A circuit board engraving needle head grinding device

Abstract

The application relates to the technical field of circuit board engraving needle grinding, in particular to a circuit board engraving needle grinding device, in order to solve the problem of low efficiency of the full-automatic drilling needle grinding process, which comprises a conveying module, drilling needles are transported by the conveying module, one side of the conveying module is provided with a grinding module and a calibration module, one side of the conveying module is further provided with a mechanical hand module, the mechanical hand module comprises a clamping driving element and a double-clamping assembly, the double-clamping assembly is installed on the movable end of the clamping driving element, the clamping driving element drives the double-clamping assembly to cyclically move between the conveying module, the grinding module and the calibration module, and the double-clamping assembly comprises two clamping elements, the two clamping elements are matched to take and place the drilling needles. The application has the effect of improving the full-automatic drilling needle grinding efficiency.

Description

Technical Field

[0001] This application relates to the technical field of grinding PCB engraving needles, and in particular to a PCB engraving needle grinding device. Background Technology

[0002] When engraving circuit boards, multiple holes need to be created on the board, which is usually done using a drill bit. After repeated use, the drill bit tip will gradually become dull or even break, causing inconvenience and errors in the process. At this time, the operator needs to grind the drill bit tip.

[0003] The industry has begun to adopt fully automated processes for drill bit grinding. Current technology involves installing a single gripper on the movable end of a three-axis robot. After gripping the drill bit, the gripper moves it along a pre-set trajectory to the grinding disc for grinding. However, due to the long grinding time and the inability to reduce it due to process requirements, the three-axis robot and the single gripper must wait for grinding to complete before moving the drill bit to the next process. Only one drill bit can be operated at a time, resulting in low grinding efficiency. To grind two drill bits simultaneously, a three-axis robot and a single gripper must be added, which increases grinding costs and thus requires improvement. Summary of the Invention

[0004] To improve the efficiency of fully automated drill bit grinding, this application provides a circuit board engraving needle grinding device.

[0005] Firstly, the circuit board engraving needle grinding device provided in this application adopts the following technical solution: A circuit board engraving needle grinding device includes a conveying module for transporting drill bits. A grinding module and an adjustment module are located on one side of the conveying module. A robotic arm module is also located on one side of the conveying module. The robotic arm module includes a clamping drive and a dual-clamping assembly. The dual-clamping assembly is mounted on the movable end of the clamping drive, and the clamping drive drives the dual-clamping assembly to cyclically move between the conveying module, the grinding module, and the adjustment module. The dual-clamping assembly includes two clamping members that cooperate to pick up and place the drill bit, thereby improving the efficiency of drill bit grinding.

[0006] By adopting the above technical solution, the clamping drive unit moves the dual clamping assembly above a drill bit to be ground, and the two clamping members cooperate to pick up and place the drill bit. The clamping drive unit then moves the dual clamping assembly to the grinding station, where the two clamping members cooperate to pick up and place the drill bit, and the grinding module begins grinding the drill bit. During the grinding process, the clamping drive unit moves the dual clamping assembly to the adjustment station, where the two clamping members cooperate to pick up and place the drill bit, and the adjustment module begins adjusting the length of the drill bit to be adjusted. The clamping drive unit then drives the dual clamping assembly back to the placement station, completing one work cycle. This achieves fully automated production of drill bit grinding, improving the efficiency of the entire process of drill bit picking, grinding, and adjustment. The working cycle of the robotic arm module does not exceed that of the grinding module, reducing the time spent waiting for the robotic arm module to be in place between grinding cycles. Compared to the single clamping component in existing technologies, the combination of two clamping components allows the clamping drive to perform both pick-up and placement operations by moving the drive component only once between the placement station and the grinding station. This reduces the time required for each pick-up and placement operation and decreases the time interval between two grinding operations, thereby improving the efficiency of fully automated drill bit grinding.

[0007] Optionally, the dual clamping assembly includes a tooling plate mounted on the movable end of the clamping drive member, and two clamping members arranged side by side on the tooling plate in a horizontal direction; each clamping member includes a first longitudinal drive member and a first pneumatic gripper, the first longitudinal drive member being vertically mounted on the tooling plate, and the first pneumatic gripper being mounted on the movable end of the first longitudinal drive member, the first pneumatic gripper being capable of clamping the tip portion of the drill bit; the clamping drive member, the first longitudinal drive member, and the first pneumatic gripper cooperate to perform pick-and-place operations.

[0008] By adopting the above technical solution, when the clamping drive moves the fixture plate to a set position, one of the first pneumatic grippers is idle and aligned with the drill bit to be gripped. The first longitudinal drive connected to the idle first pneumatic gripper drives the first pneumatic gripper to descend and grip the tip of the drill bit, and then rises while gripping the drill bit. The clamping drive drives the fixture plate to move along the width of the fixture plate, so that the other first pneumatic gripper, which has completed the previous process, aligns with the empty space left after gripping the drill bit. The first longitudinal drive drives the first pneumatic gripper to descend and place the drill bit. After placement, the first longitudinal drive and the first pneumatic gripper reset, and one drill bit transfer is completed. Compared with the existing technology that uses a robot and a single gripper to transfer drill bits, which requires the robot to move twice between adjacent modules for picking and placing, this technology improves the efficiency of drill bit transfer by reducing the movement of the moving end of the clamping drive, thereby improving the efficiency of full automation.

[0009] Optionally, the dual clamping assembly includes a tooling plate mounted on the movable end of the clamping drive component; the clamping component includes a second longitudinal drive component and a second pneumatic gripper, the second longitudinal drive component being rotatably mounted on the tooling plate, and the output shaft of the second longitudinal drive component being rotatably connected to the second pneumatic gripper; a Y-shaped through hole is formed in the thickness direction of the tooling plate, the inner wall of the Y-shaped through hole is smoothly arranged, two rollers are rotatably mounted on the side of the second pneumatic gripper near the tooling plate, the two rollers are arranged along the length direction of the pneumatic gripper, the rollers are rolled in the Y-shaped through hole, and the two second pneumatic grippers are respectively arranged on both sides of the Y-shaped through hole, and the two second longitudinal drive components sequentially drive the two second pneumatic grippers to the bottom end of the Y-shaped through hole.

[0010] By adopting the above technical solution, when the clamping drive moves the tooling plate to the set position, the bottom end of the Y-shaped through hole is aligned with the drill bit to be gripped. The cylinder shaft of the second longitudinal drive connected to the idle second pneumatic gripper extends, driving the second pneumatic gripper to move vertically downward along the trajectory of the Y-shaped through hole, then tilt downward for a short distance, and finally move vertically downward to the bottom end of the Y-shaped through hole. This aligns the second pneumatic gripper with the drill bit to be gripped and clamps the tip of the drill bit. Subsequently, the second pneumatic gripper, holding the drill bit, returns to its original trajectory. The cylinder shaft of another second longitudinal drive extends, driving another second pneumatic gripper to move vertically downward along the trajectory on the other side of the Y-shaped through hole, then tilt downward for a short distance, and finally move vertically downward to the bottom end of the Y-shaped through hole, placing the drill bit that has completed the previous process on it. During the drill bit handling process, the clamping drive does not need to move, reducing the time wasted due to the movement of the clamping drive. By improving the efficiency of drill bit handover, the efficiency of full automation is improved. Furthermore, the tooling plate is fixed in position during drill bit handover, improving stability during the drill bit handover process.

[0011] Optionally, the grinding module includes a grinding component and a grinding clamping component for holding the drill bit; a base is provided on one side of the conveying module in the width direction, the grinding component is mounted on the base, and the grinding component includes a coarse grinding part and a fine grinding part; a moving stage is provided on the base, the moving stage is located on the side of the base close to the conveying module, the grinding clamping component is mounted on the moving stage, and the moving stage drives the grinding clamping component to reciprocate parallel to the line connecting the coarse grinding part and the fine grinding part; the length direction of the drill bit held by the grinding clamping component forms an angle with the line connecting the coarse grinding part and the fine grinding part.

[0012] By adopting the above technical solution, the grinding clamping assembly holds the drill bit for coarse and fine grinding, thereby improving the grinding accuracy of the drill bit.

[0013] Optionally, the grinding clamping assembly includes a needle chuck, a chuck seat, a universal joint, a radial rotation drive, and an axial rotation drive. The housing of the axial rotation drive is mounted on a moving platform. The first end of the universal joint is connected to the movable end of the axial rotation drive, and the second end of the universal joint is connected to the chuck seat. The needle chuck is mounted on the end of the chuck seat away from the universal joint. The axial rotation drive can drive the chuck seat to rotate about the axis of the chuck seat. The radial rotation drive is mounted on the moving platform, and the movable end of the radial rotation drive is connected to the chuck seat. The radial rotation drive can drive the chuck seat to rotate about the universal joint. A positioning platform and a grinding platform are mounted on the moving platform. The positioning platform is mounted above the radial rotation drive, and the grinding platform is positioned close to the rough grinding workpiece. The radial rotation drive drives the chuck seat to rotate, causing the needle chuck to move between the positioning platform and the grinding platform. The dual clamping assembly moves to the positioning platform and cooperates with the needle chuck to exchange the drill bit.

[0014] Optionally, the grinding clamping assembly further includes a positioning plate with an oblong hole. The chuck is inserted into the oblong hole and can move between the first and second circular ends of the oblong hole. The outer peripheral wall of the chuck slides against the inner wall of the oblong hole. The positioning plate is connected to the movable end of a radial rotation drive, which drives the positioning plate to rotate, thereby rotating the chuck. Two clamping wheels are provided on the grinding table. The two clamping wheels are rolled on the grinding table via two rotating shafts. The two rotating shafts are elastically connected to the grinding table via springs on opposite sides. The two clamping wheels can move closer or further apart along the length of the springs. The protective ring of the drill bit can be clamped between the two clamping wheels.

[0015] By adopting the above technical solution, when the drill bit is transferred, the radial rotation drive unit controls the chuck to remain vertical through the positioning plate. The needle chuck is located within the notch of the positioning table, and the needle chuck cooperates with the double clamping assembly to transfer the drill bit. The radial rotation drive unit drives the positioning plate to rotate clockwise, causing the chuck to reverse, and the protective ring of the drill bit is clamped by the two clamping wheels. The radial rotation drive unit controls the positioning plate to continue rotating clockwise, causing the chuck to disengage from the second circular end of the oblong hole and move to the first circular end, thus achieving the positioning of the chuck and reducing the occurrence of drill bit skew caused by the movement of the chuck. During grinding, the axial rotation drive unit drives the universal joint to rotate, causing the chuck to rotate within the first circular end of the oblong hole about the axis of the chuck, allowing the drill bit to rotate about its axis for grinding with the rough grinding part and the fine grinding part. When the drill bit rotates, the two clamping wheels rotate along with the protective ring under the action of friction, reducing the possibility of the drill bit body bending during grinding. After grinding, the radial rotation drive unit drives the positioning plate to release its positioning and moves the chuck holder cutter to perform drill bit exchange. This improves the grinding accuracy of the drill bit.

[0016] Optionally, the calibration module includes a work frame, a calibration table, a protective ring clamping component, and a drill bit length compensation component. The calibration table is movably mounted on the work frame and is driven by a motor. The protective ring clamping component is disposed on the calibration table. The drill bit length compensation component is mounted on the work frame to adjust the length of the drill bit tip extending beyond the protective ring. The conveying module includes a conveyor belt and a placement tray placed on the conveyor belt. The placement tray has several circular holes, and the protective ring of the drill bit is inserted into the circular holes.

[0017] By adopting the above technical solution, the conveyor belt stops after moving the collection tray to the placement station and positions the tray. The placement tray is difficult to move, facilitating the clamping of the drill bit. When drill bits are transferred, the calibration table controls the protective ring clamping component to remain at the calibration station. After the protective ring clamping component releases its grip on the protective ring, the double-clamping assembly removes the calibrated drill bit and places a new, ground drill bit awaiting calibration. The protective ring clamping component then holds the protective ring of the drill bit. The calibration table controls the protective ring clamping component to rotate to the drill bit length compensation component. The drill bit length compensation component applies a pushing force to the end of the drill bit body furthest from the tip, while the protective ring is difficult to move under the action of the protective ring clamping component. This allows the drill bit body to overcome friction and move upwards relative to the protective ring, adjusting the length of the tip extending beyond the protective ring. This achieves fully automated grinding of the drill bits.

[0018] Optionally, the conveying module, grinding module, and calibration module are arranged in a triangular pattern, with the lines connecting the placement plate at the placement station, the positioning table at the grinding station, and the calibration table at the calibration station forming an equilateral triangle; the placement plate at the placement station, the positioning table at the grinding station, and the calibration table at the calibration station are at the same height relative to the same reference plane, and the clamping drive is a horizontally arranged two-axis robot.

[0019] By adopting the above technical solution, the movable end of the clamping drive component drives the dual clamping assembly to cyclically move between the placement station, grinding station, and adjustment station. The total moving distance of the movable end of the clamping drive component within one cycle is equal to the perimeter of the triangle, saving energy. Furthermore, the cost of a two-axis robot is lower than that of a three-axis robot, saving costs while ensuring movement speed.

[0020] Secondly, this application also discloses a needle grinding method using a circuit board engraving needle grinding device: Optional needle grinding methods include: Conveying Module: A1. The conveying module moves the tray filled with drill bits to be ground to the placement station; A2. The conveying module drives the tray filled with drill bits that have been ground and adjusted to leave the placement station; Robotic Arm Module: B1. The clamping drive moves the dual clamping assembly to the placement station; B2. The idle clamping member descends to clamp a drill bit to be ground, and then resets; B3. The other clamping member descends to place the adjusted drill bit it is clamping back onto the placement tray, and then resets, leaving this clamping member idle; B4. The clamping drive moves the dual clamping assembly to the grinding station; B5. The idle clamping member descends to clamp the ground drill bit on the needle chuck, and then... B6. The other clamping member descends and places the drill bit to be ground into the needle chuck, then resets, leaving the clamping member unused; B7. The clamping drive moves the dual clamping assembly to the calibration station; B8. The unused clamping member descends to clamp the calibrated drill bit on the protective ring clamping member, then resets; B9. The other clamping member descends and places the ground drill bit into the protective ring clamping member, then resets; Return to step B1 for the next cycle; Grinding Module: C1. The radial rotation drive rotates the positioning plate, causing the chuck to hold the cutting tool, and the needle chuck moves to the grinding station, releasing the grip on the drill bit; C2. After the needle chuck holds the drill bit to be ground, the radial rotation drive rotates the positioning plate, causing the chuck to reverse, and the needle chuck moves to the grinding table; C3. The radial rotation drive drives the positioning plate to position the chuck; C4. The moving table and axial rotation drive work with the rough grinding part and the fine grinding part to perform grinding; C5. The radial rotation drive drives the positioning plate to release the positioning of the chuck: return to step C1 to start the next cycle; Calibration Module: D1. The calibration table moves the protective ring holder to the calibration station, and the protective ring holder releases the calibrated drill bit's protective ring; D2. The protective ring holder clamps the ground and calibrated drill bit's protective ring, and the calibration table moves the protective ring holder to the drill bit length compensation component; D3. The drill bit length compensation component adjusts the length of the drill bit tip extending beyond the protective ring to the standard length; D4. The calibration table moves the protective ring holder to the visual inspection component for visual inspection; D5. The visual inspection component performs visual inspection on the drill bit; Return to step D1 to start the next cycle; Optionally, step B5 can only begin after step C1 is completed, and step C2 can only begin after step B6 is completed; step B8 can only begin after step D1 is completed, and step D2 can only begin after step B9 is completed; the cycle time of the robotic arm module does not exceed the cycle time of the grinding module.

[0021] By adopting the above technical solution, since step C4 has a relatively long cycle time and the required grinding time cannot be reduced, the cycle time of the robotic arm module does not exceed that of the grinding module. That is, when the chuck holder finishes its work in step C1, step B4 is already completed. The idle clamping component aligns with the notch on the positioning table, and the ground drill bit held in the needle chuck is aligned with the idle clamping component. This reduces the waiting time of the grinding module and improves the efficiency of the fully automated process. Compared with the single clamping component in the prior art, the cooperation of two clamping components allows the clamping drive to perform both pick-up and placement operations by moving the drive component only once between the placement station and the grinding station. By reducing the time required for a single pick-up and placement, the time interval between two grinding operations is reduced, thus improving the efficiency of fully automated drill bit grinding.

[0022] In summary, this application includes at least one of the following beneficial technical effects: The clamping drive unit moves the dual clamping assembly above a drill bit to be ground, and the two clamping members cooperate to pick up and place the drill bit. The clamping drive unit then moves the dual clamping assembly to the grinding station, where the two clamping members cooperate to pick up and place the drill bit, and the grinding module begins grinding the drill bit. During grinding, the clamping drive unit moves the dual clamping assembly to the adjustment station, where the two clamping members cooperate to pick up and place the drill bit, and the adjustment module begins adjusting the length of the drill bit. The clamping drive unit returns the dual clamping assembly to the placement station, completing one work cycle. This achieves fully automated production of drill bit grinding, improving the efficiency of the entire process of drill bit picking, grinding, and adjustment. The working cycle of the robotic arm module does not exceed that of the grinding module, reducing the time spent waiting for the robotic arm module to position between grinding cycles. Compared to the single clamping component in existing technologies, the combination of two clamping components allows the clamping drive to perform both pick-up and placement operations by moving the drive component only once between the placement station and the grinding station. This reduces the time required for each pick-up and placement operation and decreases the time between two grinding operations, thereby improving the efficiency of fully automated drill bit grinding. When the clamping drive moves the fixture plate to the set position, the bottom end of the Y-shaped through hole aligns with the drill bit to be gripped. The cylinder shaft of the second longitudinal drive, connected to the idle second pneumatic gripper, extends, driving the second pneumatic gripper to move vertically downwards along the trajectory of the Y-shaped through hole, then tilt downwards for a short distance, and finally vertically downwards to the bottom end of the Y-shaped through hole. This aligns the second pneumatic gripper with the drill bit to be gripped and clamps the tip of the drill bit. The second pneumatic gripper then returns to its original trajectory while holding the drill bit. Simultaneously, the cylinder shaft of another second longitudinal drive extends, driving another second pneumatic gripper to move vertically downwards along the trajectory on the other side of the Y-shaped through hole, then tilt downwards for a short distance, and finally vertically downwards to the bottom end of the Y-shaped through hole, placing the drill bit that has completed the previous process on it. During the drill bit handling process, the clamping drive does not need to move, reducing the time wasted due to the movement of the clamping drive. By improving the efficiency of drill bit handover, the efficiency of the entire automation process is improved. Furthermore, the tooling plate is fixed in position during drill bit handover, which improves the stability of the drill bit handover process; Because step C4 has a relatively long cycle time, and the required grinding time cannot be reduced, the cycle time of the robotic arm module does not exceed that of the grinding module. That is, when the chuck holder finishes its work in step C1, step B4 is already complete. The idle clamping component aligns with the notch on the positioning table, and the ground drill bit held in the needle chuck is aligned with the idle clamping component. This reduces the waiting time of the grinding module and improves the efficiency of the fully automated process. Compared to the single clamping component in existing technologies, the cooperation of two clamping components allows the clamping drive to perform both pick-up and placement operations with only one long-distance movement between the placement and grinding stations. By reducing the time required for a single pick-up and placement, the time interval between two grinding operations is reduced, thus improving the efficiency of fully automated drill bit grinding. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a circuit board engraving needle grinding device according to Embodiment 1 of this application.

[0024] Figure 2 This is a schematic diagram of the grinding module in Embodiment 1 of this application.

[0025] Figure 3 This is a schematic diagram of the structure of the grinding clamping assembly in Embodiment 1 of this application.

[0026] Figure 4 This is a schematic diagram of the structure of the dual clamping assembly in Embodiment 2 of this application.

[0027] Figure 5 This application describes the steps of a needle grinding method using a circuit board engraving needle grinding device.

[0028] Explanation of reference numerals in the attached drawings: 1. Clamping drive component; 2. Dual clamping assembly; 21. Clamping component; 211. First longitudinal drive component; 212. First pneumatic gripper; 213. Second longitudinal drive component; 214. Second pneumatic gripper; 215. Roller; 22. Tooling plate; 221. Y-shaped through hole; 3. Grinding assembly; 31. Base; 32. Rough grinding part; 33. Fine grinding part; 34. Moving stage; 35. Positioning stage; 36. Grinding stage; 361. Clamping wheel; 363. Spring; 4. Grinding Clamping assembly; 41. Needle chuck; 42. Chuck seat; 43. Universal joint; 44. Radial rotation drive; 45. Axial rotation drive; 46. Positioning plate; 47. Oblong hole; 471. First round end; 472. Second round end; 51. Work frame; 52. Adjustment table; 53. Protective ring clamping component; 54. Drill bit length compensation component; 55. Vision inspection component; 61. Conveyor belt; 62. Placement tray; 621. Round hole; 63. Push cylinder; 64. Push block; 65. Baffle. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0030] This application discloses a circuit board engraving needle grinding device. Example 1

[0031] Reference Figure 1 A circuit board engraving needle grinding device includes a conveying module, on which the drill bit is transported. A placement station is provided on the conveying module. A grinding module and an adjustment module are located on one side of the conveying module, situated on the same side and close to the placement station. A robotic arm module is also provided on one side of the conveying module. The robotic arm module includes a clamping drive 1 and a dual-clamping assembly 2. The clamping drive 1 is mounted on the side of the placement station away from the grinding module. The dual-clamping assembly 2 is mounted on the movable end of the clamping drive 1, and the clamping drive 1 drives the dual-clamping assembly 2 to cyclically move between the conveying module, the grinding module, and the adjustment module. The dual-clamping assembly 2 includes two clamping members 21, which cooperate to pick up and place the drill bit.

[0032] Wear-out drill bits are transported to the placement station by the conveying module. The clamping drive 1 drives the dual clamping assembly 2 to move above a drill bit to be ground. At this point, one clamping member 21 is idle, while the other clamping member 21 holds the ground and adjusted drill bit. The idle clamping member 21 holds the drill bit to be ground and pulls it away from the conveying module. Then, the other clamping member 21 places the ground and adjusted drill bit back onto the conveying module, leaving this clamping member 21 idle. The clamping drive 1 drives the dual clamping assembly 2 to the grinding station. At this point, the grinding module has completed its previous operation, and there is a ground drill bit at the grinding station. The idle clamping member 21 holds the ground drill bit and pulls it away from the grinding module. The other clamping member 21 places the drill bit to be ground onto the grinding module, leaving this clamping member 21 idle. The grinding module then begins grinding the drill bit on it. At this point, the clamping drive 1 drives the dual clamping assembly 2 to move to the adjustment station. The adjustment module completes its previous operation. At the adjustment station, one drill bit has been ground and adjusted. An empty clamping member 21 holds the ground and adjusted drill bit and detaches it from the adjustment module. The other clamping member 21 places the ground and adjusted drill bit onto the adjustment module; this clamping member 21 is now empty. The adjustment module begins length adjustment of the drill bit on it. The clamping drive 1 drives the dual clamping assembly 2 to move to the placement station. At this point, one clamping member 21 is empty, and the other clamps the ground and adjusted drill bit. This process is repeated after one work cycle, achieving fully automated drill bit grinding and improving the efficiency of the entire process of drill bit handling, grinding, and adjustment.

[0033] Of all the processes, grinding takes the longest; and to ensure grinding accuracy, the grinding module can only grind one drill bit at a time. The working cycle of the robotic arm module in this application does not exceed that of the grinding module, reducing the time spent waiting for the robotic arm module to be in place between two grinding operations.

[0034] There is some overlap in the cycle time between the robotic arm module and the grinding module. The overlap time is the time required for one pick-up and drop by the dual clamping component 2. That is, after one grinding is completed, it is necessary to wait for the dual clamping component 2 to remove the ground drill bit and place another drill bit to be ground before the next grinding can begin.

[0035] Compared to the existing technology that uses a single clamping component 21, the combination of two clamping components 21 allows the clamping drive component 1 to perform both picking and placing operations by moving the drive component 1 only once between the placement station and the grinding station. This reduces the time required for each picking and placing operation and decreases the time between two grinding operations, thereby improving the efficiency of fully automated drill bit grinding.

[0036] Reference Figure 1The conveying module includes a conveyor belt 61, which is placed on the ground. One side of the conveyor belt 61 along its length is a placement station. A placement tray 62 for placing drill bits is provided on the conveyor belt 61. The placement tray 62 rests on the conveyor belt 61, and there is static friction between the bottom wall of the placement tray 62 and the belt of the conveyor belt 61. The drill bit includes a drill bit body and a protective ring sleeved on the peripheral wall of the drill bit. The protective ring is located at the middle of the drill bit body along its length, and the tip of the drill bit body is exposed outside the protective ring. The inner peripheral wall of the protective ring is tightly connected to the outer peripheral wall of the drill bit body by friction, making it difficult for the drill bit body to detach from the protective ring under its own weight. Several circular holes 621 are formed on the top wall of the placement tray 62. The circular holes 621 are blind holes. In this embodiment, each placement tray 62 has fifty circular holes 621 arranged in an array. The protective ring is inserted into the circular hole 621, and the drill bit is set vertically upward; the outer peripheral wall of the protective ring slides in fit with the inner wall of the circular hole 621.

[0037] A push cylinder 63 is installed on the conveyor belt 61 at the placement station. The push cylinder 63 is installed on the side of the conveyor belt 61 away from the grinding module, and the cylinder shaft of the push cylinder 63 is oriented towards the grinding module. A push block 64 is installed on the cylinder shaft of the push cylinder 63. A baffle 65 is installed on the side of the conveyor belt 61 away from the push cylinder 63. The cylinder shaft of the push cylinder 63 drives the push block 64 to move closer to or away from the baffle 65.

[0038] Worn drill bits are collected by a collecting device and placed tip-up on a placement tray 62. Once the placement tray 62 is full of drill bits to be ground, the conveyor belt 61 starts, moving the collecting tray from the collecting device to the placement station. When the placement tray 62 reaches the placement station, the conveyor belt 61 stops, at which point the placement tray 62 and the push block 64 are aligned in the width direction of the conveyor belt 61. The push cylinder 63 starts, and its cylinder shaft extends, driving the push block 64 closer to the placement tray 62. After the push block 64 contacts the side wall of the placement tray 62, it pushes the placement tray 62 until the side wall of the placement tray 62 abuts against the baffle 65, thus positioning the placement tray 62. The placement tray 62 is difficult to move, facilitating the clamping member 21 to grip the drill bits. Once all the drill bits on the placement tray 62 have been ground and adjusted, the cylinder shaft of the push cylinder 63 retracts, causing the push block 64 to disengage from the placement tray 62. The conveyor belt 61 then starts, transporting the placement tray 62 to the next station and moving another placement tray 62 filled with drill bits to be ground to the grinding station. The above steps are repeated to achieve automated transport and positioning of the placement tray 62.

[0039] Reference Figure 1 and Figure 2A base 31 is placed on the ground near the baffle 65 on the side of the conveyor belt 61, and the grinding module is mounted on the base 31. The grinding module includes a grinding assembly 3, which includes a coarse grinding part 32 and a fine grinding part 33. The coarse grinding part 32 and the fine grinding part 33 are mounted on the side wall of the base 31 near the conveyor belt 61. In this embodiment, the coarse grinding part 32 is a motor-driven coarse grinding wheel, and the fine grinding part 33 is a motor-driven fine grinding wheel. The grinding surface of the fine grinding wheel is vertically arranged, and the grinding surface of the coarse grinding wheel and the grinding surface of the fine grinding wheel are at an angle, with the grinding surface of the coarse grinding wheel facing upwards towards the conveyor belt 61.

[0040] A moving table 34 is provided on the side of the coarse grinding wheel and the fine grinding wheel near the conveyor belt 61. The moving table 34 is horizontally slidably mounted on the base 31, and the direction of movement of the moving table 34 is parallel to the length direction of the conveyor belt 61. A slide rail is installed on the base 31, and the moving table 34 is slidably mounted on the slide rail. The moving table 34 is driven by a motor. A grinding clamping assembly 4 is provided on the moving table 34. The grinding clamping assembly 4 can cooperate with the double clamping assembly 2 to complete the transfer of the drill bit, and the grinding clamping assembly 4 clamps the drill bit for grinding.

[0041] Reference Figure 2 and Figure 3 The grinding clamping assembly 4 includes an axial rotation drive 45, the housing of which is mounted on a moving stage 34. In this embodiment, the axial rotation drive 45 is a motor. A universal joint 43 is mounted on the output shaft of the axial rotation drive 45, and the first end of the universal joint 43 is bolted to the output shaft of the axial rotation drive 45. The second end of the universal joint 43 is fitted into the first end, and a columnar chuck seat 42 is bolted to the second end of the universal joint 43. One end of the chuck seat 42 is connected to the universal joint 43 along its length, and the other end is fitted with a needle chuck 41, which can clamp the end of the drill bit body away from the needle. The axis of the drill bit and the axis of the chuck seat 42 are in a straight line. The axial rotation drive 45 drives the chuck seat 42 and the needle chuck 41 to rotate about the axis of the chuck seat 42 through the universal joint 43.

[0042] A radial rotation drive 44 is mounted on the moving stage 34, located on one side of the universal joint 43. In this embodiment, the radial rotation drive 44 is a motor. A plate is bolted to the output shaft of the radial rotation drive 44, and a positioning plate 46 is bolted to the end of the plate away from the radial rotation drive 44. The positioning plate 46 has an oblong hole 47, and a chuck seat 42 is inserted into the oblong hole 47. The positioning plate 46 is located on the side of the chuck seat 42 closer to the needle chuck 41. The chuck seat 42 can move between the first circular end 471 and the second circular end 472 of the oblong hole 47, and the outer peripheral wall of the chuck seat 42 slides against the inner wall of the oblong hole 47. The radial rotation drive 44 can drive the positioning plate 46 to rotate about the output shaft of the radial rotation drive 44, thereby switching the chuck seat 42 between horizontal and vertical states.

[0043] A positioning platform 35 is mounted on the moving stage 34, and the positioning platform 35 is mounted above the radial rotation drive component 44 via a frame. A notch is provided on the side wall of the positioning platform 35. When the chuck seat 42 is in the upright position, the needle chuck 41 is located within the notch of the positioning platform 35; this position is the grinding station. The double clamping assembly 2 cooperates with the needle chuck 41 at the positioning platform 35 to transfer the drill bit.

[0044] A grinding table 36 is also mounted on the moving stage 34, and the grinding table 36 is positioned close to the rough grinding workpiece 32. Two clamping wheels 361 are provided on the grinding table 36, and the two clamping wheels 361 are rotatably mounted on the grinding table 36 via two rotating shafts. The two rotating shafts, on opposite sides, are elastically connected to the grinding table 36 via springs 363, allowing the two clamping wheels 361 to move closer or further apart along the length of the springs 363. When the chuck seat 42 is in a horizontal position, the needle chuck 41 rests against the grinding table 36, and the drill bit's protective ring is clamped between the two clamping wheels 361. At this time, the length directions of the chuck seat 42 and the drill bit form an angle with the line connecting the rough grinding workpiece 32 and the fine grinding workpiece 33.

[0045] When the drill bit is transferred, the radial rotation drive 44 controls the positioning plate 46 to be directly above the radial rotation drive 44. At this time, the chuck 42 is located at the second circular end 472 of the oblong hole 47. The chuck 42 is kept vertical under the action of the positioning plate 46, and the needle chuck 41 is located in the notch of the positioning table 35. After the needle chuck 41 releases its grip on the drill bit that has been ground, the double clamping assembly 2 removes the ground drill bit and places another drill bit to be ground. The needle chuck 41 holds the end of the drill bit to be ground that is away from the needle tip. The radial rotation drive 44 drives the positioning plate 46 to rotate clockwise downwards towards the moving table 34. The chuck 42 rotates clockwise under the action of the positioning plate 46 and gravity, and the needle chuck 41 moves from the positioning table 35 to the grinding table 36.

[0046] The drill bit's protective ring contacts the outer peripheral walls of the two clamping wheels 361, pressing the two clamping wheels 361 away from each other. When the needle chuck 41 rests against the grinding table 36, the protective ring is clamped between the two clamping wheels 361, and the two springs 363 are compressed. At this time, the length direction of the chuck seat 42 is horizontal, and it is still located at the second circular end 472 of the oblong hole 47, completing the reverse cutting of the chuck seat 42. The radial rotation drive 44 controls the positioning plate 46 to continue rotating clockwise. The chuck seat 42 is difficult to move under the action of the universal joint 43 and the grinding table 36. The chuck seat 42 disengages from the second circular end 472 of the oblong hole 47 and moves to the first circular end 471, realizing the positioning of the chuck seat 42 and reducing the occurrence of drill bit skew caused by the movement of the chuck seat 42.

[0047] At this point, the drill bit is close to the coarse grinding part 32, and the moving table 34 reciprocates along the line connecting the coarse grinding part 32 and the fine grinding part 33. The length direction of the drill bit forms an angle with the grinding surfaces of both the coarse grinding part 32 and the fine grinding part 33. During this process, the axial rotation drive 45 drives the universal joint 43 to rotate. The rotation of the universal joint 43 causes the chuck seat 42 to rotate within the first circular end 471 of the oblong hole 47 about the axis of the chuck seat 42, causing the drill bit to rotate about its axis, thus cooperating with the coarse grinding part 32 and the fine grinding part 33 for grinding. As the drill bit rotates, the two clamping wheels 361 rotate along with the protective ring under the action of friction, reducing the possibility of the drill bit body bending during grinding.

[0048] After grinding, the radial rotation drive 44 drives the positioning plate 46 to rotate counterclockwise upwards away from the moving table 34. The chuck 42 moves from the first circular end 471 of the oblong hole 47 to the second circular end 472, releasing the positioning of the chuck 42. Until the positioning plate 46 is in contact with the outer peripheral wall of the chuck 42 at the second circular end 472 away from the first circular end 471, the positioning plate 46 continues to rotate counterclockwise upwards, causing the chuck 42 to rotate counterclockwise upwards. The movement of the chuck 42 causes the drill bit to disengage from the two clamping wheels 361 and move from the grinding table 36 to the positioning table 35. The two clamping wheels 361 return to their original positions under the action of the spring 363. When the positioning plate 46 rotates to directly above the radial rotation drive 44, the chuck 42 is in a vertical position, and the chuck 42 completes the cutting process; the needle chuck 41 is located at the grinding station, and the double clamping assembly 2 also reaches the grinding station, allowing for the transfer of the drill bit.

[0049] Reference Figure 1The calibration module includes a work frame 51, which is placed on the ground on one side of the conveyor belt 61. A drill bit length compensation component 54 is installed on the work frame 51. In this embodiment, the drill bit length compensation component 54 is a cylinder-driven drill bit lifting mechanism to adjust the length of the drill bit tip extending beyond the protective ring. A visual inspection component 55 is also installed on the work frame 51 to determine whether the adjusted length of the tip extending beyond the protective ring is the standard length. A calibration table 52 is installed on the work frame 51, movably mounted on the work frame 51 and driven by a motor. A protective ring clamping component 53 is installed on the calibration table 52 to clamp the protective ring of the drill bit; the protective ring clamping component 53 extends through the height of the calibration table 52. The side of the work frame 51 closest to the grinding station is designated as the calibration station, and the calibration table 52 can drive the protective ring clamping component 53 to cyclically move between the calibration station, the drill bit length compensation component 54, and the visual inspection component 55.

[0050] During drill bit handover, the calibration table 52 controls the protective ring clamp 53 to remain at the calibration station. After the protective ring clamp 53 releases its grip on the protective ring, the double clamping assembly 2 removes the calibrated drill bit and places a ground drill bit awaiting calibration. The protective ring clamp 53 then clamps the protective ring of the drill bit. The calibration table 52 controls the protective ring clamp 53 to rotate to the drill bit length compensation component 54. The drill bit length compensation component 54 applies a pushing force to the end of the drill bit body furthest from the tip. Under the action of the protective ring clamp 53, the protective ring is difficult to move, causing the drill bit body to overcome friction and move upward relative to the protective ring to adjust the length of the tip extending beyond the protective ring. After calibration, the calibration table 52 controls the protective ring clamp 53 to rotate to the vision inspection component 55. The vision inspection component 55 detects the length of the adjusted tip extending beyond the protective ring and simultaneously checks whether the tip grinding meets the set standard. After the test is completed, the calibration table 52 controls the protective ring clamp 53 to rotate to the calibration station and releases the clamp on the protective ring. At this time, the double clamping assembly 2 also moves to the calibration station, and the drill bit can be handed over.

[0051] Reference Figure 1 The conveying module, grinding module, and calibration module are arranged in a triangular pattern. The lines connecting the placement plate 62 at the placement station, the positioning table 35 at the grinding station, and the calibration table 52 at the calibration station form an equilateral triangle. The placement plate 62 at the placement station, the positioning table 35 at the grinding station, and the calibration table 52 at the calibration station are at the same height relative to the same reference plane. The clamping drive 1 is a two-axis robot that moves in a horizontal plane.

[0052] The movable end of the clamping drive component 1 drives the dual clamping assembly 2 to cyclically move between the placement station, grinding station, and adjustment station. Within one cycle, the total moving distance of the movable end of the clamping drive component 1 is equal to the perimeter of the triangle, saving energy. Furthermore, the cost of a two-axis robot is lower than that of a three-axis robot, saving costs while maintaining movement speed.

[0053] Reference Figure 1 The dual-clamping assembly 2 includes a tooling plate 22, which is mounted on the movable end of the clamping drive member 1. Two clamping members 21 are horizontally arranged side-by-side on the tooling plate 22 along its width. Each clamping member 21 includes a first longitudinal drive member 211 and a first pneumatic gripper 212. In this embodiment, the first longitudinal drive member 211 is a cylinder. The first longitudinal drive member 211 is vertically mounted on the tooling plate 22, and its housing is bolted to the tooling plate 22. The first pneumatic gripper 212 is located below the first longitudinal drive member 211, and its output shaft extends downwards and connects to the first pneumatic gripper 212. The housing of the first pneumatic gripper 212 is bolted to the movable end of the first longitudinal drive member 211. The first longitudinal drive member 211 can drive the first pneumatic gripper 212 to reciprocate vertically, and the first pneumatic gripper 212 can clamp the tip portion of the drill bit.

[0054] When the clamping drive 1 moves the tooling plate 22 to the set position, one of the first pneumatic grippers 212 is idle and aligned with the drill bit to be gripped. The first longitudinal drive 211, connected to the idle first pneumatic gripper 212, drives the first pneumatic gripper 212 to descend and grip the tip of the drill bit, and then rises while gripping the drill bit. The clamping drive 1 drives the tooling plate 22 to move along the width of the tooling plate 22, so that the other first pneumatic gripper 212, which is holding the drill bit that has completed the previous process, is aligned with the empty space left after gripping the drill bit. The first longitudinal drive 211 drives the first pneumatic gripper 212 to descend and place the drill bit. After placement, the first longitudinal drive 211 and the first pneumatic gripper 212 reset, and one drill bit handover is completed. Compared to existing technologies that use robotic arms and single gripper 21 to transfer drill bits, which require the robotic arm to move twice between adjacent modules for picking and placing, this method improves the efficiency of drill bit handover by reducing the movement of the moving end of the gripper drive 1, thereby improving the efficiency of full automation.

[0055] The implementation principle of Example 1 is as follows: The clamping drive 1 drives two first pneumatic grippers 212 to move to the placement position via the tooling plate 22, and the empty first pneumatic grippers 212 are aligned with the drill bit to be clamped. The two first longitudinal drive 211, the two first pneumatic grippers 212 and the clamping drive 1 cooperate to pick up and place the drill bit. The clamping drive 1 drives the two first pneumatic grippers 212 to move to the grinding position via the tooling plate 22. After the first pneumatic grippers 212 and the needle chuck 41 cooperate to exchange the drill bit, the drill bit to be ground is clamped by the needle chuck 41. The radial rotation drive 44 controls the chuck seat 42 to reverse through the positioning plate 46. After the chuck seat 42 is positioned by the positioning plate 46, grinding is performed. During this process, the clamping drive 1 drives two first pneumatic grippers 212 to move the ground drill bit to the adjustment station. After the first pneumatic grippers 212 cooperate with the protective ring clamping member 53 to transfer the drill bit, the ground drill bit to be adjusted is clamped by the protective ring clamping member 53. The adjustment table 52 drives the protective ring clamping member 53 to move the drill bit for length adjustment and visual inspection. During this process, the clamping drive 1 drives two first pneumatic grippers 212 to move the ground and adjusted drill bit back to the placement station, and the ground and adjusted drill bit is placed back on the placement tray 62. At the same time, a drill bit to be ground is picked up, and the above steps are repeated to grind the drill bit. The cycle time of the clamping drive 1 does not exceed the grinding cycle time. During the waiting time for grinding, the two first longitudinal drive members 211 and the two first pneumatic grippers 212 of the clamping drive 1 cooperate to complete the adjustment and pick up the new drill bit, thereby improving the efficiency of drill bit grinding. Example 2

[0056] Reference Figure 4 The difference between this embodiment and Embodiment 1 is that the dual clamping assembly 2 includes a tooling plate 22, which is bolted to the movable end of the clamping drive member 1. The clamping member 21 includes a second longitudinal drive member 213 and a second pneumatic gripper 214. In this embodiment, the second longitudinal drive member 213 is a cylinder. The housing of the second longitudinal drive member 213 is rotatably mounted on the tooling plate 22 via a rotating shaft. The second pneumatic gripper 214 is located below the second longitudinal drive member 213, and the output shaft of the second longitudinal drive member 213 is rotatably connected to the housing of the second pneumatic gripper 214 via a rotating shaft. A Y-shaped through hole 221 is provided in the thickness direction of the tooling plate 22, and the inner wall of the Y-shaped through hole 221 is smoothly formed. Two rollers 215 are rotatably mounted on the side of the second pneumatic gripper 214 near the tooling plate 22. The two rollers 215 are arranged along the length of the pneumatic gripper and are rolled in the Y-shaped through hole 221. The two second pneumatic grippers 214 are respectively located on both sides of the Y-shaped through hole 221. The two second longitudinal drive members 213 drive the two second pneumatic grippers 214 to the bottom of the Y-shaped through hole 221 in sequence.

[0057] The implementation principle of Example 2 is as follows: When the clamping drive 1 drives the tooling plate 22 to move to the set position, the bottom end of the Y-shaped through hole 221 is aligned with the drill bit to be gripped. The cylinder shaft of the second longitudinal drive 213, which is connected to the empty second pneumatic gripper 214, extends, driving the second pneumatic gripper 214 to move vertically downward along the trajectory of the Y-shaped through hole 221, then tilt downward for a distance, and then move vertically downward to the bottom end of the Y-shaped through hole 221, so that the second pneumatic gripper 214 is aligned with the drill bit to be gripped and clamps the tip of the drill bit. Then, the second pneumatic gripper 214 clamps the drill bit and resets along the original trajectory. The cylinder shaft of another second longitudinal drive 213 extends, driving another second pneumatic gripper 214 to move vertically downward along the trajectory on the other side of the Y-shaped through hole 221, then tilt downward for a distance, and then move vertically downward to the bottom end of the Y-shaped through hole 221, where the drill bit that has completed the previous process is placed. Compared to Example 1, in Example 2, the clamping drive 1 does not need to move during drill bit exchange, reducing the time wasted due to the movement of the clamping drive 1. This improves the efficiency of the fully automated process by increasing the efficiency of drill bit exchange. The fixed position of the drill bit exchange fixture plate 22 enhances the stability during the drill bit exchange process.

[0058] This application also discloses a needle grinding method using a circuit board engraving needle grinding device. (Refer to...) Figure 5 The needle grinding method includes the following steps: Transmission module: A1. The conveyor belt 61 moves the placement tray 62, which is filled with drill bits to be ground, to the placement station. The conveyor belt 61 stops, and the push cylinder 63 drives the push block 64 to press the placement tray 62 against the baffle 65. Under the friction between the placement tray 62 and the baffle 65, the placement tray 62 is difficult to move. A2. The cylinder 63 drives the push block 64 to disengage from the placement plate 62, releasing the control of the placement plate 62. The conveyor belt 61 starts and drives the placement plate 62, which is filled with grinding and adjusted drill bits, to leave the placement station and move the next placement plate 62 to the placement station. robotic arm module: B1. The clamping drive 1 moves the tooling plate 22 to the placement station. One clamping member 21 clamps the adjusted drill bit, while the other clamping member 21 is left empty. The empty clamping member 21 is aligned with the drill bit to be clamped. B2. The clamping member 21, which is in an unused state, descends to clamp a drill bit to be ground, and then resets after clamping; B3. The clamping drive 1, in conjunction with another clamping component 21, descends to place the adjusted drill bit clamped on it back onto the placement plate 62. After placement, it is reset, and the clamping component 21 is left unused. B4. The clamping drive 1 moves the tooling plate 22 to the grinding station, so that the clamping part 21, which is in an empty state, is aligned with the notch of the positioning table 35. B5. The clamping member 21, which is in an unused state, descends to clamp the ground drill bit on the needle chuck 41, and then resets after clamping. B6. The clamping drive 1, in conjunction with another clamping component 21, descends to place the drill bit to be ground, which is clamped on it, into the needle chuck 41. After placement, it resets, and the clamping component 21 is left unused. B7. The clamping drive 1 moves the tooling plate 22 to the adjustment station, so that the clamping component 21, which is in an empty state, is aligned with the protective ring clamping component 53. B8. The clamping member 21, which is in an unused state, descends to clamp the drill bit on the protective ring clamping member 53 after the adjustment is completed, and then resets after clamping. B9. The clamping drive unit 1, together with another clamping unit 21, descends to place the grinding drill bit clamped on it into the protective ring clamping unit 53, and then resets after clamping. Return to step B1 to proceed to the next iteration; Grinding module: C1. The radial rotation drive 44 drives the positioning plate 46 to continue rotating counterclockwise. The positioning plate 46 is located on the inner wall of the second round end 472 away from the first round end 471, pushing the chuck seat 42 to rotate counterclockwise around the universal joint 43 as the axis. The protective ring disengages from the two clamping wheels 361. Until the positioning plate 46 rotates to the highest point, the chuck seat 42 remains vertical in the second round end 472. At this time, the needle chuck 41 moves to the grinding station, the chuck seat 42 completes the cutting, and the needle chuck 41 releases its grip on the ground drill bit. C2. After the needle chuck 41 holds the drill bit to be ground, the radial rotation drive 44 drives the positioning plate 46 to rotate clockwise. Under the action of the positioning plate 46 and gravity, the chuck seat 42 rotates clockwise around the universal joint 43 until the chuck seat 42 rotates to a horizontal position. The needle chuck 41 rests on the grinding table 36, and the protective ring is held by the two clamping wheels 361. The chuck seat 42 completes the tool reversal. At this time, the chuck seat 42 is located inside the second round end 472. C3. The radial rotation drive 44 drives the positioning plate 46 to continue rotating clockwise. The chuck 42 is difficult to move under the action of the universal joint 43 and the grinding table 36. The chuck 42 moves from the second round end 472 of the waist-shaped hole 47 to the first round end 471 until the positioning plate 46 is located at the inner wall of the first round end 471 away from the second round end 472 and abuts against the outer peripheral wall of the chuck 42. The chuck 42 is difficult to move, and the positioning of the chuck 42 is completed. C4. The coarse grinding part 32 and the fine grinding part 33 are started. The moving table 34 drives the needle on it to move back and forth in the line connecting the coarse grinding part 32 and the fine grinding part 33, first coarse grinding and then fine grinding. During the grinding process, the axial rotation drive 45 drives the chuck seat 42 and the needle chuck 41 to rotate around the axis of the chuck seat 42 through the universal joint 43. This drives the drill bit held on the needle chuck 41 to rotate along its axis, cooperating with the coarse grinding part 32 and the fine grinding part 33 to perform grinding. The two clamping wheels 361 rotate towards each other under the action of the protective ring. C5. After grinding, the radial rotation drive 44 drives the positioning plate 46 to rotate counterclockwise, releasing the positioning of the chuck 42. The chuck 42 moves from the first round end 471 of the oblong hole 47 to the second round end 472. Return to step C1 to proceed to the next iteration; Tuning module: D1. The calibration table 52 drives the protective ring clamp 53 and the calibration completed drill bit clamped thereon to move to the calibration station, and the protective ring clamp 53 releases the protective ring of the calibration completed drill bit. D2. The protective ring clamping component 53 clamps the protective ring of the drill bit that has been ground and is to be adjusted. The adjustment table 52 drives the protective ring clamping component 53 and the drill bit to move to the drill bit length compensation component 54. D3. The movable end of the drill bit length compensation component 54 pushes the drill bit body upward. The protective ring is difficult to move under the action of the protective ring clamping component 53, causing the drill bit body to move upward relative to the protective ring, and adjusting the length of the drill bit tip extending out of the protective ring to the standard length. D4. The calibration table 52 drives the protective ring clamp 53 and the drill bit on it to move to the visual inspection component 55 after calibration. D5. Visual inspection component 55 performs visual inspection on the drill bit tip on the protective ring clamping component 53; Return to step D1 to proceed to the next iteration; In this process, only after step C1 (clamping head 42) is completed can step B5 (clamping member 21) begin, allowing the grinding completed drill bit to be removed from the needle chuck 41. Only after step B6 (clamping member 21) places the drill bit to be ground onto the needle chuck 41 can step C2 (needle chuck 41 clamping the drill bit to be ground and chuck head 42 reversing) begin. Only after step D1 (adjustment table 52) moves the protective ring clamping member 53 to the adjustment station and releases the adjusted drill bit can step B8 (clamping member 21) begin, allowing the adjusted drill bit to be removed. Only after step B9 (clamping member 21) places the drill bit to be adjusted onto the protective ring clamping member 53 can step D2 (protective ring clamping member 53 clamping the protective ring and adjustment table 52 moving the protective ring and the drill bit thereon to the drill bit length compensation member 54 begin.

[0059] The time between two C4 grinding operations = C5 release positioning + C1 tool setting + B4 retrieving the grinding completed drill bit + B5 placing the drill bit to be ground + C2 tool reversing + C3 positioning. The implementation principle of the needle grinding method in this application embodiment is as follows: Since the cycle time of step C4 is relatively long, and the required grinding time cannot be reduced, the cycle time of the robotic arm module does not exceed that of the grinding module. That is, when the chuck holder 42 completes the cutting in step C1, step B4 is already completed. The idle clamping member 21 aligns with the notch of the positioning table 35, and the ground drill bit held on the needle chuck 41 is aligned with the idle clamping member 21. This reduces the waiting time of the grinding module and improves the efficiency of the fully automated process. Compared to the single clamping member 21 in the prior art, the cooperation of two clamping members 21 allows the clamping drive 1 to perform both pick-up and placement operations by only moving a long distance between the placement station and the grinding station once. By reducing the time required for a single pick-up and placement, the time interval between two grinding operations is reduced, thus improving the efficiency of fully automated drill bit grinding.

[0060] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A circuit board engraving needle grinding device, characterized in that: The system includes a conveying module, through which the drill bit is transported. A grinding module and an adjustment module are provided on one side of the conveying module. A robotic arm module is also provided on one side of the conveying module. The robotic arm module includes a clamping drive (1) and a dual clamping assembly (2). The dual clamping assembly (2) is mounted on the movable end of the clamping drive (1). The clamping drive (1) drives the dual clamping assembly (2) to move cyclically between the conveying module, the grinding module, and the adjustment module. The dual clamping assembly (2) includes two clamping members (21). The two clamping members (21) cooperate to pick up and place the drill bit to improve the efficiency of drill bit grinding. The grinding module includes a grinding component (3) and a grinding clamping component (4) for holding the drill bit; a base (31) is provided on one side of the width direction of the conveying module, the grinding component (3) is mounted on the base (31), the grinding component (3) includes a coarse grinding part (32) and a fine grinding part (33); a moving stage (34) is provided on the base (31), the moving stage (34) is located on the side of the base (31) close to the conveying module, the grinding clamping component (4) is mounted on the moving stage (34), the moving stage (34) drives the grinding clamping component (4) to move back and forth parallel to the line connecting the coarse grinding part (32) and the fine grinding part (33); the length direction of the drill bit held by the grinding clamping component (4) has an angle with the line connecting the coarse grinding part (32) and the fine grinding part (33); The grinding clamping assembly (4) includes a needle chuck (41), a chuck seat (42), a universal joint (43), a radial rotation drive (44), and an axial rotation drive (45). The housing of the axial rotation drive (45) is mounted on a moving stage (34). The first end of the universal joint (43) is connected to the movable end of the axial rotation drive (45), and the second end of the universal joint (43) is connected to the chuck seat (42). The needle chuck (41) is mounted on the end of the chuck seat (42) away from the universal joint (43). The axial rotation drive (45) can drive the chuck seat (42) to rotate about the axis of the chuck seat (42). The radial rotation drive (44) is mounted on the moving stage (34). On 34), the movable end of the radial rotation drive (44) is connected to the chuck seat (42), and the radial rotation drive (44) can drive the chuck seat (42) to rotate around the universal joint (43) as the axis; a positioning table (35) and a grinding table (36) are installed on the moving stage (34), the positioning table (35) is installed above the radial rotation drive (44), and the grinding table (36) is set close to the rough grinding part (32); the radial rotation drive (44) drives the chuck seat (42) to rotate and drive the needle chuck (41) to move between the positioning table (35) and the grinding table (36), and the double clamping assembly (2) moves to the positioning table (35) and cooperates with the needle chuck (41) to exchange the drill bit.

2. The circuit board engraving needle grinding device according to claim 1, characterized in that: The dual clamping assembly (2) includes a tooling plate (22), which is mounted on the movable end of the clamping drive (1). Two clamping members (21) are arranged side by side on the tooling plate (22) in a horizontal direction. Each clamping member (21) includes a first longitudinal drive (211) and a first pneumatic gripper (212). The first longitudinal drive (211) is vertically mounted on the tooling plate (22), and the first pneumatic gripper (212) is mounted on the movable end of the first longitudinal drive (211). The first pneumatic gripper (212) is capable of clamping the tip of the drill bit. The clamping drive (1), the first longitudinal drive (211), and the first pneumatic gripper (212) cooperate to pick up and put down the drill bit.

3. The circuit board engraving needle grinding device according to claim 1, characterized in that: The dual clamping assembly (2) includes a tooling plate (22), which is mounted on the movable end of the clamping drive member (1); the clamping member (21) includes a second longitudinal drive member (213) and a second pneumatic gripper (214), the second longitudinal drive member (213) is rotatably mounted on the tooling plate (22), and the output shaft of the second longitudinal drive member (213) is rotatably connected to the second pneumatic gripper (214); a Y-shaped through hole (221) is provided in the thickness direction of the tooling plate (22), and the Y-shaped through hole (221) is provided in the tooling plate (22). 1) The inner wall is smoothly arranged. Two rollers (215) are rotatably installed on the side of the second pneumatic gripper (214) near the tooling plate (22). The two rollers (215) are arranged along the length direction of the pneumatic gripper. The rollers (215) are rolled in the Y-shaped through hole (221). The two second pneumatic grippers (214) are respectively arranged on both sides of the Y-shaped through hole (221). The two second longitudinal drive members (213) drive the two second pneumatic grippers (214) to the bottom end of the Y-shaped through hole (221) in sequence.

4. The circuit board engraving needle grinding device according to claim 1, characterized in that: The grinding clamping assembly (4) further includes a positioning plate (46), on which a waist-shaped hole (47) is provided. The chuck seat (42) is inserted into the waist-shaped hole (47), and the chuck seat (42) is movable between the first round end (471) and the second round end (472) of the waist-shaped hole (47). The outer peripheral wall of the chuck seat (42) slides in fit with the inner wall of the waist-shaped hole (47). The positioning plate (46) is connected to the movable end of the radial rotation drive (44). The positioning plate (46) is driven to rotate so as to drive the chuck seat (42) to rotate; the grinding table (36) is provided with two clamping wheels (361), and the two clamping wheels (361) are rolled on the grinding table (36) through two rotating shafts. The two rotating shafts are elastically connected to the grinding table (36) through springs (363) on opposite sides. The two clamping wheels (361) can move closer or further away from each other along the length direction of the springs (363). The protective ring of the drill bit can be clamped between the two clamping wheels (361).

5. The circuit board engraving needle grinding device according to claim 4, characterized in that: The calibration module includes a work frame (51), a calibration table (52), a protective ring clamp (53), and a drill bit length compensation component (54). The calibration table (52) is movably mounted on the work frame (51) and is driven by a motor. The protective ring clamp (53) is set on the calibration table (52). The drill bit length compensation component (54) is mounted on the work frame (51) to adjust the length of the drill bit tip extending out of the protective ring. A visual inspection component (55) is also provided on the work frame (51). The conveying module includes a conveyor belt (61) and a placement tray (62) placed on the conveyor belt (61). The placement tray (62) has several circular holes (621) and the protective ring of the drill bit is inserted into the circular holes (621).

6. The circuit board engraving needle grinding device according to claim 5, characterized in that: The positions of the conveying module, grinding module and adjustment module are arranged in a triangle. The line connecting the placement plate (62) at the placement station, the positioning table (35) at the grinding station and the adjustment table (52) at the adjustment station forms an equilateral triangle. The placement plate (62) at the placement station, the positioning table (35) at the grinding station and the adjustment table (52) at the adjustment station are at the same height relative to the same reference plane. The clamping drive (1) is a horizontally arranged two-axis robot.

7. A needle grinding method using the circuit board engraving needle grinding device according to claim 6, characterized in that, Includes the following steps: Transmission module: A1. The conveyor module moves the placement tray (62) filled with drill bits to be ground to the placement station; A2. The conveyor module drives the placement tray (62) filled with grinding and adjusted drill bits away from the placement station; Robotic arm module: B1. The clamping drive (1) moves the dual clamping assembly (2) to the placement station; B2. The clamping member (21) in an unused state descends to clamp a drill bit to be ground, and then resets after clamping; B3. Another clamping piece (21) descends and places the adjusted drill bit clamped on it back onto the placement plate (62). After placement, it is reset, and the clamping piece (21) is left unused. B4. The clamping drive (1) moves the dual clamping assembly (2) to the grinding station; B5. The clamping member (21) in the idle state descends to clamp the ground drill bit on the needle chuck (41), and then resets after clamping; B6. Another clamping member (21) descends and places the drill bit to be ground, which is clamped on it, into the needle chuck (41). After placement, it resets and the clamping member (21) is left unattended. B7. The clamping drive (1) moves the dual clamping assembly (2) to the calibration station; B8. The clamping member (21) in the idle state descends to clamp the drill bit on the protective ring clamping member (53) after adjustment, and resets after clamping; B9. Another clamping piece (21) descends and places the ground drill bit clamped on it into the protective ring clamping piece (53), and then resets after placement; Return to step B1 to proceed to the next iteration; Grinding module: C1. The radial rotation drive (44) drives the positioning plate (46) to rotate, which in turn drives the chuck seat (42) to stand the knife and the needle chuck (41) to move to the grinding station and loosen the clamping of the drill bit. C2. After the needle chuck (41) holds the drill bit to be ground, the radial rotation drive (44) drives the positioning plate (46) to rotate and drive the chuck seat (42) to reverse the blade, and the needle chuck (41) moves to the grinding table (36). C3. The radial rotation drive (44) drives the positioning plate (46) to position the chuck seat (42); C4. The moving stage (34) and the axial rotation drive (45) work together with the rough grinding part (32) and the fine grinding part (33) to perform grinding; C5. The radial rotation drive (44) drives the positioning plate (46) to release the positioning of the chuck seat (42): Return to step C1 to proceed to the next iteration; Tuning module: D1. The calibration table (52) moves the protective ring clamp (53) to the calibration station, and the protective ring clamp (53) releases the protective ring of the drill bit after calibration. D2. The protective ring clamp (53) clamps the protective ring of the drill bit that has been ground and is to be adjusted. The adjustment table (52) drives the protective ring clamp (53) to move to the drill bit length compensation part (54). D3. Drill bit length compensation component (54) Adjusts the length of the drill bit tip extending out of the protective ring to the standard length; D4. The calibration table (52) moves the protective ring clamp (53) to the visual inspection component (55); D5. Visual inspection component (55) performs visual inspection on the drill bit; Return to step D1 to proceed to the next iteration.

8. The needle grinding method according to claim 7, characterized in that: Step B5 can only begin after step C1 is completed, and step C2 can only begin after step B6 is completed; step B8 can only begin after step D1 is completed, and step D2 can only begin after step B9 is completed; the cycle time of the robotic arm module does not exceed the cycle time of the grinding module.

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