Cutter head, circuit board machining equipment and cutter changing control method

Abstract

The invention provides a tool changing control method. The tool changing control method comprises the steps that a main shaft assembly is controlled to transfer a tool between a tool disc and a tool apron in a tool disc area; the main shaft assembly is controlled to transfer the cutterhead between the conveying assembly on the workbench and the cutterhead area; the cutter head comprises a plurality of cutters; and the conveying assembly and the temporary storage device are controlled to transfer the cutterhead. The invention further provides a cutter head and circuit board machining equipment. According to the cutter head, the circuit board processing equipment and the cutter changing control method, full-automatic cutter head changing is achieved, cost is reduced, space is saved, and cutter head changing efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of circuit board processing equipment, and more specifically, to a tool disc, circuit board processing equipment, and a tool changing control method. Background Art

[0002] At present, in order to improve the production efficiency of circuit board processing equipment, circuit board processing equipment is developing towards automation and intelligence. During the processing of circuit board processing equipment, it is necessary to replace the board and the tool. The automatic replacement of the board can be achieved through the cache device and AGV equipment. The cutter disc loaded with the tool is fixed on the workbench. How to realize the fully automatic replacement of the cutter disc is a technical problem that technicians in this field urgently need to solve.

[0003] Public Content

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a tool disc, circuit board processing equipment and a tool changing control method.

[0005] According to a first aspect of the present disclosure, a tool changing control method is provided, comprising: controlling a spindle assembly to transfer a tool between a tool disc and a tool holder in a tool disc area; controlling the spindle assembly to transfer a tool disc between a transport assembly on a workbench and a tool disc area; the tool disc comprises a plurality of tools; controlling the transport assembly and a cache device to transfer the tool disc; the tool disc comprises a new tool disc or an old tool disc.

[0006] In some embodiments of the present disclosure, during the process of transferring the cutter disc between the transport component and the cutter disc area, the new cutter disc and the old cutter disc are replaced using an intermediate transfer position, and the intermediate transfer position is located on the transport component or the workbench.

[0007] In some embodiments of the present disclosure, during the transfer of the cutter disc between the transport assembly and the cutter disc area, the spindle assembly is controlled to pick up one of the new cutter disc and the old cutter disc and move across the other in the height direction along the movement direction of the worktable.

[0008] In some embodiments of the present disclosure, along the movement direction of the workbench, the transport assembly includes a first end close to the cutter disc area, a second end close to the cache device, and a first middle position therebetween; the new cutter disc is controlled to move from the second end to the first end; and the spindle assembly is controlled to pick up the old cutter disc and move across the new cutter disc from the cutter disc area to the first middle position.

[0009] In some embodiments of the present disclosure, a distance between the first middle position and the first end is smaller than a distance between the first middle position and the second end.

[0010] In some embodiments of the present disclosure, along the movement direction of the workbench, the transport assembly includes a first end close to the cutter disc area, a second end close to the cache device, and a second middle position therebetween; the spindle assembly is controlled to pick up the old cutter disc and move from the cutter disc area to the first end; the new cutter disc is controlled to move from the second end to close to the old cutter disc, and the old cutter disc stops the new cutter disc at the second middle position.

[0011] In some embodiments of the present disclosure, during the process of transferring the cutter disc between the transport assembly and the cutter disc area, the spindle assembly is controlled to pick up a new cutter disc or an old cutter disc and move along the direction of the crossbeam, and the worktable and the spindle assembly are controlled to move relative to each other so that one of the new cutter disc and the old cutter disc moves around the other.

[0012] In some embodiments of the present disclosure, the cutter disc area includes a temporary storage location, and the spindle assembly is controlled to transfer a new cutter disc or an old cutter disc between the transport assembly and the temporary storage location.

[0013] In some embodiments of the present disclosure, the cache device includes a first layer and a second layer stacked in the height direction, and the old cutter disc is controlled to be transferred from the cutter disc area to the first layer via the transport component, and the new cutter disc is controlled to be transferred from the second layer to the cutter disc area via the transport component.

[0014] In some embodiments of the present disclosure, the spindle assembly includes a first robot arm and a spindle clamp. During the process of transferring the cutter disc between the transport assembly and the cutter disc area on the workbench, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the spindle clamp picks up the other, and the positions of the new cutter disc and the old cutter disc are at different heights.

[0015] In some embodiments of the present disclosure, the spindle assembly includes a first robot arm and a second robot arm. During the process of transferring the cutter disc between the transport assembly and the cutter disc area on the workbench, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the second robot arm picks up the other, and the new cutter disc and the old cutter disc have different positions in the first direction or the third direction.

[0016] In some embodiments of the present disclosure, along the height direction, the spindle assembly includes a first position, in which the spindle assembly at least includes a state of picking up a cutter disc; the spindle assembly includes a third position, the height of the third position is less than the height of the first position, and in the third position, the spindle assembly picks up an old cutter disc from the cutter disc area, or places a new cutter disc in the cutter disc area; the spindle assembly includes a second position located between the first position and the third position, in which the spindle assembly picks up a new cutter disc from the transport assembly, or places the old cutter disc on the transport assembly.

[0017] According to a second aspect of the present disclosure, there is provided a circuit board processing device, including a workbench and a spindle assembly, wherein a cutter disc area and a processing area are provided on the workbench, wherein the cutter disc area includes at least one cutter disc; a liftable transport assembly is provided in the processing area, wherein the transport assembly includes a first end adjacent to the cutter disc area and a second end away from the cutter disc area, and the cutter disc moves between the first end and the second end; the spindle assembly transports the cutter disc between the first end and the cutter disc area; and at the second end, the transport assembly transports the cutter disc outward.

[0018] In some embodiments of the present disclosure, a cutter disc is provided in the cutter disc area, the long side direction of the cutter disc is perpendicular to the extension direction of the transport component, and in the movement direction of the workbench, the central axis of the cutter disc is not colinear with the central axis of the transport component.

[0019] In some embodiments of the present disclosure, the cutter disc area includes a temporary storage position and a cutter disc position, and the cutter disc position and the temporary storage position are symmetrical about the extension line of the central axis of the transport component.

[0020] In some embodiments of the present disclosure, the spindle assembly includes a first robot arm and a second robot arm disposed on both sides of the spindle clamp, and the first robot arm and the second robot arm are used to pick up the tool and the tool disc.

[0021] In some embodiments of the present disclosure, the spindle assembly includes a spindle clamp and a first robot arm, and the spindle clamp and the first robot arm selectively pick up and transport the tool tray.

[0022] According to a third aspect of the present disclosure, there is provided a circuit board processing device, comprising: a workbench, on which a tool disc area and a processing area are provided, the tool disc area comprising at least one tool disc; a cache component, the cache component being located between the workbench and a front baffle, the cache component and the workbench switching between a connected state and a separated state, in which a spindle component transports the tool disc between the cache component and the tool disc area; in which the cache component transports the tool disc to the outside in the separated state.

[0023] In some embodiments of the present disclosure, the circuit board processing equipment also includes a locking member, which is configured to control the switching of the cache assembly and the workbench between the connected and separated states; in the connected state, the cache assembly moves synchronously with the workbench to under the spindle assembly.

[0024] According to a fourth aspect of the present disclosure, a tool disc is provided, which is arranged on a workbench of a circuit board processing device, the tool disc comprises a main body, a middle area is formed in the middle of the main body, a plurality of groups of grid grooves are arranged in the middle area, each group of grid grooves is provided with a plurality of tool holes arranged in a matrix, and each tool hole can accommodate a tool; a cylindrical lifting portion is provided on the inner side surface of the bottom of the main body, and the lifting portion extends toward the opening direction of the middle area for transferring the tool disc on the workbench.

[0025] In some embodiments of the present disclosure, the lifting portion passes through the center of gravity of the impeller.

[0026] In some embodiments of the present disclosure, a plurality of groups of grid grooves are arranged along the long side direction of the rectangle at the bottom of the body, and the lifting portion is located between two adjacent groups of grid grooves.

[0027] In some embodiments of the present disclosure, the lifting portion passes through a knife hole, and the knife hole passing through the lifting portion is located in the central area of ​​the middle region.

[0028] According to a fifth aspect of the present disclosure, a cutter disc is provided, which is arranged on a workbench of a circuit board processing device. The cutter disc includes a main body, a middle area is formed in the middle of the main body, a plurality of groups of grid grooves are arranged in the middle area, each group of grid grooves is provided with a plurality of tool holes arranged in a matrix, and each tool hole can accommodate a tool; the top end surfaces of the opposite side edges of the main body are respectively provided with a cylindrical lifting portion, and the lifting portion is perpendicular to the top end surface, so as to be used for transporting the cutter disc on the workbench.

[0029] In some embodiments of the present disclosure, two pins are provided on the outer side of the bottom of the main body, and the pins extend in a direction away from the bottom; a line connecting the two pins and a line connecting the two lifting parts are perpendicular to each other.

[0030] In some embodiments of the present disclosure, the lifting portion is made of a flexible material, and when the cutter disc is transported, at least a section of the lifting portion is in a curved shape to fine-tune the position of the cutter disc relative to the workbench.

[0031] In some embodiments of the present disclosure, in the cutter disc, the height of the lifting portion is less than or equal to the height of the cutter, and the diameter of the lifting portion is less than or equal to the maximum diameter of the cutter.

[0032] In some embodiments of the present disclosure, the lifting portion is fixedly connected to the body in the axial direction and movably connected in the radial direction; in the radial direction, an elastic member is provided between the lifting portion and the body.

[0033] The above-mentioned cutter disc, circuit board processing equipment and tool change control method disclosed in the present invention have the following technical effects: (1) A lifting part is set on the cutter disc, and the cutter disc is picked up by the spindle assembly and transported to the rear side by the transport assembly, which provides a technical solution for replacing the cutter disc from the rear side without changing the structure of the existing workbench and has lower cost. (2) The cutter disc and the circuit board are transported by the transport assembly and the spindle assembly to achieve sharing, save cost and time, and improve the efficiency of replacing the cutter disc and the circuit board. (3) This cutter disc structure cooperates with the structure of the cutter disc area and the transport assembly to improve the positioning accuracy of the cutter disc and improve the stability of the conveying and transfer of the cutter disc.

[0034] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0036] Figure 1 It is a partial structural diagram of a circuit board processing device, a buffer device, and a self-moving transport device provided in one embodiment of the present disclosure;

[0037] Figure 2 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0038] Figure 3 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0039] Figure 4 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0040] Figure 5 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0041] Figure 6 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0042] Figure 7 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0043] Figure 8 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0044] Fig. 9 It is a schematic diagram of the structure of a cutter disc provided in an embodiment of the present disclosure;

[0045] Fig.10 It is a schematic diagram of the structure of a cutter disc provided in an embodiment of the present disclosure;

[0046] Fig.11 It is a schematic diagram of the structure of a cutter disc provided in an embodiment of the present disclosure;

[0047] Fig.12 It is a schematic diagram of the structure of a cutter disc provided in an embodiment of the present disclosure;

[0048] Fig.13 It is a schematic diagram of the structure of a cutter disc provided in an embodiment of the present disclosure;

[0049] Fig.14 It is a partial structural schematic diagram of a circuit board processing device provided by an embodiment of the present disclosure;

[0050] Fig.15 It is a partial flow chart of a tool changing control method provided by an embodiment of the present disclosure;

[0051] Figures 1 to 15 The one-to-one correspondence between the component names and the figure marks is as follows: 100, circuit board processing equipment; 200, cache device; 300, self-moving transportation equipment; 10, workbench; 20, spindle assembly; 30, beam; 40, base; 11, processing area; 12, tool disc area; 110, transportation assembly; 1101, first end; 1102, second end; 1103, first middle position; 1104, second middle position; 111, notch; 120, tool disc position; 121, tool holder; 13, cache assembly; 21, spindle clamp; 22, first robot arm; 50, tool disc; 51, body; 52, middle area; 53, grid groove; 54, tool hole; 55, lifting part; 56, pin; 57, elastic member; 210, first layer, 220, second layer. DETAILED DESCRIPTION

[0052] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure. The following description of at least one exemplary embodiment is actually merely illustrative and is by no means intended to limit the present disclosure and its application or use. Techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered part of the specification. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0053] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings. In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to indicate the relative position relationship between the relevant parts, rather than to limit the absolute positions of these relevant parts. In this article, "first", "second", "third", "fourth", etc. are only used to distinguish each other, rather than to indicate the importance and order, as well as the premise of mutual existence, etc. In this article, "equal", "same", "aligned", "vertical", "horizontal", "back side", "front side", "synchronous", "sequentially", "center of gravity", "symmetrical", etc. are not strict mathematical and / or geometric limitations, but also include errors that can be understood by those skilled in the art and allowed by manufacturing or use.

[0054] like Figure 1As shown, the tool change management system in the present disclosure includes a circuit board processing device 100, a cache device 200 and a self-moving transport device 300. Under the control of the tool change management system, the self-moving transport device 300 exchanges the cutter disc with the cache device 200, and the cache device 200 exchanges the cutter disc with the circuit board processing device 100. During the loading process, the self-moving transport device 300 loads a new cutter disc from the cutter disc warehouse and moves to the vicinity of the cache device 200, transfers the new cutter disc to the cache device 200, and the cache device 200 then transfers the new cutter disc to the circuit board processing equipment 100. During the unloading process, the circuit board processing equipment 100 transfers the old cutter disc to the cache device 200, the cache device 200 transfers the old cutter disc to the self-moving transport device 300, and the self-moving transport device 300 then transfers the old cutter disc to the cutter disc warehouse. In actual application scenarios, the ports between the two devices, the new cutter disc and the old cutter disc cannot be exchanged at the same time. In order to improve efficiency and save time in transferring the cutter disc, the new cutter disc and the old cutter disc are exchanged in sequence; the new cutter disc is transferred first and then the old cutter disc, or the old cutter disc is transferred first and then the new cutter disc. For example, in the process of transferring the cutter disc between the circuit board processing equipment 100 and the cache device 200, the cache device 200 first transfers the new cutter disc to the circuit board processing equipment 100, and then the circuit board processing equipment 100 transfers the old cutter disc to the cache device 200, and the two actions are performed successively to improve the efficiency of tool change. Alternatively, the circuit board processing equipment 100 transfers the old cutter disc to the cache device 200, and then the cache device 200 transfers the new cutter disc to the circuit board processing equipment 100, and the two actions are performed successively to improve the efficiency of tool change.

[0055] In the upper and lower embodiments of the present disclosure, in the cutter disc warehouse, the cutting tools in the old cutter disc are processed through processes such as milling and grinding, and then inspected, sorted and organized into new cutter discs, and then transported to the circuit board processing equipment for continued use. On the circuit board processing equipment, the new cutting tools are used to the preset life and then retracted into the old cutter disc and transported to the cutter disc warehouse. This reciprocating cycle is repeated until the cutting tools do not meet the parameter requirements of the processing technology and are scrapped. Therefore, the cutter disc includes a new cutter disc and an old cutter disc, and the new cutter disc and the old cutter disc, the new cutting tools and the old cutting tools are all relative. The new cutter disc and the new cutting tools include unused cutting tools that have not reached their lifespan, and the old cutter disc and the old cutting tools include cutting tools that have reached their preset lifespan and have been used. For the circuit board processing equipment, loading refers to transporting the cutter disc loaded with new cutting tools to the workbench for the spindle assembly to select and use; unloading refers to transporting the cutter disc loaded with old cutting tools from the workbench to the cache device.

[0056] like Figures 1 to 3As shown, the circuit board processing equipment 100 disclosed in the present invention includes a base 40, a crossbeam 30, a spindle assembly 20, a workbench 10, etc. The workbench 10 is arranged on the base 40 and moves along the second direction. The crossbeam 30 is mounted above the workbench 10, and at least one spindle assembly 20 is slidably connected to the crossbeam 30. At least one spindle assembly 20 moves along the first direction on the crossbeam 30; each spindle assembly 20 clamps a tool at the bottom end, and the tool moves along the third direction to process the circuit board carried on the workbench 10. At least one processing area 11 and a cutter disc area 12 are arranged on the workbench 10, each processing area 11 carries a circuit board, and a corresponding cutter disc area 12 is arranged outside each processing area 11. The spindle assembly 20 picks up the tool in the cutter disc area 12 to process the circuit board in the processing area 11. The first direction, the second direction, and the third direction are perpendicular to each other. In the upper and lower embodiments of the present disclosure, the direction along the crossbeam is the first direction, the direction of movement of the workbench is the second direction, and the height direction is the third direction. These three directions are perpendicular to each other and will not be repeated here. In the contextual embodiments of the present disclosure, the circuit board processing equipment can be implemented as drilling equipment, forming equipment, gong machine equipment, drilling and gong integrated equipment, etc., which are not limited here. The number of spindle assemblies of the circuit board processing equipment can be one, two, three, five, six, ten, twelve, etc. The processing area and the tool disc area on the workbench correspond one-to-one with the spindle assemblies, and the number of the tool disc area and the spindle assemblies is the same, which is used to replace the tool of the corresponding spindle assembly.

[0057] like Figures 1 to 6As shown, the circuit board processing equipment 100 includes a workbench 10, and the workbench 10 includes a cutter disc area 12 and a processing area 11. The cutter disc area 12 and the processing area 11 are staggered, and the height of the cutter disc area 12 is lower than that of the processing area 11. The cutter disc area 12 is provided with a cutter seat 121 and a cutter disc position 120, and the cutter disc position 120 can store a cutter disc 50. The cutter disc 50 is rectangular, and the long side direction of the cutter disc is perpendicular to the extension direction of the transport component 110. In the movement direction of the workbench, the central axis of the cutter disc is not collinear with the central axis of the transport component. In the cutter disc area 12, in order to increase the capacity of the cutter disc, it is necessary to increase the area percentage of the cutter disc position and the cutter disc area, reduce the space of components such as the cutter seat, and improve the space utilization rate; but the floor area of ​​components such as the cutter seat can only be infinitely small, not zero, so the area of ​​the cutter disc position is squeezed, so that the central axis of the cutter disc in the cutter disc position is biased to one side of the central axis of the transport component 110, and will not be collinear. The processing area 11 is provided with a transport assembly 110 that can be raised and lowered. In the raised state, the transport assembly 110 can convey the circuit board or the cutter disc along the notch 111 guided by the pin. In the lowered state, the transport assembly 110 is lowered below the table of the processing area 11, and the circuit board is carried on the table of the processing area 11. On the crossbeam 30 of the circuit board processing equipment, at least one spindle assembly 20 is slidably connected. Each spindle assembly 20 includes a spindle clamp 21 and a first mechanical arm 22. The spindle clamp 21 and the first mechanical arm 22 are fixedly mounted on the bottom plate, and the bottom plate is slidably connected to the crossbeam 30.

[0058] In the above and below embodiments of the present disclosure, Figure 2 As shown, the transport assembly 110 on the workbench 10 includes two groups of pulleys extending along the second direction. The power source drives the two groups of pulleys to move in the same direction at the same time to transport the circuit board or the cutter disc on the workbench 10. The workbench 10 is provided with two strip-shaped gaps for the two groups of pulleys to rise and fall. When rising, the pulleys extend from the strip-shaped gaps to a position higher than the surface of the workbench 10 to lift the circuit board or the cutter disc. When descending, the pulleys descend from the strip-shaped gaps to a position lower than the surface of the workbench 10, and the circuit board is placed on the surface of the workbench. The transport assembly 110 here not only transports the circuit board, but also transports the cutter disc, and transfers the cutter disc between the front and rear sides of the workbench to realize the transfer of the cutter disc between the cutter disc area 12 and the cache device 200. A pin groove or an air clamp assembly is also provided between the two groups of pulley assemblies on the workbench 10. Both the pin groove and the air clamp assembly are provided with a notch 111 extending in the second direction, and the notch 111 is for the pin 56 at the bottom of the circuit board or the cutter disc to pass through. The pin 56 and the notch 111 cooperate to guide the circuit board or the cutter disc 50 so that the circuit board or the cutter disc 50 can be stably and reliably transmitted on the pulley without position displacement.

[0059] In the above and below embodiments of the present disclosure, Figure 3As shown, each spindle assembly 20 includes a spindle clamp 21 and a first robot arm 22. The spindle clamp 21 is used to clamp the tool. The driving mechanism drives the spindle clamp 21 and the tool to move along the third direction to process the circuit board carried by the processing area 11 on the workbench 10. The first robot arm 22 is used to transport the tool, pick up the tool in the tool disk and transfer it to the tool holder 121, or transfer the tool on the tool holder 121 to the tool disk. Regardless of the spindle clamp 21 or the first robot arm 22, a clamping claw for clamping the tool is provided at the bottom end. At the same time, the spindle clamp 21 and the first robot arm 22 select one of the lifting part 55 of the tool disk to pick up the tool disk through the clamping claw, and are used to transport the tool disk 50 between the transport component 110 of the workbench and the tool disk area 12.

[0060] The circuit board processing equipment also includes a front baffle, a safety door and a human-machine interaction component. With the crossbeam 30 as a reference, the spindle assembly 20, the front baffle, the safety door and the human-machine interaction component are arranged on the front side, and the rear side is provided with an opening for transporting and exchanging circuit boards and cutter discs with the cache device 200. The workbench 10 is below the crossbeam 30 and reciprocates between the front side and the rear side to achieve displacement in the second direction. The cutter disc area 12 is arranged on the front side of the workbench 10, and is located on the front side of the crossbeam 30 together with the front baffle, the safety door and the human-machine interaction component. In the upper and lower embodiments of the present disclosure, the human-machine interaction component includes a display screen, a keyboard, a mouse, etc., which are used by technicians to monitor and manage the parameters of the circuit board processing equipment; the front baffle and the safety door constitute the guardrail and isolation wall on the front side, which play a role in safety protection.

[0061] Before processing the circuit board, the first step is to load the material, which includes transferring the cutter disc and the circuit board to the circuit board processing equipment. The buffer device transfers a cutter disc to the cutter disc area through the transport component on the workbench, and the buffer device then transfers a circuit board to the processing area through the transport component on the workbench. The cutter disc is loaded with multiple tools for processing the circuit board. During the process of transferring the cutter disc between the transport component and the cutter disc area, the first robot arm of the spindle assembly picks up the lifting part on the cutter disc and transfers the cutter disc from the transport component to the cutter disc area.

[0062] The second is tool grabbing. The spindle assembly and the worktable move relative to each other. The first robot arm picks up the tool in the tool disc in the tool disc area and transfers the tool to the tool holder. The spindle clamp of the spindle assembly picks up the tool on the tool holder and moves along the third direction to process the circuit board in the processing area. After the tool has completed processing or reached the end of its life, the first step is to retract the tool. The spindle assembly and the worktable move relative to each other. The spindle clamp retracts the clamped tool to the tool holder in the tool disc area. The first robot arm picks up the tool on the tool holder and unloads it into the tool disc in the tool disc area.

[0063] The last step is unloading, which includes the circuit board processing equipment transferring the cutter disc and circuit board to the buffer device. The transport assembly rises and lifts the circuit board, and transfers the processed circuit board to the buffer device. The first robot arm of the spindle assembly picks up the lifting part of the cutter disc, transfers the cutter disc from the cutter disc area to the transport assembly, and transfers the cutter disc to the buffer device through the transport assembly.

[0064] In the upper and lower embodiments of the present disclosure, the frequency of changing the cutter disc is less than the frequency of changing the circuit board. That is to say, when the cutter disc is replaced, the circuit board must be replaced at the same time, and the cutter disc does not necessarily need to be replaced when the circuit board is replaced, because each cutter disc has multiple types of multiple tools built in, which can meet the processing of at least one circuit board. Therefore, on the workbench, when the cutter disc is replaced, the circuit board also needs to be replaced. At the same time, the cutter disc and the circuit board are both transported from the front side to the back side of the circuit board processing equipment, and exchanged with the cache device from the opening on the back side. In order to avoid the road occupation and congestion of the two on the transport component, it is possible to unload the old circuit board first, and transfer the processed old circuit board to the cache device through the transport component. Secondly, replace the cutter disc, including transferring the new cutter disc to the transport component, and transferring the old cutter disc to the transport component, and transferring the new cutter disc from the transport component to the cutter disc area. Finally, load the new circuit board, and transfer the circuit board to be processed to the processing area through the transport component.

[0065] To realize the automatic replacement of the cutter disc of the present disclosure, as Figures 1 to 13 As shown, the present disclosure provides a circuit board processing equipment, including a workbench and a spindle assembly, the workbench is provided with a cutter disc area and a processing area, the cutter disc area includes at least one cutter disc; the processing area is provided with a liftable transport assembly, the transport assembly includes a first end adjacent to the cutter disc area and a second end away from the cutter disc area, the cutter disc moves between the first end and the second end; the spindle assembly transfers the cutter disc between the first end and the cutter disc area; at the second end, the transport assembly transfers the cutter disc outward. This circuit board processing equipment provides a solution for replacing the cutter disc, using the transport assembly on the workbench to transfer the cutter disc from the front side of the workbench to the rear side, thereby realizing the upper and lower cutter disc from the rear side of the circuit board processing equipment; at the same time, using the spindle to clamp the lifting part of the cutter disc and transfer the cutter disc, the cutter disc is transferred between the transport assemblies in the cutter disc area, thereby providing a method for transporting the cutter disc.

[0066] During the working process of the above-mentioned circuit board processing equipment, Fig.15As shown, a tool changing control method is provided, comprising the following steps: S100: controlling the spindle assembly to transfer the tool between the cutter disc and the tool holder in the cutter disc area; S200: controlling the spindle assembly to transfer the cutter disc between the transport assembly on the workbench and the cutter disc area; the cutter disc includes a plurality of tools; S300: controlling the transport assembly and the cache device to transfer the cutter disc. This tool changing control method uses the spindle assembly to transfer the tool, and then continues to use the spindle assembly to pick up the lifting part of the cutter disc and transfer the cutter disc to the transport assembly, and then transfers the cutter disc to the cache device through the transport assembly. This tool changing control method realizes the full automatic replacement of the tool and the cutter disc, and provides a new method for changing the cutter disc from the back side of the workbench. The spindle assembly picks up the lifting part, transfers the cutter disc, and then transfers the cutter disc through the transport assembly, thereby realizing the full automatic transfer and transmission of the cutter disc from the back side of the workbench. It provides a simpler and lower-cost method for automatic tool changing of circuit board processing equipment.

[0067] In some embodiments of the present disclosure, during the process of transferring the cutter disc between the transport component and the cutter disc area, the new cutter disc and the old cutter disc are replaced by a transfer position, and the transfer position is located on the transport component or the workbench. A transfer position is set on the transport component or the workbench, and on the conveying path formed by the transport component and the cutter disc area, the new cutter disc can be loaded and the old cutter disc can be unloaded in sequence, thereby providing the efficiency of the cutter disc replacement. Specifically, whether it is a leap-forward transport or a bypass transport, the transfer position can be implemented as a first intermediate position or a second intermediate position. Since the transfer position is set on the transport component, the transfer function can be reused while the cutter disc is transferred from the transport component, which not only reduces costs but also improves efficiency. A transfer position can also be set on the workbench, as long as the cutter disc can be temporarily cached; since there is no circuit board on the workbench and it is in an idle state when the cutter disc is replaced, a transfer position is set on the workbench to temporarily store the cutter disc, which not only saves costs but also improves the efficiency of replacing the cutter disc. Specifically, the transfer position can be set at any suitable position with a small stroke on the transport component or the workbench, and no restrictions are made here.

[0068] In some embodiments of the present disclosure, during the process of transferring the cutter disc between the transport assembly and the cutter disc area, the new cutter disc and the old cutter disc are controlled to move across the other in the height direction along the movement direction of the workbench. Figures 1 to 6As shown, during the process of conveying the cutter disc, the conveying component is in an ascending state, lifting the new cutter disc and / or the old cutter disc. In the height direction, the height of the transport component is greater than the height of the workbench, and the height of the workbench is greater than the height of the cutter disc area. Therefore, there is a height difference between the cutter disc on the transport component and the cutter disc in the cutter disc area. During the process of transferring the cutter disc between the transport component and the cutter disc area, along the movement direction of the workbench, that is, the second direction, the new cutter disc is controlled to move across the old cutter disc in the height direction; or, the old cutter disc is controlled to move across the new cutter disc in the height direction to avoid interference between the two. On the workbench, from the front side to the back side of the circuit board processing equipment, a conveying path is formed by the cutter disc area and the transport component, and this path extends along the second direction. Therefore, during the process of the new cutter disc and the old cutter disc encountering each other during transportation, in order to avoid interference, the spindle component picks up one cutter disc and moves across the other cutter disc to change the positions of the two, so as to unload the old cutter disc and load the new cutter disc. The span here means that in the tool disc area and the processing area on the workbench, one tool disc moves from the back to the front of the other tool disc. During the movement, the two will not interfere with each other, but the projections in the height direction will at least partially overlap.

[0069] In some embodiments of the present disclosure, Figures 4 to 5 As shown, along the movement direction of the workbench, the transport assembly includes a first end close to the cutter disc area, a second end close to the buffer device, and a first intermediate position therebetween; the new cutter disc is controlled to move from the second end to the first end; the spindle assembly is controlled to pick up the old cutter disc and move from the cutter disc area to the first intermediate position across the new cutter disc. The distance between the first intermediate position and the first end is smaller than the distance between the first intermediate position and the second end.

[0070] In this embodiment, if Figure 4 and Figure 5As shown, on the conveying path composed of the cutter disc area and the transport component on the workbench, there is a problem of the new and old cutter discs meeting and crossing. In order to achieve the leaping transport, the present embodiment first transports the new cutter disc to the position, and then transports the old cutter disc to cross the new cutter disc. Specifically, on the conveying path composed of the cutter disc area and the transport component, four positions are included in sequence: the cutter disc area 12, the first end 1101, the first middle position 1103, and the second end 1102. The transport component 110 includes a first end 1101 close to the cutter disc area, a second end 1102 close to the buffer device, and a first middle position 1103 between the first end 1101 and the second end 1102. Among them, the distance between the first middle position 1103 and the first end 1101 is smaller than the distance between the first middle position 1103 and the second end 1102. The process of conveying the new and old cutter discs includes: first loading the new cutter disc, and controlling the transport component 110 to convey the new cutter disc from the second end 1102 to the first end 1101. Then unload the old cutter disc, control the spindle assembly 20 to pick up the lifting part 55 on the old cutter disc, and move the old cutter disc from the cutter disc area 12 to the first intermediate position 1103. During the transportation process, cross the new cutter disc in the height direction to avoid physical interference with the new cutter disc, so as to achieve the exchange position sequence of the new and old cutter discs. Finally, move the new cutter disc. After the old cutter disc is moved from the cutter disc area 12 to the first intermediate position 1103, control the spindle assembly 20 to move from the first intermediate position 1103 to the first end 1101, pick up the lifting part 55 of the new cutter disc, and move the new cutter disc from the first end 1101 to the cutter disc area 12. After the new cutter disc is loaded, the old cutter disc is transferred from the first intermediate position 1103 to the second end 1102 to the cache device 200 by the transport assembly 110. The transmission and transportation of the new and old cutter discs in this way can save time and improve the efficiency of replacing the cutter discs. On the other hand, it can improve the positioning accuracy of the new and old cutter discs on the transport assembly, prevent the cutter discs from being excessively offset during the transportation and transportation process, and thus reduce the equipment failure rate. Therefore, when the spindle assembly 20 transports the old cutter disc to the first intermediate position 1103, the distance between the first intermediate position 1103 and the first end 1101 is set to be smaller than the distance between the first intermediate position 1103 and the second end 1102, mainly to reduce the time and distance of the old cutter disc in the air as much as possible, prevent the cutter disc from swinging too much, improve the positioning accuracy of the cutter disc, and reduce the failure rate of the cutter disc being transported on the transport assembly 110.

[0071] In some embodiments of the present disclosure, the leap-forward transport can be exchanged in order, that is, the old cutter disc can be unloaded first, and then the new cutter disc can be loaded. Specifically, the spindle assembly picks up the old cutter disc and suspends the old cutter disc above the cutter disc area. The transport assembly is controlled to transfer the new cutter disc from the second end to the first end, and the spindle assembly then places the old cutter disc in the first middle position. Finally, the spindle assembly transfers the new cutter disc at the first end to the cutter disc area, and the transport assembly transfers the old cutter disc from the first middle position to the second end, thereby achieving the purpose of automatic cutter disc change.

[0072] In some embodiments of the present disclosure, along the movement direction of the workbench, the transport assembly includes a first end close to the cutter disc area, a second end close to the cache device, and a second intermediate position therebetween; the spindle assembly is controlled to pick up the old cutter disc and move from the cutter disc area to the first end; the new cutter disc is controlled to move from the second end to close to the old cutter disc, and the old cutter disc stops the new cutter disc.

[0073] In this embodiment, there is a problem of the new and old cutter discs meeting and crossing each other on the conveying path formed by the cutter disc area on the workbench and the transport assembly. Figures 4 to 6 As shown, in order to achieve leapfrogging transportation, the present embodiment first transfers the old cutter disc to the transport assembly, and then transfers the new cutter disc to leapfrog the old cutter disc. Specifically, on the transport path formed by the cutter disc area 12 and the transport assembly 110, four positions are included in sequence: the cutter disc area 12, the first end 1101, the second middle position 1104, and the second end 1102. The transport assembly 110 includes a first end 1101 close to the cutter disc area, a second end 1102 close to the buffer device 200, and a second middle position 1104 between the first end 1101 and the second end 1102. The conveying process of the new and old cutter discs is as follows: first unload the old cutter disc, control the spindle assembly 20 to pick up the lifting part of the old cutter disc, and transport the old cutter disc from the cutter disc area 12 to the first end 1101 of the transport assembly 110. Then load the new cutter disc, and the transport assembly 110 transfers the new cutter disc from the second end 1102 to near the old cutter disc. During the movement of the new cutter disc from the second end 1102 to the old cutter disc, the old cutter disc stops the new cutter disc at the second middle position 1104 on the pulley of the transport component 110. The two are slightly collided and stopped and are close to each other, which is conducive to fine-tuning and correcting the position of the new cutter disc on the transport component, improving the positioning accuracy of the new cutter disc before transportation, and providing the prerequisite for the spindle component 20 to pick up the new cutter disc, cross the old cutter disc, and accurately place it in the cutter disc area, thereby achieving efficient and accurate transportation of the new cutter disc. Finally, the new cutter disc is transported from the second middle position 1104 of the transport component 110 to the cutter disc area 12. Similarly, the spindle component 20 picks up the lifting part of the new cutter disc, so that the new cutter disc crosses the old cutter disc in the height direction to avoid physical interference with the old cutter disc, and moves to the cutter disc area 12 to complete the loading of the new cutter disc. After the new cutter disc is loaded, the old cutter disc is transferred from the first end 1101 to the second end 1102 through the transport component 20 to the cache device 200. This method of conveying and transporting new and old cutter discs can, on the one hand, save time and improve the efficiency of replacing cutter discs; on the other hand, it can improve the positioning accuracy of the new and old cutter discs on the transport component 20, prevent excessive positional deviation of the cutter discs during handling and transmission, and thus reduce equipment failure rate.

[0074] In the above embodiment, if Figure 5 and Figure 6As shown, the first end 1101, the second end 1102, the first intermediate position 1103, and the second intermediate position 1104 are all positions of the tool disc 50 on the transportation component 110. These positions are preset fixed points to facilitate the movement of the spindle component to pick up the tool disc 50 from point to point when handling the tool disc, thereby improving the accuracy of tool disc handling.

[0075] In some embodiments of the present disclosure, during the process of transferring the tool disc between the transportation component and the tool disc area, the spindle component is controlled to pick up a new tool disc or an old tool disc and move along the crossbeam direction, and the workbench is controlled to move relatively so that one of the new tool disc and the old tool disc moves around the other. In this embodiment, on the encounter transfer path of the new and old tool discs, the new tool disc moves around the old tool disc, or the old tool disc moves around the new tool disc. Specifically, on the transfer path formed by the tool disc area and the transportation component, in the first method, the new tool disc is transferred from the second end of the transportation component to the first end, and the spindle component picks up the lifting part of the old tool disc and transports the old tool disc to the first intermediate position of the transportation component. During the process of the old tool disc avoiding the new tool disc, the old tool disc bypasses from the side of the new tool disc. Specifically, the spindle component can pick up the old tool disc and move along the crossbeam direction, and then control the relative movement of the workbench so that the old tool disc bypasses from the side direction of the new tool disc and moves onto the transportation component. Here, "bypassing" means that the old tool disc moves around the new tool disc to avoid it, and the movement trajectory of the old tool disc is a "匚" or a "匚" - shaped structure with the opening facing left. In the second method, the spindle component picks up the old tool disc and transfers it from the tool disc area to the first end of the transportation component. The transportation component transfers the new tool disc from the second section to be close to the old tool disc. The spindle component picks up the lifting part of the new tool disc and transports the new tool disc from the second intermediate position to the tool disc area. During the transportation process, the spindle component can pick up the new tool disc and move along the crossbeam direction, and then control the relative movement of the workbench. The new tool disc avoids the old tool disc at the first end and bypasses from the side of the old tool disc and moves to the tool disc area. Here, "bypassing" means that the new tool disc moves around the old tool disc to avoid it, and the projection of the movement trajectory of the new tool disc on the plane is a "匚" or a "匚" - shaped structure with the opening facing left. This method of transferring and transporting the new and old tool discs can, on the one hand, avoid the height difference between the spindle component of the circuit board processing equipment and the workbench being insufficient, or the height of the lifting part of the tool disc being too high, resulting in height interference during the跨越式 handling of the two tool discs, and provides a new tool disc exchange solution; on the other hand, the bypassing method can reduce the suspended time and travel of the tool disc during movement, reduce the swing amplitude, and improve the positioning accuracy of the tool disc. In this embodiment, the transfer position is the first intermediate position or the second intermediate position.

[0076] In some embodiments of the present disclosure, the cutter disc area includes a temporary storage position, and the spindle assembly is controlled to transfer a new cutter disc or an old cutter disc between the transport assembly on the workbench and the temporary storage position. In order to realize the transfer of the cutter disc between the transport assembly and the cutter disc area, a temporary storage position can be added to the cutter disc area, and the temporary storage position is used to transfer and cache the cutter disc. Specifically, on the transmission path composed of the cutter disc area and the transport assembly, the temporary storage position can be used to avoid the problem of the new cutter disc and the old cutter disc meeting each other. In the first method, the spindle assembly picks up the lifting part of the old cutter disc in the cutter disc area, and transfers the old cutter disc from the cutter disc position to the temporary storage position, and the temporary storage position temporarily stores the old cutter disc. At this time, the transport assembly transfers the new cutter disc from the second end to the first end, controls the spindle assembly to pick up the lifting part of the new cutter disc at the first end, and transfers the new cutter disc from the first end to the cutter disc position in the cutter disc area. Finally, the spindle assembly is controlled to pick up the lifting part of the old cutter disc at the temporary storage position, and transfers the old cutter disc from the temporary storage position to the first end of the transport assembly, and then transfers it to the second end through the transport assembly to the cache device. In the second method, the temporary storage position temporarily stores the new cutter disc. Specifically, the transport component transfers the new cutter disc from the second end to the first end, and the spindle component then picks up the lifting part of the new cutter disc and transfers the new cutter disc from the first end to the temporary storage position of the cutter disc area. The spindle component then picks up the lifting part of the old cutter disc and transfers the old cutter disc from the cutter disc position to the first end of the transport component, and then to the cache device through the transport component. The spindle component picks up the lifting part of the new cutter disc and transfers the new cutter disc from the temporary storage position to the cutter disc position. In some preferred implementation schemes of this embodiment, the cutter disc area includes a cutter disc position, a temporary storage position and a tool holder, and the three are linearly arranged along a first direction parallel to the crossbeam, wherein the tool holder is located in the middle area between the cutter disc position and the temporary storage position, and the cutter disc position and the temporary storage position are symmetrical about the extension line of the central axis of the transport component. This method of conveying and transporting the cutter disc does not require the cutter disc to be carried across and detoured, completely eliminates the suspended swing of the cutter disc, and improves the positioning accuracy of the cutter disc in the transport component and the cutter disc area. Although it takes a little longer to replace the cutter disc and occupies a little more space, compared with other embodiments, the air time of the cutter disc is shorter, the stroke is smaller, and the positioning accuracy is higher.

[0077] In some embodiments of the present disclosure, Figure 1As shown, the cache device 200 includes a first layer 210 and a second layer 220 stacked in the height direction. The old cutter disc is first controlled to be transferred from the cutter disc area 12 to the first layer 210 via the transport component 110, and then the new cutter disc is controlled to be transferred from the second layer 220 to the cutter disc area 12 via the transport component 110. In this embodiment, the two-layer position of the cache device 200 is used to temporarily store the old and new cutter discs to achieve the replacement of the cutter disc. Specifically, on the conveying path formed by the cutter disc area 12 and the transport component 110, the old cutter disc is first unloaded, and the spindle component is controlled to pick up the lifting part of the old cutter disc, and the old cutter disc is transferred from the cutter disc area to the first end of the transport component, and is transferred to the first layer of the cache device docking with the opening through the second end and the opening on the rear side of the circuit board processing equipment through the conveying of the transport component. The cache device is raised and lowered, and the second layer is aligned with the opening on the rear side of the road plate processing equipment. The new cutter disc starts from the second layer, passes through the opening and the transport component in sequence, and reaches the first end of the transport component, and then is picked up by the spindle component and transferred to the cutter disc area. This method of conveying and transporting new and old cutter discs provides a new solution for transporting cutter discs by setting a first and second liftable layer on the buffer device to first unload the old cutter disc and then load the new cutter disc. On the one hand, it can improve the positioning accuracy of the cutter disc and reduce the failure rate of the transported cutter disc; on the other hand, it can increase the capacity of the cutter disc, which is not limited by the space of the cutter disc area or the space in the height direction, so that the large-capacity cutter disc can be adapted to smaller circuit board processing equipment, increase the compatibility of the equipment, reduce the frequency of changing the cutter disc, and improve the processing efficiency.

[0078] In some embodiments of the present disclosure, the spindle assembly includes a first robot arm and a spindle clamp. In the process of transferring the cutter disc between the transport assembly and the cutter disc area on the workbench, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the spindle clamp picks up the other, and the new cutter disc and the old cutter disc are at different heights. In order to achieve the replacement of the cutter disc on the transmission path composed of the cutter disc area and the transport assembly, a temporary storage of the cutter disc can be set on the spindle assembly to solve the problem of the new cutter disc and the old cutter disc meeting. The spindle assembly includes a first robot arm and a spindle clamp. The first robot arm and the spindle clamp can both pick up the tool. The first robot arm and the spindle clamp can both pick up the lifting part of the cutter disc and carry the cutter disc. Specifically, when the first robot arm is used to cache a cutter disc, the spindle clamp is used to carry another cutter disc; when the spindle clamp is used to cache a cutter disc, the first robot arm is used to carry the cutter disc. There is no restriction here. In the first method, the new cutter disc is transferred from the second end to the first end through the transport component, and the first robot arm picks up the lifting part of the old cutter disc from the cutter disc area, and the old cutter disc is suspended under the first robot arm and temporarily cached in the first robot arm. The spindle clamp picks up the lifting part of the new cutter disc and transfers the new cutter disc from the first end to the cutter disc area. Finally, the first robot arm transfers the old cutter disc to the first end of the transport component and to the cache device through the second end. In the second method, the first robot arm picks up the lifting part of the old cutter disc and transfers the old cutter disc from the cutter disc area to the first end. The new cutter disc is transferred from the second end to near the old cutter disc. At this time, the spindle clamp is controlled to pick up the lifting part of the new cutter disc, and the new cutter disc is suspended under the spindle clamp and temporarily cached in the spindle clamp. The transport component transfers the old cutter disc from the first end to the second end, and the spindle clamp is controlled to transfer the new cutter disc and transport the new cutter disc to the cutter disc area. In this way, the caching of the new and old cutter discs is also achieved through the spindle assembly, providing a new way to transfer and transport the cutter disc. In this embodiment, the first mechanical arm and the main shaft clamp are spaced a certain distance apart to ensure that the two do not interfere with each other when caching the cutter disc. Specifically, the bracket connecting the first mechanical arm and the bottom plate can be extended, and the bracket ensures a reasonable distance. This method of conveying and transporting new and old cutter discs can be completed through the main shaft assembly without changing the structure of the cutter disc area and the cache device. It is more cost-effective and suitable for conveying with low positioning accuracy requirements. It provides a new solution for replacing the cutter disc.

[0079] In some embodiments of the present disclosure, the spindle assembly includes a first robot arm and a second robot arm. In the process of transferring the cutter disc between the transport assembly and the cutter disc area on the workbench, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the second robot arm picks up the other, and the positions of the new cutter disc and the old cutter disc in the first direction or the third direction are different. In order to realize the exchange of cutter discs on the transmission path composed of the cutter disc area and the transport assembly, a temporary storage of the cutter disc can be set on the spindle assembly to solve the problem of the new cutter disc and the old cutter disc meeting. The spindle assembly includes a first robot arm, a spindle clamp and a second robot arm. The second robot arm and the first robot arm are separated on both sides of the spindle clamp, and the two are separated by a predetermined distance, and the second robot arm has a basically the same structure as the first robot arm. The first robot arm, the spindle clamp and the second robot arm can all pick up cutting tools, and the first robot arm, the spindle clamp and the second robot arm can all pick up the lifting part of the cutter disc to carry the cutter disc. Specifically, when the first robot arm is used to cache a cutter disc, the second robot arm is used to carry another cutter disc; when the second robot arm is used to cache a cutter disc, the first robot arm is used to carry the cutter disc, and no restrictions are made here. In the first mode, the new cutter disc is transferred from the second end to the first end on the transport component, and the first robot arm picks up the lifting part of the old cutter disc from the cutter disc area, and the old cutter disc is suspended under the first robot arm and temporarily cached in the first robot arm. The second robot arm picks up the lifting part of the new cutter disc and transfers the new cutter disc from the first end to the cutter disc area. Finally, the first robot arm transfers the old cutter disc to the first end of the transport component and transfers it to the cache device through the second end. In the second mode, the first robot arm picks up the lifting part of the old cutter disc and transfers the old cutter disc from the cutter disc area to the first end. The new cutter disc is transferred from the second end to near the old cutter disc. At this time, the second robot arm is controlled to pick up the lifting part of the new cutter disc, and the new cutter disc is suspended under the second robot arm and temporarily cached in the second robot arm. The transport component transfers the old cutter disc from the first end to the second end to the cache device, controls the second mechanical arm to transfer the new cutter disc, and transports the new cutter disc to the cutter disc area. In this way, by setting the second mechanical arm on the main shaft assembly, the caching of the new cutter disc and the old cutter disc is also achieved, providing a new way to transport and transport the cutter disc. In this embodiment, the first mechanical arm and the second mechanical arm are separated by a certain distance to ensure that the positions of the new cutter disc and the old cutter disc in the first direction or the third direction are different when the cutter disc is cached, and no interference occurs. Specifically, the bracket connecting the first mechanical arm to the base plate can be extended, or the angle of the bracket can be deflected, and the bracket ensures a reasonable spacing. This way of transporting and transporting the new cutter disc and the old cutter disc can be completed by adding a second mechanical arm to the main shaft assembly, without changing the structure of the cutter disc area and the cache device, and has low cost and is suitable for transportation with low positioning accuracy requirements. A new solution is provided for automatically replacing the cutter disc.

[0080] In some embodiments of the present disclosure, when the dual spindle assembly duplicates and processes the circuit board in the same processing area, such as Figure 7 and Figure 8As shown, each spindle assembly 20 corresponds to an independent cutter head position 120, and the cutter head of the cutter head position supplies the spindle assembly with a tool replacement. In the first mode, a cutter head 50 is placed in each cutter head position 120, and two lifting parts 55 are provided on the cutter head, such as Figure 7 As shown, the spindle clamps 21 of two adjacent spindle assemblies pick up the lifting portion 55 respectively, adjust the position in the first direction and the second direction, and transfer the cutter disc 50 between the transport assembly 110 and the cutter disc area 12. Two cutter disc positions 120 are provided in the cutter disc area 12. The two spindle clamps 21 lift one cutter disc 50 at the same time, and replace the cutter discs in the two cutter disc positions 120 in turn. In the second method, two cutter disc positions 120 are provided in the cutter disc area 12, and a cutter disc 50 is placed in each cutter disc position 120, but the cutter disc 50 has only one lifting portion 55. Therefore, two spindle clamps 21 are not required, but only one spindle clamp 21 or the first robot arm 22 is required to pick up the lifting portion 55 and transfer the cutter disc 50 between the cutter disc position 120 and the transport assembly 110. Specifically, as Figure 8 As shown, the lifting portion 55 is located at the center of the cutter disc in the cutter disc area 120, and the spindle clamp 21 picks up the lifting portion 55 on the cutter disc in the corresponding cutter disc position 120 to transfer the cutter disc 50 between the cutter disc area 12 and the transport assembly 110. That is, for the circuit board processing equipment with dual spindle assemblies for replication processing, whether a lifting portion 55 is set on the cutter disc, such as Figure 8 As shown, two lifting parts 55 are still provided on the cutter disc, such as Figure 7 As shown, the transfer of a cutter disc can be achieved, but there are two cutter discs 50, and the cutter discs are transferred twice, which will not be described in detail here.

[0081] In some embodiments of the present disclosure, the spindle assembly includes a first position in the height direction, in which the spindle assembly at least includes a state of picking up a cutter disc. The spindle assembly includes a third position, the height of the third position is less than the height of the first position, in which the spindle assembly picks up a cutter disc from the cutter disc area, or places the cutter disc in the cutter disc area. The spindle assembly includes a second position between the first position and the third position, in which the spindle assembly picks up a cutter disc from the transport assembly, or places the cutter disc on the transport assembly.

[0082] On the workbench, there is a height difference between the cutter disc area and the processing area, and the plane height of the processing area is higher than the plane height of the cutter disc area. In the transmission state, the transport component is in an ascending state, and the height of the cutter disc lifted by the transport component is greater than the height of the processing area, and is also greater than the plane height of the cutter disc area. In order to realize the transmission of new and old cutter discs on the transmission path composed of the transport component and the cutter disc area, the spindle component needs to continuously switch the height, and perform different handling tasks at different heights. The spindle clamp can realize the position switching in the third direction, that is, the height direction, through the motor, and the first mechanical arm and / or the second mechanical arm can realize the position switching in the third direction, that is, the height direction through its own cylinder drive. The spindle assembly uses different actuators to control the actuator to change position in the height direction. Specifically, the spindle assembly includes a first position, in which the spindle assembly can pick up the cutter disc through the spindle clamp, the first mechanical arm, and the second mechanical arm. The height of the bottom of the cutter disc is at least higher than the height of the transport component, and the cutter disc is transported to the transport component, or the cutter disc on the transport component is moved away. Whether it is a new cutter disc or an old cutter disc, the spindle assembly is in the first position, at least including the state of picking up the cutter disc. The spindle assembly picks up the cutter disc and transfers it between the transport assembly and the cutter disc area, which has low cost and high positioning accuracy, and provides a way to load and unload the cutter disc from the back side of the circuit board processing equipment.

[0083] The spindle assembly also includes a third position. Since the height of the cutter disc area is lower than the height of the transport assembly in the raised state, the height of the third position is less than the height of the first position. In the third position, the spindle assembly picks up the lifting portion of the cutter disc and moves the old cutter disc in the cutter disc area, or the spindle assembly moves the new cutter disc to the cutter disc area. That is, in the third position, the spindle assembly is in a state of taking the old cutter disc or placing the new cutter disc in the cutter disc area. The spindle assembly also includes a second position. In the second position, in the height direction, the second position is between the first position and the third position, is less than the height of the first position, and is greater than the height of the third position. In the second position, the spindle assembly picks up the lifting portion of the cutter disc and places the cutter disc on the transport assembly, or moves the cutter disc away from the transport assembly. That is, in the second position, the spindle assembly is in a state of taking the new cutter disc or placing the old cutter disc on the transport assembly. By setting the fixed position height of the spindle assembly, the first position, the second position, and the third position, the point-to-point movement of the spindle assembly is achieved. By coordinating the first direction movement of the crossbeam of the spindle assembly and the second direction movement of the workbench, the movement and position change of the cutter disc in three dimensions can be achieved in a small space, thereby improving the positioning accuracy of the cutter disc in the cutter disc area and the transport assembly, and improving the efficiency of replacing the cutter disc.

[0084] The present disclosure also provides a circuit board processing device, including a workbench, a cutter disc area and a processing area are arranged on the workbench, and the cutter disc area includes at least one cutter disc; a cache component, the cache component is located between the workbench and the front baffle, and the cache component and the workbench switch between a connected state and a separated state. In the connected state, the spindle component transfers the cutter disc between the cache component and the cutter disc area; in the separated state, the cache component transfers the cutter disc to the outside. This circuit board processing device realizes the transfer of the cutter disc from the front side of the workbench through the cache component and the spindle component, and provides a technical solution for replacing the cutter disc.

[0085] Specifically, Fig.14 As shown, at least one blade disc 120 can be stored on the cache assembly 13, and the cache assembly 13 is arranged between the workbench 10 and the front baffle plate and can move along the second direction. Fig.14 As shown, in this embodiment, the circuit board processing equipment also includes a locking member, which is configured to control the cache assembly 13 and the workbench 10 to switch between a connected and separated state. When the locking member locks the cache assembly 13 and the workbench 10, the cache assembly 13 and the workbench 10 are in a connected state, and the cache assembly 13 moves synchronously with the workbench 10 to the bottom of the spindle assembly 20, and the spindle assembly 20 transfers the cutter disc between the cache assembly 13 and the cutter disc area 12. Specifically, the first mechanical arm 22 of the spindle assembly 20 picks up the lifting portion 55 on the new cutter disc or the old cutter disc, and transfers the old cutter disc from the cutter disc area 12 to the cache assembly 13, or transfers the new cutter disc from the cache assembly 13 to the cutter disc area 12. It should be noted that a transfer position can be set in the cache assembly 13 or the cutter disc area 12 for temporary transfer of the new cutter disc or the old cutter disc; when there are multiple cutter disc positions, one of the cutter disc positions can be used as a temporary multiplexing position transfer position. When the lock unlocks the cache assembly 13 and the workbench 10, the cache assembly 13 and the workbench 10 are in a separated state, and the cache assembly 13 is close to the front baffle plate, and the cutter disc is transported outward, specifically, a new cutter disc and an old cutter disc can be exchanged with the self-moving transport device 300 on the front side of the front baffle plate of the circuit board processing equipment. In this embodiment, the lock can be a magnetic suction or an air lock.

[0086] In some embodiments of the present disclosure, the cache assembly 13 includes a third robotic arm, which is suspended above the cache assembly by another crossbeam, and the third robotic arm transfers the cutter disc between the cutter disc area of ​​the cache assembly and the cutter disc area of ​​the workbench. Specifically, the spindle assembly does not need to pick up the cutter disc, and the third robotic arm picks up the lifting part of the cutter disc, such as Fig.14 As shown, the cutter disc is transferred between the cutter disc area 120 of the buffer assembly 13 and the cutter disc area 120 of the workbench 10, and the transfer can be achieved through any transfer position of the two to complete the replacement and transfer of the new cutter disc and the old cutter disc. In this embodiment, the third mechanical arm has a similar structure to the first mechanical arm and the second mechanical arm, and the lifting part of the cutter disc is picked up by the clamping claw to complete the transfer of the cutter disc, thereby realizing the replacement of the cutter disc.

[0087] In the above and below embodiments of the present disclosure, Figures 9 and 10 As shown, a cutter disc 50 is also disclosed, which is applied to the workbench 10 of the circuit board processing equipment. The cutter disc 50 includes a body 51, and a middle area 52 is formed in the middle of the body 51. A plurality of groups of grid slots 53 are arranged in the middle area 52, and each group of grid slots 53 is provided with a plurality of tool holes 54 arranged in a matrix, and each tool hole can accommodate a tool; a cylindrical lifting portion 55 is provided on the inner side surface of the bottom of the body 51, and the lifting portion 55 extends toward the opening direction of the middle area 52, so as to be used for transporting the cutter disc 50 on the workbench 10. In this cutter disc structure, the lifting portion 55 is provided at the bottom of the cutter disc 50, and the clamping claw of the spindle assembly can be used to pick up and transport the cutter disc 50, so as to realize the automatic circulation of the cutter disc 50 on the workbench 10, and provide a solution for automatically replacing the cutter disc at the rear side for the circuit board processing equipment, without changing the structure of the circuit board processing equipment, and with low cost, and the cutter disc can be replaced in the interval of replacing the circuit board, so as to improve the tool changing efficiency.

[0088] In some embodiments of the present disclosure, the lifting portion 55 passes through the center of gravity of the cutter disc 50. The cutter disc is loaded with multiple knives, and the cutter disc needs to be transported to maintain a balanced posture. The lifting portion is arranged at the bottom and passes through the center of gravity of the middle area of ​​the cutter disc, which helps to ensure the stability of the cutter disc when transporting, so that the posture of the cutter disc is as horizontal as possible during the suspended movement, and the cutter disc posture does not tilt, resulting in the cutter disc being unable to be placed on the cutter disc area or the transport component, thereby improving the positioning accuracy of the cutter disc.

[0089] In some embodiments of the present disclosure, multiple groups of slots 53 are arranged along the long side direction of the bottom, and the lifting portion 55 is located between two adjacent groups of slots 53. In the middle area 52 in the tool disc, multiple groups of slots 53 for accommodating tools are provided, and the multiple groups of slots 53 are arranged along the long side direction of the rectangular bottom, and the slots 53 are in an even number. In the middle area, there is a gap between two adjacent groups of slots 53, and the gap is used to accommodate the lifting portion 55. In other words, the lifting portion extending from the bottom is located between two adjacent groups of slots 53 in the middle area, so that the clamping claws of the spindle assembly can pick up the lifting portion 55. It should be noted that, if Fig. 9 As shown, two pins 56 are provided on the outer side of the bottom of the main body 51 , and the pins 56 cooperate with the notches 111 or the round holes to guide the movement of the cutter disc 50 .

[0090] In some embodiments of the present disclosure, Fig. 9As shown, the lifting part 55 passes through a knife hole 54 of a grid groove 53, and the knife hole 54 with the built-in lifting part is located in the central area of ​​the middle area 52. In this embodiment, the number of grid grooves 53 in the middle area 52 of the cutter disc is an odd number, and in the middle area, the middle group of grid grooves 53 occupies the space of the lifting part 55. Therefore, a knife hole 54 of the middle group of grid grooves 53 is set to allow the lifting part 55 to pass through, that is, the lifting part 55 passes through the middlemost knife hole 54 in the middle area 52. This embodiment is aimed at the structure set for the odd number of grid grooves 53 in the cutter disc area 12.

[0091] In this embodiment, the middle area 52 in the cutter disc 50 accommodates multiple groups of slots 53. The number of slots 53 determines the tool capacity of the cutter disc. In actual applications, the same number or different numbers of slots 53 can be adapted, odd-numbered slots or even-numbered slots, such as 5 groups or 6 groups, without any limitation.

[0092] In the above and below embodiments of the present disclosure, Figure 11 to Figure 12 As shown, a cutter disc 50 is also disclosed, which is arranged on the workbench 10 of the circuit board processing equipment. The cutter disc 50 includes a body 51, and a middle area 52 is formed in the middle of the body 51. A plurality of groups of grid slots 53 are arranged in the middle area 52, and each group of grid slots 53 is provided with a plurality of tool holes 54 arranged in a matrix, and each tool hole 54 can accommodate a tool; the top end surfaces of the two opposite sides of the body 51 are respectively provided with a cylindrical lifting portion 55, and the lifting portion 55 is perpendicular to the top end surface, so as to be used to transport the cutter disc 55 on the workbench 10. In this cutter disc structure, a lifting portion 55 is respectively provided on the top end surfaces of the two sides of the cutter disc, and the two lifting portions 55 can be used to pick up the lifting portions 55 and transport the cutter disc respectively by using the two clamping claws of the spindle assembly. The two lifting portions 55 transport the cutter disc 50, and the stability is higher. The automatic circulation of the cutter disc on the workbench 10 is realized, and a solution for automatically replacing the cutter disc at the rear side is provided for the circuit board processing equipment, without changing the structure of the circuit board processing equipment, and the cost is low. The cutter disc can also be replaced in the gap between replacing the circuit board, and the tool changing efficiency is improved.

[0093] In the above and below embodiments of the present disclosure, Fig.12 As shown, two pins 56 are provided on the outer side surface of the bottom of the body 51, and the pins 56 extend in a direction away from the bottom; the line connecting the two pins 56 is perpendicular to the line connecting the two lifting parts 55. In order to achieve stable transmission of the cutter disc, the lifting part 55 is located on the central axis of the rectangular cutter disc 50. In this embodiment, the lifting part 55 is located on the short side of the rectangle, and the pins 56 are located on both sides of the long side of the rectangle at the bottom of the cutter disc body. In the rectangular structure of the entire cutter disc 50, there are two lifting parts 55 in the short side direction and two pins 56 in the long side direction, and the line connecting the two lifting parts is perpendicular to the line connecting the two pins. In some preferred embodiments, the two lifting parts 55 and the two pins 56 are both located on the central axis of the rectangular cutter disc in two directions.

[0094] In the upper and lower embodiments of the present disclosure, a lifting portion 55 or two lifting portions 55 may be provided on the cutter disc 50. The lifting portion 55 is made of flexible material. When the cutter disc is transported, at least one section of the lifting portion is in a curved shape to fine-tune the position of the cutter disc relative to the workbench. In order to adapt to the stable transmission of the cutter disc and improve the positioning accuracy of the cutter disc, the cutter disc is transported and accurately placed on a predetermined transport component or cutter disc area. At least two circular holes are provided on the bottom surface of the cutter disc position and / or temporary storage position in the cutter disc area. The circular holes are inner cone structures, and the bottom surface area is smaller than the top surface area to guide the pins. The circular holes are used in conjunction with the pins to position the cutter disc in the cutter disc area. Figure 2 As shown, in the processing area 11 of the workbench 10, a notch 111 extending along the second direction is provided. The cross-section of the notch 111 is a trapezoidal structure, the bottom side of the trapezoid is smaller than the top side, and the notch cooperates with the pin to position the guide pin so as to facilitate the stable and reliable transmission of the cutter disc on the transport assembly. The notch 111 and the circular hole are both for guiding the pin 56 at the bottom of the cutter disc 50 to improve the positioning accuracy of the cutter disc. If there is a slight swing during the transportation of the cutter disc 50, the lifting part is set to a flexible material, and the structure of the notch 111 and the circular hole is matched to adapt to the position error caused by the swing of the cutter disc 50, so as to improve the stability of the cutter disc in transportation. Even if the position and posture of the cutter disc changes, the cutter disc 50 can be placed in the transport assembly 110 or the cutter disc area 12 through the guidance of the notch 111 and the circular hole, and the deformation of the flexible lifting part 50, which is a curved shape in a certain section.

[0095] In the upper and lower embodiments of the present disclosure, in the cutter disc 50, the height of the lifting portion 55 is less than or equal to the height of the tool, and the diameter of the lifting portion 55 is less than or equal to the maximum diameter of the tool. In the cutter disc, the tool has a predetermined height and diameter, and the lifting portion 55 also has a predetermined height and diameter. Setting the height of the lifting portion 55 to be less than the height of the tool in the cutter hole of the cutter disc can save space and prevent the cutter disc 50 from physically interfering with other cutter discs and the spindle assembly 20 during transportation. Setting the cylindrical diameter of the lifting portion 55 to be less than the maximum diameter of the tool, unifying the specifications, facilitating the picking up of the spindle assembly 20, and saving costs.

[0096] In the above and below embodiments of the present disclosure, Fig.13As shown, the lifting part 55 is fixedly connected to the body 51 in the axial direction and movably connected in the radial direction; in the radial direction, an elastic member 57 is arranged between the lifting part 55 and the body 51. Regardless of whether there are one or two lifting parts 55, the lifting part 55 is connected to the body 51 of the cutter disc. The connection between the lifting part 55 and the body 51 is fixedly connected in the axial direction, and in the radial direction, an elastic member 57 is arranged between the lifting part and the body, so that the lifting part and the body are movably connected and can be relatively displaced. In this embodiment, the lifting part 55 is made of a rigid material. The displacement caused by this movable connection can cause the pin 56 of the cutter disc 50 to be slightly displaced when it is aligned with the notch 111 or the circular hole, and the alignment is stable and reliable. Even if the posture of the cutter disc 50 is offset, the relative displacement of the elastic member 57 can cause the cutter disc to correct its position and posture and accurately align the notch or circular hole. Thereby improving the positioning accuracy of the cutter disc 50 during transportation.

[0097] In the present disclosure, the circuit board processing equipment adopts the above-mentioned cutter disc and applies the tool changing control method to realize the fully automatic replacement of the cutter disc from the back side of the circuit board processing equipment, with small equipment changes, low cost, high efficiency and high stability. It should be noted that the circuit board processing equipment includes a built-in application: object parameters, which can process the circuit board by calling the object parameters corresponding to the circuit board to be processed. At the same time, the circuit board processing equipment includes preset characteristic object parameters for replacing the cutter disc. During the process of processing the circuit board, when the command to change the cutter disc is triggered, the program of the characteristic object parameters is executed to control the automatic replacement of the cutter disc. The characteristic object parameters can be embedded in the object parameters, and the cutter disc can be automatically replaced when processing the circuit board.

[0098] In the upper and lower embodiments of the present disclosure, the buffer device is fixedly arranged at the rear side of the circuit board processing equipment, and the cutter disc and the circuit board are sequentially transferred through the same buffer device through the opening to realize loading and unloading.

[0099] Application scenario 1

[0100] This embodiment takes the circuit board processing equipment as a six-axis drilling equipment, a straddle-type transport cutter disc, and a single lifting unit as an example, and describes in detail the structure of the cutter disc, the structure of the circuit board processing equipment, and the tool change control method.

[0101] like Figures 1 to 6 , Fig. 9 , Fig.10 , Fig.13 , Fig.15As shown, the circuit board processing equipment of this embodiment includes a base 40, a crossbeam 30, a spindle assembly 20, a workbench 10, etc. The workbench 10 is arranged on the base 40 and moves along the second direction. The crossbeam 30 is mounted above the workbench 10, and six spindle assemblies 20 are slidably connected on the crossbeam 30. Each spindle assembly 20 moves along the first direction on the crossbeam; the spindle clamp 21 at the bottom of each spindle assembly 20 clamps a tool, and the tool moves along the third direction to process the circuit board carried on the workbench 10. Six processing areas 11 and six tool disk areas 12 are arranged on the workbench 10, each processing area 11 carries a circuit board, and a corresponding tool disk area 12 is arranged outside each processing area 11. The spindle assembly 20 picks up the tool in the tool disk to process the circuit board in the processing area 11. The first direction, the second direction, and the third direction are perpendicular to each other.

[0102] In order to realize automatic replacement of the cutter disc, the circuit board processing equipment of this embodiment includes a workbench 10 and a spindle assembly 20. The workbench 10 is provided with a cutter disc area 12 and a processing area 11. The cutter disc area 12 includes a cutter disc 50. The processing area 11 is provided with a liftable transport assembly 110. The transport assembly 110 includes a first end 1101 adjacent to the cutter disc area 12 and a second end 1102 away from the cutter disc area 12. The cutter disc 50 moves between the first end 1101 and the second end 1102. The spindle assembly 20 transfers the cutter disc 50 between the first end 1101 and the cutter disc area 12. At the second end 1102, the transport assembly 110 transfers the cutter disc 50 to the outside. In the process of transferring the cutter disc 50, the spindle assembly 20 picks up the lifting portion 55 of the cutter disc 50 to change the position of the cutter disc 50.

[0103] In this embodiment, the cutter disc 50 includes a body 51, and a middle area 52 is formed in the middle of the body 51. A plurality of groups of slots 53 are arranged in the middle area 52, and each group of slots 53 is provided with a plurality of knife holes 54 arranged in a matrix, and each knife hole 54 can accommodate a knife. A cylindrical lifting portion 55 is provided on the inner side surface of the bottom of the body 51, and the lifting portion 55 extends toward the opening direction of the middle area 52, so as to be used for transporting the cutter disc 50 on the workbench 10. In this embodiment, the lifting portion 55 passes through the center of gravity of the cutter disc 50. Fig. 9 As shown, the cutter disc 50 is provided with five groups of slots, each group of slots can accommodate 100 cutters, and the five groups of slots are arranged along the long side direction of the rectangular cutter disc, wherein the lifting portion 55 passes through a cutter hole 54 in the middle of the third group of slots 53, so that the gripper of the first robot arm 22 can pick up the lifting portion 55 of the cutter disc 50.

[0104] At the same time, in the present embodiment, the lifting portion 55 is made of a rigid material, which can be made of aluminum alloy, hard plastic or the same tungsten steel material as the tool, and is not limited here. A connecting hole is provided at the connection between the lifting portion 55 and the cutter disc body 51, and an elastic member 57 is provided in the connecting hole. The connecting hole enables the lifting portion 55 to be fixedly connected to the body 51 in the axial direction, and in the radial direction, an elastic member 57 is provided around the lifting portion 55, so that the lifting portion 55 is movably connected to the connecting hole. The elastic deformation of the elastic member 57 enables a certain amount of activity surplus between the cutter disc 50 and the lifting portion 55, making it easier for the cutter disc 50 to align with the circular hole of the cutter disc area 12 and the notch 111 of the processing area 11, thereby improving the stability and alignment accuracy of the cutter disc when being transported.

[0105] In this embodiment, the tool change control method is described in detail below in combination with the tool disc and the circuit board processing equipment. In this embodiment, the tool disc 50 is transported in a leaping manner.

[0106] S100, controlling the spindle assembly to transfer the tool between the tool disc and the tool holder in the tool disc area.

[0107] like Figures 1 to 3 As shown, on the workbench 10 of the circuit board processing equipment, the cutter disc area 12 includes a cutter disc position 120 and a cutter holder 121. A cutter disc 50 is stored on the cutter disc position 120, and 500 cutters are stored in the cutter disc 50. The cutter holder 121 includes two temporary transfer cutters. During the processing of the circuit board processing equipment, the spindle assembly 20 picks up the cutter in the cutter disc 50 for processing the circuit board carried in the processing area 11. Each cutter has a predetermined lifespan, and each processing point on the circuit board may require a different type of cutter. Therefore, there is a problem of changing cutters during the processing. Specifically, controlling the spindle assembly 20 to transfer cutters between the cutter disc 50 and the cutter holder 121 in the cutter disc area 12 includes:

[0108] S110, controlling the spindle clamp 21 of the spindle assembly to unload the clamped old tool to a tool holder 121.

[0109] S120, controlling the first robot arm 22 of the spindle assembly to pick up a new tool from the tool disc 50 in the tool disc area 12 and place it on another tool holder 121.

[0110] S130, control the spindle clamp 21 to pick up a new tool on another tool holder 121.

[0111] S140 , controlling the first robot arm 22 to pick up a used tool on a tool holder 121 that has just been unloaded, and transporting it to the tool disc 50 in the tool disc area 12 .

[0112] During the above-mentioned tool changing process, the two tool holders 121 are spaced apart by a predetermined distance to ensure that there is no physical interference when the spindle clamp 21 and the first robot arm 22 pick up or unload the tool. At the same time, the movement of the first robot arm 22 and the spindle clamp 21 requires the coordination of the spindle assembly 20 moving along the first direction of the beam and the workbench 10 moving along the second direction, which will not be described in detail here. In practical applications, the processing speed of the tool is very fast, and the speed of changing the tool is also fast, mainly to improve efficiency and reduce the time for changing the tool. However, the tool disc 50 has a limited capacity. When 500 tools are replaced or processed, the tool disc 50 needs to be replaced as a whole.

[0113] S200, controlling the spindle assembly to transfer the cutter disc between the transport assembly and the cutter disc area on the workbench; the cutter disc includes a plurality of cutting tools.

[0114] In this embodiment, since the cutter disc 50 is provided with a lifting portion 55, the cutter disc 50 can be picked up by the first robot arm 22 of the spindle assembly, and the cutter disc 50 can be transferred and transported to achieve the purpose of fully automatic replacement of the cutter disc 50. A liftable transport assembly 110 is provided on the workbench 10. During the process of transferring the cutter disc 50, the transport assembly 110 is in an ascending state. The transport assembly 110 can receive a new cutter disc 50 transferred from the cache device 200. An old cutter disc 50 is placed on the cutter disc position 120 of the cutter disc area 12. The replacement of the new cutter disc with the old cutter disc can be achieved through the first robot arm 22 of the spindle assembly and the transport assembly 110. Fully automatic replacement of the cutter disc is achieved.

[0115] S210, controlling the transport component 110 to transport the new cutter disc 50. After receiving the new cutter disc 50 sent by the buffer device 200, the transport component 110 transports the new cutter disc 50 from the second end 1102 of the transport component to the first end 1101 of the transport component.

[0116] S220, control the first mechanical arm 22 of the spindle assembly to pick up the old cutter disc 50 in the cutter disc area 12, and the first mechanical arm 22 rises from the third position to the first position, which can be specifically driven by the power unit of the first mechanical arm, such as a cylinder. Drive the old cutter disc 50 to rise from the third position to the first position, and then descend from the first position to the second position, and place the old cutter disc 50 in the first middle position 1103 of the transport component 110. During this height position change process, the old cutter disc 50 picked up by the first mechanical arm 22 crosses the new cutter disc 50 at the first end. During the crossing process, the projections of the new cutter disc and the old cutter disc on the workbench overlap at least partially. In this embodiment, the first middle position is located between the first end and the second end in the linear direction of the transport component. In order to reduce the air time and stroke of the cutter disc crossing, the distance between the first middle position and the first end is smaller than the distance between the first middle position and the second end. In this way, the minimum distance of transmission and transportation is achieved under the premise of ensuring that the new cutter disc and the old cutter disc do not physically interfere with each other. Thereby improving stability and positioning accuracy.

[0117] S230, control the first mechanical arm 22 of the spindle assembly to pick up the lifting portion 55 of the new cutter disc 50 at the first end 1101, and transfer it to the cutter disc position 120 of the cutter disc area 12. During the cutter disc transfer process, the first mechanical arm switches from the second position to the third position to achieve a change in the height position of the cutter disc 50.

[0118] S300, controlling the transport component and the buffer device to transfer the cutter disc.

[0119] The transport component 110 transports the old cutter disc 50. Specifically, the old cutter disc 50 is located at the first middle position 1103 on the transport component, and the transport component 110 transfers the old cutter disc 50 from the first middle position 1103 to the second end 1103, and transports it to the cache device 200. It should be noted here that the transport component 110 is a pulley, and the corresponding flush cache device 200 is also provided with a pulley. In the process of the transport component 110 transporting the old cutter disc 50 to the cache device, or in the process of the cache device 200 transporting the new cutter disc to the transport component 110, through the inertia of movement, barrier-free transmission can be achieved between the two pulley components, and the stability is relatively high.

[0120] In this embodiment, the spindle assembly 20 picks up the cutter disc 50 to accurately pick up the lifting portion 55, or to place the cutter disc 50 in the correct position. Usually accompanied by the movement of the spindle assembly along the first direction of the beam, and the movement of the workbench 10 along the second direction, it also includes the movement of the spindle assembly itself along the third direction. This three-dimensional micro-motion is for alignment and alignment. Specifically, it includes the alignment of the clamping claw of the first robot arm 22 with the lifting portion 55, and the alignment of the pin 56 at the bottom of the cutter disc 50 with the slot or round hole. No detailed description is given here.

[0121] In this embodiment, the frequency of replacing the cutter disc is lower than the frequency of replacing the circuit board. Even if there are multiple holes to be processed on a circuit board, each cutter disc can accommodate a sufficient number of cutting tools, and these cutting tools can meet the processing of at least one circuit board. Therefore, the cutter disc does not necessarily need to be replaced when replacing the circuit board, but the circuit board must be replaced when the cutter disc is replaced. In this embodiment, replacing the circuit board and replacing the cutter disc share the transportation component of the processing area, and the cutter disc and the circuit board are both transported to the back side of the workbench. Therefore, the transportation component selectively transports the cutter disc or the circuit board. The cutter disc is located on the front side of the workbench. When there is a circuit board on the transportation component, the cutter disc cannot be transported. Therefore, the cutter disc needs to be replaced during the gap when the transportation component replaces the circuit board. That is to say, the action of replacing the cutter disc is completed after unloading the old circuit board and before loading the new circuit board.

[0122] In the present embodiment, before S200, before controlling the main shaft assembly to transfer the cutter disc between the transport assembly and the cutter disc area on the workbench, it also includes controlling the unloading of the circuit board, and after S300, after controlling the transport assembly and the cache device to transfer the cutter disc, it also includes controlling the loading of the circuit board. Specifically, before controlling the main shaft assembly to transfer the cutter disc between the transport assembly and the cutter disc area on the workbench, the transport assembly is controlled to transfer the circuit board to the cache device, and the circuit board at this time is a circuit board that has been processed. Based on the structure of the cache device, the cutter disc and the circuit board can be located on the same layer of the same cache device, or on different layers, or in different cache devices, which are not limited here. After controlling the transport assembly and the cache device to transfer the cutter disc, the transport assembly is controlled to receive the new circuit board from the cache device, and the circuit board at this time is a circuit board to be processed. This method of sequentially transferring the cutter disc and the circuit board through the transport assembly does not increase the structure of the workbench, saves costs, and can also replace the cutter disc and the circuit board from the same rear side, thereby improving the efficiency of changing the cutter disc and the circuit board.

[0123] In this embodiment, the tool disc and circuit board processing device, as well as the tool change control method, can achieve the following technical effects: (1) A lifting portion is set on the tool disc, and the tool disc is picked up by the spindle assembly and transported to the rear side by the transport assembly, providing a technical solution for replacing the tool disc from the rear side without changing the structure of the existing workbench, which is lower in cost. (2) The tool disc and circuit board are transported by the transport assembly and the spindle assembly, so that they can be shared, save time, and improve the efficiency of replacing the tool disc and the circuit board. (3) This tool disc structure cooperates with the structure of the tool disc area and the transport assembly to improve the positioning accuracy of the tool disc and improve the stability of the tool disc in conveying and transporting.

[0124] Application scenario 2

[0125] This embodiment takes the circuit board processing equipment as a 12-axis drilling equipment, a cutter disc and two lifting parts as an example, and describes in detail the structure of the cutter disc, the structure of the circuit board processing equipment and the tool change control method.

[0126] like Figures 1 to 3 , Figure 7 , Fig.11 , Fig.12 , Fig.15As shown, the circuit board processing equipment of this embodiment includes a base 40, a crossbeam 30, a spindle assembly 20, a workbench 10, etc. The workbench 10 is arranged on the base 40 and moves along the second direction. The crossbeam 30 is mounted above the workbench 10, and 12 spindle assemblies 20 are slidably connected on the crossbeam 30, and each spindle assembly 20 moves along the first direction on the crossbeam; each spindle assembly 20 clamps a tool at the bottom end, and the tool moves along the third direction to process the circuit board carried on the workbench 10. Six processing areas 11 and 12 cutter disk areas 12 are arranged on the workbench 10, each processing area 11 carries a circuit board, and two corresponding cutter disk areas 12 are arranged outside each processing area 11. Every two adjacent spindle assemblies 20 pick up the tool in the cutter disk and synchronously copy and process the circuit board in the corresponding processing area 11. The first direction, the second direction, and the third direction are perpendicular to each other.

[0127] In order to realize automatic replacement of the cutter disc, the circuit board processing equipment of this embodiment includes a workbench 10 and a spindle assembly 20. The workbench 10 is provided with a cutter disc area 12 and a processing area 11. The cutter disc area 12 includes two cutter discs 50. The processing area 11 is provided with a liftable transport assembly 110. The transport assembly 110 includes a first end 1101 adjacent to the cutter disc area 12 and a second end 1102 away from the cutter disc area 12. The cutter disc 50 moves between the first end 1101 and the second end 1102. The spindle assembly 20 transfers the cutter disc 50 between the first end 1101 and the cutter disc area 12. At the second end 1102, the transport assembly 110 transfers the cutter disc 50 to the outside. In the process of transferring the cutter disc 50, the spindle assembly 20 picks up the lifting portion 55 of the cutter disc 50 to change the position of the cutter disc 50.

[0128] In this embodiment, if Fig.11 and Fig.12 As shown, the cutter disc 50 includes a body 51, and a middle area 52 is formed in the middle of the body 51. A plurality of groups of slots 53 are arranged in the middle area 52, and each group of slots 53 is provided with a plurality of knife holes 54 arranged in a matrix, and each knife hole 54 can accommodate a cutter; the top surfaces of the two opposite sides of the body 51 are respectively provided with a cylindrical lifting portion 55, and the lifting portion 55 is perpendicular to the top surface, so as to be used for transporting the cutter disc 50 on the workbench 10. In this embodiment, there are two lifting portions 55, and the two lifting portions 55 are located on the short side of the rectangular cutter disc 50, and two pins 56 are provided in the long side direction of the rectangle at the bottom of the cutter disc 50, and the connecting line of the two pins 56 is perpendicular to the connecting line of the two lifting portions. In this embodiment, the lifting portion 55 is made of a flexible material, and the position can be fine-tuned.

[0129] In this implementation, if Figure 7 , Fig.11 , Fig.12As shown, the cutter disc 50 has two lifting parts 55, one processing area 11 corresponds to two spindle assemblies 20, and there are two cutter disc areas 12, and each spindle assembly 20 corresponds to each cutter disc area 12. The spindle clamps 21 of the two spindle assemblies 20 respectively pick up the two lifting parts 55 of the same cutter disc 50, so as to realize the transmission and transfer of the cutter disc 50 on the cutter disc area 50 and the transport assembly 110.

[0130] In this embodiment, the tool change control method is described in detail below in combination with the tool disc and the circuit board processing equipment. In this embodiment, the tool disc 50 is transported sequentially.

[0131] S400 controls the spindle assembly to transfer the tool between the tool disc and the tool holder in the tool disc area.

[0132] The tool transfer between the cutter disc and the cutter holder is basically the same as S100 and will not be described in detail here. The difference is that in this embodiment, two spindles 20 synchronously copy and process the same circuit board in a processing area 11. One processing area 11 corresponds to two cutter disc areas 12. Each cutter disc area 12 includes a cutter holder 121 and a cutter disc position 120. Each cutter disc position 120 stores a cutter disc 50. Each spindle assembly 20 replaces the tool in the corresponding cutter disc area 12. Two spindle assemblies 20 replace a cutter disc 50 at the same time, and replace the cutter discs 50 in the two cutter disc areas 12 in turn.

[0133] S500, controlling the spindle assembly to transfer the cutter disc between the transport assembly and the cutter disc area on the workbench; the cutter disc includes a plurality of cutting tools.

[0134] S600, controlling the transport component and the buffer device to transfer the cutter disc.

[0135] In this embodiment, two spindle assemblies 20 corresponding to one processing area 11 simultaneously pick up a cutter disc 50 in one cutter disc area 12, and transfer the cutter disc between the transport assembly 110 and the cutter disc area 12. The detailed process is as follows:

[0136] S510, the two spindle assemblies 20 pick up an old cutter disc 50 in a cutter disc area 12, and transport the old cutter disc 50 from the cutter disc area 12 to the first end 1101 of the transport assembly 110, and the transport assembly 110 transports the old cutter disc 50 from the first end 1101 to the second end 1102 to the first layer of the buffer device 200. Afterwards, the buffer device 200 moves to align the second layer storing the new cutter disc 50 with the transport assembly 110.

[0137] S520, the second end 1102 of the transport assembly 110 receives the new cutter disc 50 transmitted from the second layer of the buffer, and after transmission, arrives at the first end 1101. The spindle clamps 21 of the two spindle assemblies 20 simultaneously pick up the two lifting parts 55 of the new cutter disc 50 on the first end 1101, and transfer the new cutter disc 50 to the corresponding cutter disc area 12.

[0138] S530, repeating the actions of S510 and S520 to complete the replacement of the old cutter disc and the new cutter disc in another cutter disc area 12.

[0139] For the transport assembly 110, both the new and old cutter discs are transported in one direction, and there is no problem of encountering each other. For the spindle clamp 21, the lifting portion 55 on the short edge of the cutter disc 50 is picked up, and the spindle clamps 21 of the two spindle assemblies 20 pick up a lifting portion 55 at the same time, respectively, and lift the cutter disc 50 to move. The lifting portion 50 is set to a flexible material to avoid alignment failure caused by positioning error of the cutter disc. This alignment includes not only the alignment of the spindle clamp 21 and the lifting portion 55, but also the alignment of the pin 56 of the cutter disc 50 and the notch or round hole.

[0140] For the cache device 200, the first layer 210 and the second layer 220 move up and down, switch and align the transport component 110, receive the old cutter disc 50, and send the new cutter disc 50, thereby achieving the purpose of transferring the cutter disc with the transport component 110. Similar to the application scenario 1, the first layer 210 and the second layer 220 of the cache device 200 are also provided with pulleys. After one layer is aligned with the transport component 110, the two sets of pulleys move at the same speed and in the same direction to ensure the smooth transmission of the cutter disc 50. Even if there is an inevitable gap between the docking interfaces of the two sets of pulleys, the inertia of the cutter disc 50 can smoothly cross the gap and move from one pulley to another. I will not go into details here.

[0141] Application scenario three

[0142] This embodiment takes the circuit board processing equipment as a 6-axis drilling equipment, a buffer component transfer cutter disc, and a lifting part as an example, and describes in detail the structure of the cutter disc, the structure of the circuit board processing equipment and the tool change control method.

[0143] The cutter disc structure of this embodiment is the same as that of the application scenario 1, both of which are cutter discs with a lifting portion, and the first mechanical arm 22 of the spindle assembly is used to pick up the lifting portion of the cutter disc to realize the transfer of the cutter disc. In this embodiment, the difference from the application scenario 1 is that the circuit board processing equipment is provided with a buffer assembly 13 by changing the cutter disc from the front side, and the spindle assembly 20 realizes the transfer of the cutter disc from the front side of the workbench 10.

[0144] In this embodiment, if Figure 2 , Figure 3 , Fig.14As shown, the circuit board processing equipment includes: a workbench 10, on which a cutter disc area 12 and a processing area 11 are arranged, the cutter disc area 12 includes at least one cutter disc position 120, and a cutter disc 50 is placed in each cutter disc position 120. A cache component 13, the cache component 13 is located between the workbench 10 and the front baffle, and the cache component 13 and the workbench 10 switch between a connected state and a separated state. In the connected state, the spindle component 20 transfers the cutter disc 50 between the cache component 13 and the cutter disc area 12; in the separated state, the cache component 13 transfers the cutter disc 50 to the outside.

[0145] In this embodiment, the first step is to replace the old cutter disc with the new one. The cache component 13 moves to the vicinity of the front baffle, and exchanges the cutter disc with the self-moving transport device 300 on the outside of the front baffle; the old cutter disc is transferred to the self-moving transport device 300, and the new cutter disc transferred from the self-moving transport device 300 is received. Since the cache component 13 is in a separated state from the workbench 10, the processing task of the workbench 10 is not affected. That is to say, when the cutter disc is replaced on the front side, while the cache component 13 exchanges the cutter disc with the self-moving transport device 300, the workbench 10 performs the processing task of the circuit board. Both can be carried out at the same time, and changing the cutter disc does not affect the processing, thereby improving the processing efficiency. In this embodiment, the locking part is an electromagnet. After power failure, the cache component 13 is separated from the workbench 10; after power on, the cache component 13 and the workbench 10 are in a connected state due to the magnetic attraction of the electromagnet.

[0146] The second step is to remove the old cutter disc. The workbench 10 moves toward the cache component 13, and the front side of the workbench is close to the rear side of the cache component 13. The two sides are connected under the magnetic attraction of the electromagnet. The workbench 10 is controlled to move in the second direction, driving the cache component 13 to move together. Along the second direction, the workbench 10 drives the cache component 13 to move from the front baffle side to the rear side of the circuit board processing equipment until the cache component 13 moves to the bottom of the spindle component 20. The spindle component 13 can pick up and transport the cutter disc on the cache component 13. Specifically, during the unloading process, the workbench 10 drives the cache assembly 13 to move synchronously. When the cutter disc area 12 moves to the bottom of the spindle assembly 20, the first mechanical arm 22 of the spindle assembly picks up the lifting portion 55 of an old cutter disc 50 in the cutter disc area 12. The first mechanical arm 22 rises to the first position, and the old cutter disc 50 is in a suspended state. The workbench 10 continues to move in the second direction until the cache assembly 13 moves to the bottom of the spindle assembly 20. The first mechanical arm 22 places the picked-up old cutter disc 50 in a transfer position on the cache assembly 13. In this embodiment, one of the cutter disc positions 120 is reused as the transfer position. At this point, the unloading action of the old cutter disc in the cutter disc area 12 is completed.

[0147] Finally, the new cutter disc is loaded. After the first robot arm 22 unloads the old cutter disc 50, the spindle assembly 20 moves in the first direction until it moves to the top of the new cutter disc on the cache assembly 13. The first robot arm 22 picks up the lifting portion 55 of the new cutter disc 50, and the first robot arm 22 rises to the first position. The new cutter disc 50 is in a suspended state, and the control table 10 drives the cache assembly 13 to move together until the cutter disc area 12 is located below the spindle assembly 20. The first robot arm 22 places the new cutter disc at the cutter disc position 120 of the cutter disc area 12. At this point, the loading of the new cutter disc is completed.

[0148] In this embodiment, the cache component 13 can be a platform-type structure or a bracket-type structure, without limitation, as long as it can move between the front baffle and the workbench along the second direction. The drive mechanism of the cache component 13 can be pneumatic or electric, without any limitation. The front baffle is a guardrail on the front side of the circuit board processing equipment, isolating the internal space from the outside and playing a safety protection role.

[0149] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A tool change control method, characterized in that: Applied to circuit board processing equipment, the method comprises: Control the spindle assembly to transfer the tool between the cutter disc and the cutter holder in the cutter disc area; Controlling the spindle assembly to transfer the cutter disc between the transport assembly on the workbench and the cutter disc area; the cutter disc includes a plurality of the cutters; Control the transport component and the buffer device to transport the cutter disc; the cutter disc includes a new cutter disc or an old cutter disc.

2. The tool change control method according to claim 1, characterized in that: During the transfer of the cutter discs between the transport assembly and the cutter disc area, the new cutter disc and the old cutter disc are replaced by using an intermediate transfer position, which is located on the transport assembly or the workbench.

3. The tool change control method according to claim 2, characterized in that: Along the moving direction of the workbench, the spindle assembly is controlled to pick up one of the new cutter disc and the old cutter disc and move across the other in the height direction.

4. The tool change control method according to claim 3, characterized in that: Along the moving direction of the workbench, the transport assembly includes a first end close to the cutter head area, a second end close to the buffer device, and a first intermediate position therebetween; Control the new cutter disc to move from the second end to the first end; control the spindle assembly to pick up the old cutter disc and move it from the cutter disc area across the new cutter disc to the first intermediate position.

5. The tool change control method according to claim 4, characterized in that: A distance between the first middle position and the first end is smaller than a distance between the first middle position and the second end.

6. The tool change control method according to claim 3, characterized in that: Along the moving direction of the workbench, the transport assembly includes a first end close to the cutter head area, a second end close to the buffer device, and a second intermediate position therebetween; The spindle assembly is controlled to pick up the old cutter disc and move from the cutter disc area to the first end; the new cutter disc is controlled to move from the second end to close to the old cutter disc, and the old cutter disc stops the new cutter disc at the second middle position.

7. The tool change control method according to claim 2, characterized in that: The spindle assembly is controlled to pick up the new cutter disc or the old cutter disc and move along the direction of the crossbeam, and the worktable and the spindle assembly are controlled to move relative to each other so that one of the new cutter disc and the old cutter disc moves around the other.

8. The tool change control method according to claim 1, characterized in that: The cutter disc area includes a temporary storage location, and the spindle assembly is controlled to transfer the new cutter disc or the old cutter disc between the transport assembly and the temporary storage location.

9. The tool change control method according to claim 1, characterized in that: The cache device includes a first layer and a second layer stacked in a height direction, and controls the old cutter disc to be transferred from the cutter disc area to the first layer via the transport component, and controls the new cutter disc to be transferred from the second layer to the cutter disc area via the transport component.

10. The tool change control method according to claim 1, characterized in that: The spindle assembly includes a first robot arm and a spindle clamp. During the process of transferring the cutter disc between the transport assembly on the workbench and the cutter disc area, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the spindle clamp picks up the other, and the positions of the new cutter disc and the old cutter disc are at different heights.

11. The tool change control method according to claim 1, characterized in that: The spindle assembly includes a first robot arm and a second robot arm. During the process of transferring the cutter disc between the transport assembly on the workbench and the cutter disc area, the first robot arm picks up one of the new cutter disc and the old cutter disc, and the second robot arm picks up the other, and the positions of the new cutter disc and the old cutter disc in the first direction or the third direction are different.

12. The tool change control method according to any one of claims 1 to 11, characterized in that: In the height direction, the spindle assembly includes a first position, in which the spindle assembly at least includes a state of picking up the cutter disc; The spindle assembly comprises a third position, the height of the third position is less than the height of the first position, in which the spindle assembly picks up the old cutter disc from the cutter disc area, or places the new cutter disc in the cutter disc area; The spindle assembly includes a second position located between the first position and the third position, in which the spindle assembly picks up the new cutter disc from the transport assembly or places the old cutter disc on the transport assembly.

13. A circuit board processing device, characterized in that: include, A workbench and a spindle assembly, wherein the workbench is provided with a cutter disc area and a processing area, and the cutter disc area includes at least one cutter disc; The processing area is provided with a transport assembly, the transport assembly includes a first end adjacent to the cutter disc area and a second end away from the cutter disc area, and the cutter disc moves between the first end and the second end; The spindle assembly transports the cutter disc between the first end and the cutter disc area; at the second end, the transport assembly transports the cutter disc outward.

14. A circuit board processing device, characterized in that: include, A workbench, wherein a cutter disc area and a processing area are arranged on the workbench, and the cutter disc area includes at least one cutter disc; A cache component, wherein the cache component is located between the workbench and the front baffle, and the cache component and the workbench switch between a connected state and a separated state. In the connected state, the spindle component transports the cutter disc between the cache component and the cutter disc area; in the separated state, the cache component transports the cutter disc externally.

15. The circuit board processing equipment according to claim 14, characterized in that: The circuit board processing equipment also includes a locking member, which is configured to control the cache assembly and the workbench to switch between the connected and separated states; in the connected state, the cache assembly moves synchronously with the workbench to below the spindle assembly.

16. A cutter head, characterized in that: A workbench arranged on a circuit board processing device, wherein the cutter disc comprises a body, a middle area is formed in the middle of the body, a plurality of groups of grid slots are arranged in the middle area, each group of the grid slots is provided with a plurality of tool holes arranged in a matrix, and each of the tool holes can accommodate a tool; A cylindrical lifting portion is disposed on the inner side surface of the bottom of the body, and the lifting portion extends toward the opening of the middle area for transporting the cutter disc on the workbench.

17. The cutter head according to claim 16, characterized in that: The lifting portion passes through the center of gravity of the cutter disc.

18. The cutter head according to claim 17, characterized in that: The plurality of groups of grid grooves are arranged along the long side direction of the rectangle at the bottom of the main body, and the lifting portion is located between two adjacent groups of grid grooves.

19. The cutter head according to claim 17, characterized in that: The lifting portion passes through one of the knife holes, and the knife hole passing through the lifting portion is located in the central area of ​​the middle area.

20. A cutter disc, characterized in that: A workbench arranged on a circuit board processing device, wherein the cutter disc comprises a body, a middle area is formed in the middle of the body, a plurality of groups of grid slots are arranged in the middle area, each group of the grid slots is provided with a plurality of tool holes arranged in a matrix, and each of the tool holes can accommodate a tool; The top end surfaces of the two opposite sides of the body are each provided with a cylindrical lifting portion, and the lifting portion is perpendicular to the top end surface and is used for transporting the cutter disc on the workbench.

21. The cutter head according to claim 20, characterized in that: Two pins are arranged on the outer side surface of the bottom of the main body, and the pins extend in a direction away from the bottom; a line connecting the two pins and a line connecting the two lifting parts are perpendicular to each other.

22. The cutter head according to any one of claims 16 to 21, characterized in that: The lifting portion is made of a flexible material, and when the cutter disc is transported, at least one section of the lifting portion is in a curved shape to fine-tune the position of the cutter disc relative to the workbench.

23. The cutter head according to any one of claims 16 to 21, characterized in that: In the cutter disc, the height of the lifting portion is less than or equal to the height of the cutter, and the diameter of the lifting portion is less than or equal to the maximum diameter of the cutter.

24. The cutter head according to any one of claims 16 to 21, characterized in that: The lifting portion is fixedly connected to the body in the axial direction and movably connected in the radial direction; in the radial direction, an elastic member is arranged between the lifting portion and the body.

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