutter head 10 leave the storage cavity 21 by pulling or pushing the cutter head 10. As shown in FIG. 8, each discharging driving assembly 25 is implemented as a pushing device in this embodiment. Figure 7

[0185] ​More specifically, each of the out-feed driving assemblies 25 comprises a pushing driving element 251, a pushing member 252 and at least one pushing guide 253, wherein the pushing driving element 251 as the power source of the out-feed driving assembly 25 can be a driving motor, a hydraulic driving structure, a pneumatic driving structure, etc. In this embodiment, the pushing driving element 251 can comprise a driving motor and a structure such as a transmission screw rod for converting the rotation of the driving motor into linear motion, so that the driving motor can drive the pushing member 252 to move linearly synchronously when the driving motor rotates. For example, the pushing member 252 can be implemented as a pushing plate, which is located at the inner side of the tool holder carrier 23 and can act on the outer surface of the side panel 111 at the inner side of the disc body 11 of the tool disc 10 on the tool holder carrier 23, i.e. on the outer surface of the side panel 111 at the side away from the first tool disc inlet and outlet 213 or the second tool disc inlet and outlet 214, so as to push the tool disc 10 to make the limiting guide body 14 of the tool disc 10 slide along the guide groove 2351 of the guide element 235 to disengage from the support plate 231 of the tool holder carrier 23, so as to make the tool disc 10 disengage from the tool holder carrier 23 and be transferred from the first tool disc inlet and outlet 213 or the second tool disc inlet and outlet 214 of the vertical circulation conveying mechanism 20 to the material taking mechanism 40 or the material feeding mechanism 30. After the out-feed of the tool disc 10 is completed, the driving motor of the pushing driving element 251 is reversed to make the pushing member 252 return to the initial position.

[0186] In this embodiment, each of the out-feed driving assemblies 25 comprises two pushing guides 253, which can be implemented as guide rods, and the pushing member 252 is slidably sleeved on the two pushing guides 253, so as to guide and limit the moving track of the pushing member 252 through the pushing guides 253. In addition, the pushing guides 253 can be fixedly connected to the side plate 211 of the storage cavity 21 through a suitable connecting structure, or mounted on the workbench surface at the bottom side of the tool automatic replacement device 100. Figure 7 In this embodiment, the two pushing guides 253 of the out-feed driving assembly 25 adjacent to the side of the material feeding mechanism 30 are shown.

[0187] The pushing guides 253 are arranged at the inner side of the tool holder carrier 23, so as not to affect the vertical circulation movement of the tool holder carrier 23. The pushing member 252 can be configured to have a sufficient thickness, which can move along the pushing guides 253 and generate sufficient displacement adjacent to the surface of the tool holder carrier 23 to push at least a part of the tool disc 10 away from the tool holder carrier 23, while ensuring that the pushing member 252 does not disengage from the pushing guides 253.

[0188] Understandably, the position of the pusher 252 is designed such that when the cutter head carrier 23 carries the cutter head to the position located at the first cutter head inlet / outlet 213 or the second cutter head inlet / outlet 214 to prepare for discharge, the pusher 252 only applies a pushing force to the cutter head 10 and not to the cutter head carrier 23 that carries the cutter head 10 when it generates displacement. That is, the bottom end of the pusher 252 is higher than the support plate 231 and guide element 235 of the cutter head carrier 23 that is about to be used for discharge, thereby preventing the pusher 252 from pushing the cutter head carrier 23.

[0189] like Figure 7 As shown, the pushers 252 of the two discharge drive assemblies 25 are arranged in the storage cavity 21 of the vertical circulation conveying mechanism 20 and face the positions of the first cutter head inlet / outlet 213 and the second cutter head inlet / outlet 214, respectively. They move in opposite directions to act on the cutter head 10 on the cutter head carrier 23, transferring the cutter head 10 from the vertical circulation conveying mechanism 20 to the picking mechanism 40 or the feeding mechanism 30 via the first cutter head inlet / outlet 213 or the second cutter head inlet / outlet 214, respectively. Furthermore, the height positions of the cutter head receiving surfaces of the picking mechanism 40 and the feeding mechanism 30 can be staggered, thus staggering the positions of the first cutter head inlet / outlet 213 and the second cutter head inlet / outlet 214 used for feeding and discharging materials. The corresponding two pushers 252 are also staggered in height, facilitating the arrangement of the two discharge drive assemblies 25 using different height spaces. This makes the internal structure of the vertical circulation conveying mechanism 20 more compact and reduces the width of the storage cavity 21.

[0190] Furthermore, in the above embodiment, the two discharge drive components 25 are assembled into the storage cavity 21 of the vertical circulation conveying mechanism 20. Those skilled in the art will understand that the two discharge drive components 25 may also be assembled into the feeding mechanism 30 and the picking mechanism 40, respectively, in other embodiments.

[0191] It is worth mentioning that the guide pulleys 235 of each cutter head carrier 23 are limited in the outer guide groove 22133 or the inner guide groove 22134 of the corresponding limiting element 2213, and the two ends 2321 of the connecting rod 232 of the cutter head carrier 23 are connected to the fixing element 2214 on the transmission element 2211. Thus, when the pusher 252 of the discharge drive assembly 25 applies a pushing force to the cutter head 10 on the cutter head carrier 23, the cutter head carrier 23 is fixed and will not be displaced with the cutter head 10 due to the friction between the cutter head 10 and the cutter head carrier 23.

[0192] like Figure 10As shown in the figure, the feeding mechanism 30 comprises a feeding power source 31, a feeding driving assembly 32 and one or more feeding transmission elements 33. The feeding power source 31 can be a driving motor, a hydraulic driving structure or a pneumatic driving structure. In this embodiment, it is a driving motor. The feeding driving assembly 32 comprises a feeding driving rod 321 and a set of feeding transmission wheels 322. In this embodiment, the feeding mechanism 30 comprises two mutually spaced feeding transmission elements 33 and corresponding two sets of feeding transmission wheels 322. One feeding transmission wheel 322 in each set of feeding transmission wheels 322 can be a driven wheel, while the other feeding transmission wheel 322 is connected to the feeding driving rod 321 to be a driving wheel. When the driving motor is rotated under the power supply of the feeding power source 31, the feeding transmission wheels 322 are driven to rotate, and the feeding transmission elements 33 engaged with the feeding transmission wheels 322 are also rotated to convey the cutter head 10 carried on the feeding transmission elements 33. Accordingly, the driving motor of the feeding power source 31 can be reversed to change the conveying direction of the feeding transmission elements 33.

[0193] It can be understood that the feeding transmission elements 33 can be a transmission chain or a transmission belt, which conveys the cutter head 10 along the horizontal direction and is aligned with the height of the support plate 231 of the cutter head carrier 23 at the second cutter head inlet and outlet 214, so that a part of the cutter head 10 can be smoothly transferred from the feeding transmission elements 33 of the feeding mechanism 30 to the cutter head carrier 23 of the vertical circulation conveying mechanism 20.

[0194] That is, one end of the feeding transmission elements 33 of the feeding mechanism 30 adjacent to the second cutter head inlet and outlet 214 of the storage cavity 21 of the vertical circulation conveying mechanism 20 has a spacing with the cutter head carrier 23 located at the second cutter head inlet and outlet 214 to prepare for loading the cutter head 10, so that the cutter head 10 cannot be directly and integrally conveyed to the cutter head carrier 23 in the storage cavity 21 via the rotating feeding transmission elements 33. That is, the feeding transmission elements 33 of the feeding mechanism 30 can only convey a part of the cutter head 10 into the cutter head carrier 23, while the other part of the cutter head 10 exposed in the storage cavity 21 is pushed into the cutter head carrier 23 by the second feeding driving assembly 24b described above, so as to complete the feeding of the whole cutter head 10 to the cutter head carrier 23.

[0195] The feeding mechanism 30 is designed to be positioned to convey the cutter head 10 to the position of the second cutter head inlet and outlet 214 of the storage cavity 21 of the vertical circulation conveying mechanism 20, and when the front end of the cutter head 10 is conveyed to the cutter head carrier 23, the limiting guide body 14 of the front end of the cutter head 10 smoothly enters the guide groove 2351 via the guide slot 2353 and the opening 2352 of the guide element 235, so that the limiting guide body 14 is limited in the guide groove 2351 to further carry the cutter head 10 to the designed position of the cutter head carrier 23.

[0196] Conversely, when it is required to deliver the tool holder 10 from the vertical circulation conveying mechanism 20 to the feeding mechanism 30, the tool holder carrier 23 reaches the position of the second tool holder inlet and outlet 214, and the tool holder 10 is pushed by the pushing member 252 of the outfeed driving assembly 25 towards the feeding driving element 33 of the feeding mechanism 30 until a part of the tool holder 10 is carried on the feeding driving element 33, and the feeding driving element 33 reversely rotates to deliver the tool holder 10 to the automatic conveying line of the tool house / tool magazine.

[0197] It can be understood that the tool holder 10 of the tool house / tool magazine can be conveyed to the feeding mechanism 30 through the automatic conveying line or the tool holder 10 is directly placed on the feeding mechanism 30, and is delivered to the vertical circulation conveying mechanism 20 via the feeding mechanism 30, and the vertical circulation conveying mechanism 20 can temporarily store the tool holder 10 and transfer the tool holder 10 to the taking mechanism 40 as required for the grabbing mechanism 50 to take the tool holder 10 to be placed on the tool holder station 201 of the PCB drilling machine 200.

[0198] The tool holder 10 of the PCB drilling machine 200 can also be grabbed by the grabbing mechanism 50 to be placed on the taking mechanism 40, and is delivered to the vertical circulation conveying mechanism 20 from the taking mechanism 40, and the vertical circulation conveying mechanism 20 can temporarily store the tool holder 10 and transfer the tool holder 10 to the feeding mechanism 30 as required, and further facilitates the recycling of the tool holder 10 to the tool house / tool magazine.

[0199] The taking mechanism 40 comprises a tool holder temporary storage base 41 and a taking delivery assembly 42, wherein the taking delivery assembly 42 is arranged on the tool holder temporary storage base 41 to drive the tool holder 10 carried thereon, and the tool holder temporary storage base 41 is used to temporarily store the tool holder 10, such as a new tool holder 10a from the vertical circulation conveying mechanism 20 or an old tool holder 10b from the PCB drilling machine 200.

[0200] More specifically, the tool holder temporary storage base 41 comprises a base body 411, one or more base guides 412 and two limiting stoppers 413, wherein the base body 411 is a support plate, which can be an independent plate body or a working plane of the base 60 of the tool automatic changing device 100. The tool holder temporary storage base 41 comprises two base guides 412 extending from the base body 411 in this embodiment to guide the sliding of the tool holder 10 and support the tool holder 10. The two limiting stoppers 413 extend perpendicularly from opposite ends of the base body 411 to limit and guide the sliding of the end face 113 of the disc body 11 of the tool holder 10, so that the tool holder 10 is limited between the inner side faces of the two limiting stoppers 413 and slides along the two base guides 412 on the inner side of the two limiting stoppers 413.

[0201] Each base guide 412 has a base guide slot 4121, on the side facing the first blade disc inlet and outlet 213 of the vertical circulation conveying mechanism 20, the base guide slot 4121 can form a guide slot similar to the guide element 235 of the blade disc carrier 23, that is, a structure with gradually decreasing opening size, facilitating the guidance of the blade disc 10 from the blade disc carrier 23 into the base guide slot 4121 of the base guide 412 of the blade disc temporary storage base 41.

[0202] It can be understood that the two base guide slots 4121 formed by the two base guides 412 are respectively aligned with the two guide slots 2351 of the two guide elements 235 of the blade disc carrier 23 and are at the same height, so that when a blade disc carrier 23 carrying a blade disc 10 reaches the first blade disc inlet and outlet 213 of the storage cavity 21 of the vertical circulation conveying mechanism 20 in preparation for ejection, the corresponding ejection driving assembly 25, that is, the first ejection driving assembly 25a, is started to push the blade disc 10 away from the blade disc carrier 23, at this time the limiting guide body 14 of the blade disc 10 leaves the guide slot 2351 of the guide element 235 of the blade disc carrier 23 and enters the base guide slot 4121 of the base guide 412 of the blade disc temporary storage base 41, and the blade disc 1 is supported by the top surface of the two base guides 412, the two end faces 113 of the disc body 11 of the blade disc 10 are limited by the two limiting stop bodies 413 of the blade disc temporary storage base 41, so that the blade disc 10 is ejected from the blade disc carrier 23 of the vertical circulation conveying mechanism 20 to the taking mechanism 40.

[0203] In the present application, the blade disc carrier 23 is used to load one blade disc 10 at a time, and the blade disc temporary storage base 41 forms a plurality of blade disc placement positions 414 on the two base guides 412, for example, the blade disc temporary storage base 41 has two blade disc placement positions 414, which are the first blade disc placement position 414a and the second blade disc placement position 414b, respectively, and different blade disc placement positions are used to temporarily store different blade discs 10. For example, in this embodiment, the first blade disc placement position 414a is adjacent to the blade disc placement position of the vertical circulation conveying mechanism 20, which is used to temporarily store the blade disc 10 from the PCB drilling machine 200, and the second blade disc placement position 414a is adjacent to the blade disc placement position of the grabbing mechanism 50, which is used to temporarily store the blade disc 10 from the vertical circulation conveying mechanism 20. Of course, the types of blade discs 10 placed in the two blade disc placement positions 414 can also be exchanged.

[0204] When the blade disc 10 is discharged from the vertical circulation conveying mechanism 20 to the blade disc temporary storage base 41, at least a part of the blade disc 10 can be first conveyed to the first blade disc placement station 414a, and then the taking-out conveying assembly 42 works to slideably convey the blade disc 10 along the two base guide pieces 412 so that the whole blade disc 10 can first reach the first blade disc placement station 414a, and then be further conveyed to the second blade disc placement station 414b, so that the blade disc 10 can be temporarily stored in the second blade disc placement station 414b and wait for the grabbing of the grabbing mechanism 50 to be fed to the PCB drilling machine 200.

[0205] When the blade disc 10 is taken off from the PCB drilling machine 200 by the grabbing mechanism 50 and placed in the first blade disc placement station 414a of the blade disc temporary storage base 41, the taking-out conveying assembly 42 starts to work and sends the blade disc 10 into the blade disc carrier 23 of the vertical circulation conveying mechanism 20 for storage in the vertical circulation conveying mechanism 20, so as to empty the first blade disc placement station 414a to facilitate the next blade disc 10 in the vertical circulation conveying mechanism 20 that needs to be fed to the PCB drilling machine 200 to be conveyed to the empty first blade disc placement station 414a and further transferred to the second blade disc placement station 414b to be fed to the blade disc station 201 of the PCB drilling machine 200.

[0206] As shown in Figure 11 and Figure 12 The blade disc temporary storage base 41 further comprises a blade disc limiting plate 415 extending from the base body 411 and adjacent to the second blade disc placement station 414b, that is, when the blade disc 10 is transferred from the first blade disc placement station 414a to the second blade disc placement station 414b along the base guide pieces 412, the disc body 11 of the blade disc 10 facing the side panel 112 of the blade disc limiting plate 415 is blocked by the blade disc limiting plate 415 and prevented from further displacement, so as to ensure that the blade disc 10 is in place in the second blade disc placement station 414b and will not be separated from the blade disc temporary storage base 41.

[0207] As shown in Figure 12As shown in the figure, the taking conveying assembly 42 comprises a taking power source 421, a taking driving element 422 and one or more taking transmission elements 423. The taking power source 421 can be a driving motor, a hydraulic driving structure or a pneumatic driving structure, etc. In this embodiment, it is a driving motor. The taking driving element 422 comprises a taking driving rod 4221 and a set of taking transmission wheels 4222. In this embodiment, the taking conveying assembly 42 comprises two mutually spaced taking transmission elements 423 and corresponding two sets of taking transmission wheels 4222. One taking transmission wheel 4222 in each set of taking transmission wheels 4222 can be a driven wheel, while the other taking transmission wheel 4222 is connected to the taking driving rod 4221 to be a driving wheel, so that when the driving motor is rotated under the power supply of the taking power source 421, the taking transmission wheel 4222 is driven to rotate, and the taking transmission element 423 engaged with the taking transmission wheel 4222 starts to rotate to convey the cutter head 10 carried on the taking transmission element 423 and the base guide 412. Correspondingly, the driving motor of the taking power source 421 can be reversed, so as to change the conveying direction of the taking transmission element 423.

[0208] It can be understood that the taking transmission element 423 can be a transmission chain or a transmission belt, which conveys the cutter head 10 along the horizontal direction, and the taking transmission element 423 is aligned with the height of the support plate 231 of the cutter head carrier 23 at the first cutter head inlet and outlet 213 ready to unload the cutter head 10, so that a part of the cutter head 10 can be smoothly transferred from the cutter head carrier 23 of the vertical circulating conveying mechanism 20 to the taking transmission element 423 and the base guide 412 of the cutter head temporary storage base 41.

[0209] That is to say, one end of the taking transmission element 423 of the taking conveying assembly 42 adjacent to the first cutter head inlet and outlet 213 of the storage cavity 21 of the vertical circulating conveying mechanism 20 has a spacing between the cutter head carrier 23 located at the first cutter head inlet and outlet 213 ready to unload the cutter head 10, so that when the cutter head 10 cannot be directly conveyed as a whole to the first cutter head placing station 414a of the taking mechanism 40 via the unloading driving assembly 25, that is, the pushing piece 252 of the unloading driving assembly 25 can only convey a part of the cutter head 10 into the cutter head temporary storage base 41, the taking conveying assembly 42 is started to drive the cutter head 10 to slide along the base guide 412 with the taking transmission element 423 by friction, so as to complete the unloading of the whole cutter head 10 to the taking mechanism 40.

[0210] The position of the taking mechanism 40 is designed to correspond to the position of the first bit tray inlet and outlet 213 of the storage cavity 21 of the vertical circulation conveying mechanism 20 for the bit tray 10 to be in and out, so that when the bit tray 10 needs to be transported from the vertical circulation conveying mechanism 20 to the taking mechanism 40, the bit tray carrier 23 to be discharged reaches the position of the first bit tray inlet and outlet 213, and the bit tray 10 is pushed by the pushing piece 252 of the discharging driving assembly 25 towards the taking driving element 423 and the base guide element 412 of the taking mechanism 40 until a part of the bit tray 10 is carried on the taking driving element 423 and the base guide element 412, and the limiting guide body 14 of the bit tray 10 enters the base guide groove 4121 of the base guide element 412, the taking driving element 423 rotates to transport the bit tray 10 to the first bit tray placing station 414a, and can be further transported from the first bit tray placing station 414a to the second bit tray placing station 414b.

[0211] In turn, when the bit tray 10 is at the first bit tray placing station 414a and needs to be transported into the vertical circulation conveying mechanism 20, the taking driving element 423 reverses to transport at least a part of the bit tray 10 into the bit carrier 23, and the limiting guide body 14 of the bit tray 10 smoothly enters the guide groove 2351 via the guide groove 2353 and the opening 2352 of the guide element 235 of the bit carrier 23, and then the bit tray 10 is subjected to the force applied by the bit poking piece 2411 of the feeding driving assembly 24, and the limiting guide body 14 further slides in the guide groove 2351 to further make the bit tray 10 separate from the taking driving element 423 and the base guide element 412 of the taking mechanism 40 and be carried on the designed position of the bit carrier 23.

[0212] It is worth mentioning that the positions of the first bit tray inlet and outlet 213 and the second bit tray inlet and outlet 214 of the storage cavity 21 of the vertical circulation conveying mechanism 20 for allowing the bit tray 10 to be in and out are arranged at positions close to the middle waist of the storage cavity 21, so that the first bit tray inlet and outlet 213 and the second bit tray inlet and outlet 214 are arranged at positions with a predetermined height, and the bit carrier 23 can be conveyed to the area below or above the height of the first bit tray inlet and outlet 213 and the second bit tray inlet and outlet 214. That is, the storage space of the lower part of the storage cavity 21 at the height of the first bit tray inlet and outlet 213 and the second bit tray inlet and outlet 214 is also used to store the bit carrier 23 and the bit tray 10. The feeding mechanism 30, the taking mechanism 40 and the grabbing mechanism 50 are correspondingly arranged at positions close to the waist of the storage cavity 21, so that all of them are supported at a predetermined height, and the height thereof is adapted to the height of the bit tray station 201 of the PCB drilling machine 200, so as to facilitate the grabbing mechanism 50 to take the bit tray 10, the bit box 12 or the bit 13 from the taking mechanism 40, and reduce the displacement of the bit grabbing assembly of the grabbing mechanism 50 in the height direction.

[0213] Understandably, the design of the aforementioned vertical circulating conveyor 20, feeding mechanism 30, and picking mechanism 40 enables the cutter head 10 to be automatically conveyed and transferred between the three, thereby allowing the cutter head 10 to be transported to the PCB drilling machine 200 via the gripping mechanism 50 to achieve automatic tool changing in the PCB drilling machine 200. The automatic tool changing setup 100 can be equipped with an automatic controller to control the operation of the corresponding mechanisms as required by controlling the power sources of the vertical circulating conveyor 20, feeding mechanism 30, and picking mechanism 40, thereby achieving automated operation of the automatic tool changing setup 100.

[0214] Furthermore, the automatic tool changing device 100 in this embodiment of the present invention also performs intelligent information management on the tool head 10. The automatic tool changing device 100 further includes an intelligent identification mechanism 70, which includes a first identification device 71 and a second identification device 72. The first identification device 71 is disposed at a fixed position on the material handling mechanism 40, such as on the material handling and conveying assembly 42 of the material handling mechanism 40, and the second identification device 72 is disposed on the feeding mechanism 30, such as at the bottom of the feeding mechanism 30, to respectively acquire information about the tool head 10 on the material handling mechanism 40 or the feeding mechanism 30. It is understood that in other modified embodiments, the first identification device 71 and the second identification device 72 may also be selectively disposed in the storage cavity 21 of the vertical circulating conveying mechanism 20.

[0215] like Figure 16 As shown, each cutter head 10 also includes an identification mark 15. Each cutter head 10 can be configured with a unique identification mark 15, and can be identified by the first identification device 71 and the second identification device 72 to read the information of the corresponding cutter head 10. The identification mark 15 can be various suitable identification codes for the first identification device 71 and the second identification device 72 to recognize, such as a QR code or an RFID electronic tag. For example, when the identification mark 15 is a QR code, the first identification device 71 and the second identification device 72 use it to read the information of the cutter head 10 to distinguish different cutter heads 10.

[0216] In this embodiment of the invention, the identification tag 15 can be an RFID electronic tag, which can be a read-only electronic tag or a read-write electronic tag. For example, to facilitate intelligent management of the cutter head 10, the identification tag 15 can be a read-write RFID electronic tag that can be updated and written with new data. This information about the cutter head 10 can include the cutter head manufacturer, production batch, production time, position on the vertical circulating conveyor 20, position on the PCB drilling machine, and usage time, etc. When the RFID electronic tag is a read-only electronic tag, the relevant information of the cutter head 10 can be stored in the memory of the controller of the automatic tool changing setting 100.

[0217] The identification mark 15 implemented as an RFID electronic tag can be arranged at a suitable position of the disc body 11 of the cutter disc 10, such as on the inner surface or the outer surface of the disc body 11 of the cutter disc 10. The first identification device 71 and the second identification device 72 are respectively RFID identification devices. Figure 16 In the embodiment, the RFID electronic tag of the identification mark 15 is arranged on the bottom surface of the inner side of the disc body 11 of the cutter disc 10, and the RFID electronic tag can be connected with the first identification device 71 and the second identification device 72 by wireless communication and read and write data for the first identification device 71 and the second identification device 72.

[0218] When the cutter disc 10 reaches the feeding mechanism 30 and is about to be fed to the vertical circulation conveying mechanism 20, the second identification device 72 identifies the identification mark 15 implemented as an RFID electronic tag on the cutter disc 10, and records the basic information of the cutter disc 10 and the position information of the cutter disc carrier 23 of the vertical circulation conveying mechanism 20 to which this cutter disc 10 is to be fed. The position information of the cutter disc carrier 23 of the vertical circulation conveying mechanism 20 to which the cutter disc 10 is to be fed can be recorded by the unique number information of the cutter disc carrier 23, the driving position information of the fixing element 2214 used to fix the cutter disc carrier 23, etc. When the cutter disc 10 is unloaded from the vertical circulation conveying mechanism 20 to the feeding mechanism 30, the second identification device 72 can also read the identification mark 15 of the RFID electronic tag on the cutter disc 10, and record the relevant information of the cutter disc 10 to facilitate distinguishing and judging the cutter disc 10.

[0219] When the cutter disc 10 is conveyed to the taking mechanism 40 via the vertical circulation conveying mechanism 20, the first identification device 71 identifies the identification mark 15 implemented as an RFID electronic tag on the cutter disc 10, and reads the basic information of the cutter disc 10 and the position information of the cutter disc carrier 23 of the vertical circulation conveying mechanism 20 to which the cutter disc 10 is conveyed to judge whether the cutter disc 10 is accurately conveyed. When the cutter disc 10 from the PCB drilling machine 200 is conveyed to the vertical circulation conveying mechanism 20 from the taking mechanism 40, the first identification device 71 can also read the identification mark 15 of the RFID electronic tag on the cutter disc 10 to identify the cutter disc 10, and can further record the information such as the position of the cutter disc 10 on the PCB drilling machine and the use time, etc. In this way, the information of the cutter disc 10 at the specific position of the vertical circulation conveying mechanism 20 can be updated in real time, and can also be displayed in real time when the tool automatic replacement device 100 is provided with a display.

[0220] It is worth mentioning that the first identification device 71 and the second identification device 72 of the intelligent identification mechanism 70 can acquire information about the cutter head 10 and thus manage the cutter head 10. The vertical circulating conveyor mechanism 20 of the present invention can also be used to store various types of cutter heads 10, such as modular cutter heads, universal cutter heads, or abnormal cutter heads. That is, the information of the cutter head 10 can also include the type information of the cutter head 10, so that the automatic tool changing device 100 can transfer the required type of cutter head 10 between the vertical circulating conveyor mechanism 20, the feeding mechanism 30, and the picking mechanism 40.

[0221] like Figure 16 As shown, the disc body 11 of the cutter head 10 is also provided with a plurality of sockets 16, such as two rows of sockets 16 located on both sides of the disc body 11, each row of sockets 16 including two sockets 16 spaced apart from each other, such as the disc body 11 of the cutter head 10 having one socket 16 at each of its four corners. Figure 13 The gripping mechanism 50 shown includes a robotic arm assembly 51, a gripping component 52, and an image recognition and guidance component 53. The robotic arm assembly 51 includes a series of robotic arms, thereby forming a multi-axis robotic arm device, such as a six-axis robotic arm, allowing the gripping mechanism 50 to be adjusted at all angles. The image recognition and guidance component 53 may include a camera such as a CCD camera, and the guidance component may be a hydraulic mechanism, a pneumatic mechanism, a motor-driven mechanism, or a lead screw feeding mechanism, etc., to guide the gripping component 52 to a suitable position. The gripping mechanism 50 may also be equipped with an RFID identification device to identify the identification mark 15 on the cutter head 10 to obtain and / or write relevant information about the cutter head 10.

[0222] The gripping assembly 52 includes a base plate 521, a plurality of quick-release drive elements 522 and a plurality of quick-release pins 523. The plurality of quick-release drive elements 522 are mounted on the base plate 521, and the number of quick-release drive elements 522, quick-release pins 523 and the number of insertion holes 16 of the cutter head 10 correspond to each other. Each quick-release drive element 522 can be implemented as a hydraulic mechanism, a pneumatic mechanism, a motor drive mechanism, or a lead screw feed mechanism, etc. Multiple quick-release drive elements 522 respectively drive multiple quick-release pins 523 to move vertically and insert them into the insertion holes 16 of the disc body 11 of the cutter head 10. The dimensions of the quick-release pins 523 and the insertion holes 16 are adapted to allow frictional contact between the quick-release pins 523 and the inner wall of the insertion holes 16, thereby transferring the cutter head 10 from the cutter head placement station 414 of the material handling mechanism 40 to the gripping assembly 52 for unloading. Further, under the guidance of the robotic arm assembly 51 and the image recognition and guidance assembly 53, the cutter head 10 is placed on the desired cutter head station 201 on the PCB drilling machine 200. Alternatively, the gripping assembly 52 unloads the cutter head 10 from the cutter head station 201 on the PCB drilling machine 200 and transfers it to the cutter head placement station 414 of the material handling mechanism 40.

[0223] like Figure 14As shown in FIG. 1, according to another variant embodiment, the grabbing assembly 52 of the grabbing mechanism 50 can include a tool gripper 524 and a tool box gripper 525, wherein the tool gripper 524 can grip one tool 13 in the tool holder 10, for example, the top end of the tool 13 is inserted into the bottom end of the gripper sleeve 5241 which can be driven to move and is fixed, so as to transfer the tool 13 between the grabbing mechanism 40 and the PCB drill 200. The tool box gripper 525 has a structure similar to the structure of the gripper disclosed in CN216991005U, which will not be described in detail in the present application. In this way, the grabbing mechanism 50 of the present application can replace the single tool 13 of the PCB drill 200 through the tool gripper 524, or replace the single tool box 12 of the PCB drill 200 through the tool box gripper 525.

[0224] Reference Figure 19 As shown in FIG. 1, the tool automatic replacement device 100 of the present application provides a tool automatic replacement method for the PCB drill 200, which can realize the feeding replacement of the new tool holder 10a of the PCB drill 200, the discharging of the old tool holder 10b, the replacement of abnormal tools, etc. Wherein the first direction S1 indicates the feeding movement direction of the tool automatic replacement device 100 along the new tool holder 10a of the PCB drill 200, the second direction S2 indicates the discharging movement direction of the tool automatic replacement device 100 along the old tool holder 10b of the PCB drill 200, the third direction S3 indicates the feeding direction of the grabbing assembly 52 of the grabbing mechanism 50 of the tool automatic replacement device 100 to the new tool holder 10a, and the fourth direction S4 indicates the discharging direction of the grabbing assembly 52 of the grabbing mechanism 50 of the tool automatic replacement device 100 to the old tool holder 10b.

[0225] More specifically, the present application provides a new tool holder 10a automatic feeding method of a tool automatic replacement device 100, which can include a step of preparing a new tool holder 10a, a step of feeding the new tool holder 10a from the feeding mechanism 30 to the vertical circulating conveying mechanism 20, a step of transferring the new tool holder 10a from the vertical circulating conveying mechanism 20 to the grabbing mechanism 40, and a step of transferring the new tool holder 10a from the grabbing mechanism 40 to the PCB drill 200.

[0226] In the step of preparing the new tool holder 10a, various types of tool holders 10 such as module tool holders, universal tool holders or abnormal tool holders can be prepared in the tool room / tool library. The universal tool holder is provided with all types of tools 13. The abnormal tool holder can be an empty tool holder 10 when prepared, and the tool box 12 has no tool 13, which can be used to place abnormal tools such as broken tools, abnormal tools detected by the drill machine, etc.

[0227] In the step of feeding the new blade disc 10a from the feeding mechanism 30 to the vertical circulating conveying mechanism 20, the various new blade discs 10a are conveyed by the feeding driving element 32 of the feeding mechanism 30 to the position of the second blade disc inlet and outlet 214 of the corresponding storage cavity 21 of the vertical circulating conveying mechanism 20, and the second identification device 72 identifies the RFID electronic tag identification mark 15 on the new blade disc 10a, and records the information of the new blade disc 10a and the position information of the blade disc carrier 23 to be loaded in the vertical circulating conveying mechanism 20. Then a part of the new blade disc 10a is fed by the feeding driving element 32 through the second blade disc inlet and outlet 214 to the blade disc carrier 23 of the storage cavity 21 of the vertical circulating conveying mechanism 20, wherein the limiting guide body 14 of the new blade disc 10a is guided into the guide groove 2351 of the guide element 235 of the blade disc carrier 23. Then the second feeding driving assembly 24b is started, and the blade disc pushing element 2411 pushes the remaining part of the new blade disc 10a into the blade disc carrier 23 through the cooperation of the rotating device 2412 and the telescopic device 2413 of the feeding driving element 241, so that the new blade disc 10a is supported on the guide element 235 on the supporting plate 231 of the blade disc carrier 23, and then the second feeding driving assembly 24b is reset.

[0228] In the step of transferring the new blade disc 10a from the vertical circulation conveying mechanism 20 to the taking mechanism 40, the new blade disc 10a entering the vertical circulation conveying mechanism 20 from the position of the second blade disc inlet and outlet 214 is transferred to the position of the first blade disc inlet and outlet 213 by the vertical circulation conveying mechanism 20, in the process, the two transmission elements 2211 of the conveying device 22 of the vertical circulation conveying mechanism 20 rotate circularly under the driving of the corresponding driving elements 2212 to drive the blade disc carrier 23 fixedly connected to the transmission elements 2211 to move synchronously, wherein when the blade disc carrier 23 reaches the position of the limiting element 2213, the guide pulley 234 of the blade disc carrier 23 slides in the corresponding outer guide slot 22133 or inner guide slot 22134 to guide the sliding track of the blade disc carrier 23 and when the guide pulley 234 is in the state of being located in the corresponding outer guide slot 22133 or inner guide slot 22134, the new blade disc 10a is unloaded to the taking mechanism 40 to prevent the blade disc carrier 23 from shaking towards the first blade disc inlet and outlet 213. After the new blade disc 10a is conveyed to the position of the first blade disc inlet and outlet 213, the pushing piece 252 of the first unloading driving assembly 25a is driven to push the new blade disc 10a out along the guide element 235 and guide plate 236 of the blade disc carrier 23 for a part, and then the first unloading driving assembly 25a is reset. The new blade disc 10a is conveyed to the base guide 412 of the blade disc temporary storage base 41 and the taking transmission element 423 of the taking mechanism 40, and at this time, the limiting guide body 14 at the bottom side of the new blade disc 10a enters the base guide slot 4121 of the base guide 412. Then, the taking transmission element 423 of the taking conveying assembly 42 is driven to convey the new blade disc 10a to the first blade disc placement station 414a of the blade disc temporary storage base 41, and the taking transmission element 423 can further make the new blade disc 10a slide along the base guide 412 and the limiting baffle 413 on both sides to reach the second blade disc placement station 414b adjacent to the blade disc limiting plate 415. And the first identification device 71 provided on the taking mechanism 40 identifies the identification mark 15 on the new blade disc 10a to determine whether the accurate new blade disc 10a is conveyed to the taking mechanism 40.

[0229] In the step of transferring the new blade disc 10a from the taking mechanism 40 to the PCB drilling machine 200, the grabbing assembly 52 of the grabbing mechanism 50 is driven to grab the new blade disc 10a located on the second blade disc placement station 414b of the taking mechanism 40 and automatically place it on the required vacant blade disc station 201 of the PCB drilling machine 200 to complete the feeding operation of the new blade disc 10a of the PCB drilling machine 200. It can be understood that in this step, the grabbing mechanism 50 can also grab a single tool 13 or a single tool box 13 to place on the required vacant tool station or tool box station of the PCB drilling machine 200.

[0230] The present application provides an old tool disc 10b automatic unloading method of a tool automatic replacement device 100, which can include the steps of transferring the old tool disc 10b from a PCB drilling machine 200 to a taking mechanism 40, feeding the old tool disc 10b from the taking mechanism 40 to a vertical circulating conveying mechanism 20, transferring the old tool disc 10b from the vertical circulating conveying mechanism 20 to a feeding mechanism 30, and transferring the old tool disc 10b from the feeding mechanism 30 to a tool house / tool magazine.

[0231] In the step of transferring the old tool disc 10b from the PCB drilling machine 200 to the taking mechanism 40, the grabbing assembly 52 of the grabbing mechanism 50 is driven to grab the used old tool disc 10b on the tool disc station 201 of the PCB drilling machine 200 and automatically rotate on the first tool disc placing station 414a of the taking mechanism 40, so as to complete the unloading operation of the old tool disc 10b of the PCB drilling machine 200. The first identification device 71 arranged on the taking mechanism 40 identifies the identification mark 15 on the old tool disc 10b, so as to identify the old tool disc 10b and record the relevant information of the old tool disc 10b.

[0232] In the step of feeding the old tool disc 10b from the taking mechanism 40 to the vertical circulating conveying mechanism 20, the taking driving element 423 of the taking conveying assembly 42 of the taking mechanism 40 is reversely rotated, so as to convey the old tool disc 10b along the base guide 412 towards the position of the first tool disc inlet and outlet 213 of the vertical circulating conveying mechanism 20, so that part of the old tool disc 10b enters the tool disc carrier 23 in the vertical circulating conveying mechanism 20, at this time, the limiting guide body 14 of the old tool disc 10b is guided to pass through the guide groove 2351 in the vertical circulating conveying mechanism 20 from the base guide groove 4121 of the base guide 412 through the guide groove 2353 and the opening 2352 of the guide element 235 of the tool disc carrier 23. Then the first feeding driving assembly 24a is started, the tool disc poking element 2411 pokes the remaining part of the old tool disc 10b into the tool disc carrier 23 through the cooperation of the rotating device 2412 and the telescopic device 2413 of the feeding driving element 241, so that the old tool disc 10b is supported on the guide element 235 of the support plate 231 of the tool disc carrier 23, and then the first feeding driving assembly 24a is reset.

[0233] When all the old tool heads 10b are stored in the vertical circulation conveying mechanism 20, or when the tool heads in the vertical circulation conveying mechanism 20 are insufficient and need to be supplemented and replaced, the step of transferring the old tool heads 10b from the vertical circulation conveying mechanism 20 to the feeding mechanism 30 can be performed. Specifically, the old tool heads 10b are first transferred from the position where the old tool heads 10b enter the vertical circulation conveying mechanism 20 to the position of the second tool head inlet and outlet 214 through the vertical circulation conveying mechanism 20, in the process, the two transmission elements 2211 of the conveying device 22 of the vertical circulation conveying mechanism 20 are driven to rotate circularly under the driving of the corresponding driving elements 2212, so as to drive the synchronous movement of the tool head carriers 23 fixedly connected to the transmission elements 2211, wherein when the tool head carriers 23 reach the position of the limiting elements 2213, the guide pulleys 234 of the tool head carriers 23 slide in the corresponding outer guide grooves 22133 or inner guide grooves 22134 to guide the sliding track of the tool head carriers 23 and prevent the tool head carriers 23 from swaying towards the second tool head inlet and outlet 214 when the guide pulleys 234 are in the state of being located in the corresponding outer guide grooves 22133 or inner guide grooves 22134. After the old tool heads 10b are conveyed to the position of the second tool head inlet and outlet 214, the pushing piece 252 of the second discharge driving assembly 25b is driven to push the old tool heads 10b out along the guide elements 235 and guide plates 236 of the tool head carriers 23 by a certain distance, and then the second discharge driving assembly 25b is reset. A part of the old tool heads 10b is conveyed to the feeding transmission element 33 of the feeding mechanism 30, and then the entire old tool heads 10b are transferred to the feeding transmission element 33 by reversing the driving of the feeding transmission element 33. And the second identification device 72 identifies the RFID electronic tag identification mark 15 on the old tool heads 10b and reads the tool head information of the old tool heads 10b to determine whether the discharged old tool heads 10b are accurate. When the automatic tool changing setting is configured with an automatic conveying line, the old tool heads 10b can be automatically conveyed to the tool house / tool magazine through the automatic conveying line, thereby completing the feeding and recycling of the old tool heads 10b.

[0234] It can be understood that after the feeding of the old tool heads 10b is completed, the original old tool head 10b tool head station 201 of the PCB drilling machine 200 becomes an empty tool head station 201, at this time the grabbing assembly 52 of the grabbing mechanism 50 is driven to grab the new tool heads 10a located on the second tool head placing station 414b of the taking mechanism 40 and automatically place them on the empty tool head station 201 of the PCB drilling machine 200, so as to complete the feeding operation of the new tool heads 10a of the PCB drilling machine 200.

[0235] The basic principles of the present application are described above in conjunction with specific embodiments, but it should be noted that the advantages, advantages, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of example and for the purpose of understanding, and the above details do not limit the present application to the must-use of the above specific details to realize.

Claims

1. A tool automatic changing apparatus characterized by comprising: The application is applied to realize the automatic tool replacement of PCB drilling machine, and comprises: a taking mechanism; a grabbing mechanism; and a vertical circulating conveying mechanism comprising a storage cavity, a tool disc carrier and a conveying device, wherein the storage cavity has a storage cavity and has a first tool disc inlet and outlet and a second tool disc inlet and outlet communicated with the storage cavity, the tool disc carrier is used for carrying the tool disc so as to store the tool disc in the storage cavity, the conveying device comprises a conveying power source and a conveying assembly arranged in the vertical direction, wherein the tool disc carrier is connected to the conveying assembly and drives the tool disc carrier through the conveying assembly under the power provided by the conveying power source, so that the tool disc carrier generates a circulating displacement, and the conveying device conveys the tool disc carrier between two positions corresponding to the first tool disc inlet and outlet and the second tool disc inlet and outlet, wherein the tool disc is adapted to be transferred from the tool disc carrier to the taking mechanism through the first tool disc inlet and outlet, the grabbing mechanism is used for the tool feeding and discharging between the taking mechanism and the PCB drilling machine; the conveying device comprises two conveying assemblies arranged in the vertical direction and spaced apart from each other and parallel to each other, wherein the tool disc carrier is connected between the two conveying assemblies and drives the tool disc carrier to be conveyed between the two positions corresponding to the first tool disc inlet and outlet and the second tool disc inlet and outlet through the two conveying assemblies under the power provided by the conveying power source.

2. The tool changer according to claim 1, characterized in that Each conveying assembly comprises a driving element and an annular transmission element, wherein the driving element drives the transmission element to generate a circulating rotation under the driving of the conveying power source, so as to drive the tool disc carrier to be displaced synchronously, and the tool disc is moved to the first tool disc inlet or the second tool disc inlet.

3. The tool changer according to claim 2, characterized in that The tool disc carrier comprises a connecting rod, and each transmission element is provided with a plurality of fixing elements, wherein the two ends of the connecting rod of the tool disc carrier respectively pass through the two fixing elements of the two transmission elements to fix the tool disc carrier between the two transmission elements.

4. The tool changer according to claim 2, characterized in that Each conveying assembly comprises two limiting elements, and the two limiting elements are arranged adjacent to the first tool disc inlet and the second tool disc inlet on the storage cavity.

5. The tool changer according to claim 4, characterized in that Each limiting element comprises an outer guide portion and an inner guide portion, wherein the outer guide portion and the inner guide portion have a gap therebetween, and the tool disc carrier comprises a connecting rod connected between the two transmission elements, the gap allows the transmission element and the connecting rod to move in the vertical direction in the gap, at least one of the outer guide portion and the inner guide portion of the limiting element has a guide groove, and the tool disc carrier is provided with at least one guide pulley at each end thereof, and the guide pulley is adapted to slide in the guide groove.

6. The tool changer according to claim 2, characterized in that The cutter carrier comprises a support plate for supporting the cutter, a connecting rod connected between two of the transmission elements, a connecting element connecting the connecting rod and the support plate, and at least one guide element of the support plate, wherein the guide element has a guide groove, and wherein the bottom side of the cutter is provided with a limiting guide body adapted to be placed in the guide groove of the guide element.

7. The tool changer according to any one of claims 1 to 6, characterized in that, The cutter automatic replacement device further comprises a feeding mechanism, wherein the storage cavity has the first cutter inlet and outlet and the second cutter inlet and outlet located on opposite sides, wherein the cutter is adapted to be transferred between the cutter carrier and the taking mechanism through the first cutter inlet and outlet, and the cutter is adapted to be transferred between the cutter carrier and the feeding mechanism through the second cutter inlet and outlet.

8. The tool changer according to claim 7, characterized in that Two feeding driving assemblies are further included, which are respectively used for driving the cutter into the cutter carrier in the storage cavity from the feeding mechanism through the second cutter inlet and outlet and driving the cutter into the cutter carrier in the storage cavity from the taking mechanism through the first cutter inlet and outlet.

9. The tool changer according to claim 8, characterized in that Each of the feeding driving assemblies comprises at least one feeding driving element, which comprises a cutter pushing piece, a rotating device and an extension device, and the cutter pushing piece generates rotational displacement and extension displacement under the action of the rotating device and the extension device so as to act on the side panel of the cutter to drive the cutter to move to the cutter carrier.

10. The tool changer according to any one of claims 1 to 6, characterized in that, The feeding mechanism is further included, wherein the feeding mechanism comprises a feeding power source, a feeding driving assembly and at least one feeding transmission element, wherein the feeding transmission element is a transmission chain or a transmission belt, and when the feeding power source drives the feeding driving assembly to rotate, the feeding transmission element rotates to send at least part of the cutter on the feeding transmission element into the cutter carrier in the storage cavity through the second cutter inlet and outlet or continue to transfer the cutter to the feeding mechanism through the second cutter inlet and outlet when at least part of the cutter leaves the cutter carrier, so that the cutter is adapted to be transferred between the feeding mechanism and the cutter carrier through the second cutter inlet and outlet.

11. The tool changer according to any one of claims 1 to 6, characterized in that, The taking mechanism comprises a cutter temporary storage base and a taking conveying assembly, wherein the taking conveying assembly is used for continuing to transfer the cutter to the temporary storage base through the first cutter inlet and outlet when at least part of the cutter leaves the cutter carrier, or the taking conveying assembly sends at least part of the cutter into the cutter carrier in the storage cavity through the first cutter inlet and outlet, so that the cutter is adapted to be transferred between the taking mechanism and the cutter carrier through the first cutter inlet and outlet.

12. The tool changer according to claim 11, characterized in that The cutter disc temporary storage base comprises a base body and two base guides arranged on the base body, wherein the base guides are provided with base guide grooves, the cutter disc bottom side is provided with two limiting guide bodies adapted to slide in the base guide grooves of the base guides, and the cutter disc temporary storage base further comprises limiting stop bodies extending from two ends of the base body.

13. The tool changer according to claim 7, characterized in that, Further comprising intelligent identification mechanisms comprising first and second identification devices, wherein the cutter disc comprises an identification mark, and the first and second identification devices are used to identify the identification mark so as to respectively identify the cutter disc transferred between the material taking mechanism and the vertical circulation conveying mechanism and the cutter disc transferred between the material feeding mechanism and the vertical circulation conveying mechanism.

14. The tool changer according to any one of claims 1 to 6, characterized in that, The grabbing mechanism is used to transfer the cutter disc, single cutter or single cutter box between the material taking mechanism and the PCB drilling machine.

15. A method of automatically feeding a tool to a PCB drill using the tool changer of any one of claims 1-14, wherein, The steps include: storing a cutter disc in a cutter disc carrier in a storage cavity of a vertical circulation conveying mechanism; moving the cutter disc carrier carrying the cutter disc to a first cutter disc inlet and outlet of the storage cavity by a conveying device of the vertical circulation conveying mechanism; moving the cutter disc to a cutter disc temporary storage base of a material taking mechanism through the first cutter disc inlet and outlet by an outlet driving assembly and moving the cutter disc to a cutter disc placement station of the cutter disc temporary storage base by a material taking conveying assembly; and feeding the cutter disc temporarily stored in the cutter disc temporary storage base to a cutter disc station of a PCB drilling machine by a grabbing mechanism.

16. The method of claim 15, wherein the method further comprises: Further comprising the steps of: feeding a part of the cutter disc into the cutter disc carrier through a second cutter disc inlet and outlet of the storage cavity by a material feeding mechanism and driving the cutter disc to move by an inlet driving assembly so that the remaining part of the cutter disc is moved into the cutter disc carrier so that the entire cutter disc is carried on the cutter disc carrier.

17. A method of automatically dispensing a tool for a PCB drill using the tool changer of any one of claims 1-14, wherein, The steps include: (A) transferring a cutter disc of a PCB drilling machine to a cutter disc temporary storage base of a material taking mechanism by a grabbing mechanism; and (B) conveying a part of the cutter disc into a cutter disc carrier located in a storage cavity of a vertical circulation conveying mechanism through a first cutter disc inlet and outlet of the storage cavity by a material taking conveying assembly and driving the cutter disc by an inlet driving assembly so that the remaining part of the cutter disc enters the cutter disc carrier so that the entire cutter disc is loaded on the cutter disc carrier and temporarily stored in the vertical circulation conveying mechanism.

18. The method of claim 17, wherein the method further comprises: Further comprising the steps of: (C) moving the cutter disc carrier carrying the cutter disc to a second cutter disc inlet and outlet of the storage cavity by a conveying device of the vertical circulation conveying mechanism; and (D) driving the cutter disc stored on the cutter disc carrier by an outlet driving assembly so that at least a part of the cutter disc reaches a material feeding mechanism through the second cutter disc inlet and outlet.

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