High-speed multi-station PCB drill point forming machining center

Abstract

The invention relates to the technical field of PCB tool machining equipment, in particular to a high-speed multi-station PCB drill point forming machining center which comprises a machine table, a C-axis working head, a feeding and discharging mechanical arm, a grooving work station, a tool face grinding work station and a UC / edge tool work station. The C-axis working head is provided with a plurality of feeding positions; the feeding and discharging mechanical arm comprises a feeding mechanical arm body, a discharging mechanical arm body, a material guiding mechanical arm body, a material pulling mechanical arm body and a conversion driver. The conversion driver is arranged between the C-axis working head and the feeding mechanical arm body and between the C-axis working head and the discharging mechanical arm body. Through cooperation of the C-axis working head, the material guiding mechanical arm, the material pulling mechanical arm and the conversion driver, feeding and discharging are conducted at the same time, the feeding and discharging time is shortened, rapid feeding and discharging are achieved, and the requirement for rapid operation is met.

Description

Technical Field

[0001] The invention relates to the technical field of PCB tool processing equipment, and in particular to a high-speed multi-station PCB drill needle forming processing center. Background Art

[0002] In the PCB tool processing industry, multi-station equipment follows a specific process flow to perform a series of fine processing on the blank bar, including spiral grooving, end face grinding, UC / edge tool processing, and efficient loading and unloading operations, and finally transforms it into a precise PCB drill needle.

[0003] Especially for multi-station PCB drill processing equipment, since the drill has a small blade diameter and many processing steps, compared with other tool production equipment, this type of equipment has more stringent requirements on the speed of loading and unloading. However, the multi-station PCB tool processing equipment currently circulating on the market still lacks in loading and unloading efficiency and fails to fully meet the needs of fast operation. In view of this, it is particularly urgent and important to make necessary improvements and optimizations to this type of equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a high-speed multi-station PCB drill needle forming processing center to address the deficiencies of the prior art. Through the cooperation of a C-axis working head, a material guide manipulator, a material pulling manipulator and a conversion driver, loading and unloading can be carried out simultaneously, reducing the time for loading and unloading, achieving rapid loading and unloading, and meeting the needs of rapid operation.

[0005] To achieve the above-mentioned purpose, a high-speed multi-station PCB drill needle forming processing center of the present invention comprises a machine platform, a C-axis work head, a loading and unloading manipulator, a groove cutting work station, a knife face grinding work station and a UC / edge cutter work station, wherein the C-axis work head is rotatably arranged on the machine platform and is used to convey the blank bar material to the groove cutting work station, the knife face grinding work station and the UC / edge cutter work station for processing to form a PCB drill needle, and the loading and unloading manipulator, the groove cutting work station, the knife face grinding work station and the UC / edge cutter work station are arranged along the circumference of the C-axis work head.

[0006] The machine is provided with a tray for placing blank bars and collecting PCB drill needles;

[0007] The C-axis work head is equipped with multiple feeding positions;

[0008] The loading and unloading manipulator comprises a loading manipulator, a unloading manipulator, a material guiding manipulator, a material pulling manipulator and a conversion driver. The loading manipulator and the unloading manipulator are respectively arranged on both sides above the material tray. The conversion driver is arranged between the C-axis working head and the loading manipulator and the unloading manipulator and is used to drive the material guiding manipulator and the material pulling manipulator to perform displacement conversion relative to the axis of the C-axis working head feeding position. The material guiding manipulator is used to assist the loading manipulator to insert the blank bar into the feeding position of the C-axis working head, and the material pulling manipulator is used to pull out the PCB drill needle released by the feeding position of the C-axis working head;

[0009] When the feeding position of the C-axis work head is in an empty state and rests on one side of the material tray, the conversion driver simultaneously drives the material guiding manipulator and the material pulling manipulator to move. When the material guiding manipulator is aligned with the axis of the feeding position of the C-axis work head, the loading manipulator obtains the blank bar material from the material tray and loads the material to the feeding position of the C-axis work head through the material guiding manipulator.

[0010] When the feeding position of the C-axis working head is in a position to clamp the PCB drill needle and rest on one side of the material tray, the conversion driver simultaneously drives the material guiding robot and the material pulling robot to move. When the material pulling robot is aligned with the axis of the feeding position of the C-axis working head, the material pulling robot pulls out the PCB drill needle released by the C-axis working head, and the conversion driver simultaneously drives the material guiding robot and the material pulling robot to move again. The material guiding robot is aligned with the axis of the feeding position of the C-axis working head again. The loading robot obtains the blank bar material from the material tray and loads the feeding position of the C-axis working head again through the material guiding robot. At the same time, the material pulling robot clamps the PCB drill needle and is misaligned with the axis of the feeding position of the C-axis working head. The unloading robot obtains the PCB drill needle released by the material pulling robot and places it on the material tray.

[0011] The beneficial effects of the present invention are as follows: with the cooperation of the C-axis working head, the material guiding manipulator, the material pulling manipulator and the conversion driver, when the feeding position of the C-axis working head clamps the PCB drill needle, the conversion driver drives the material guiding manipulator and the material pulling manipulator to move, and after the material pulling manipulator pulls out the PCB drill needle released by the feeding position of the C-axis working head, the feeding position of the C-axis working head is vacant, and the conversion driver drives the material guiding manipulator and the material pulling manipulator to move again, so that the material guiding manipulator assists the loading manipulator to insert the blank bar into the feeding position of the C-axis working head, and at the same time, the unloading manipulator obtains the PCB drill needle released by the material pulling manipulator and places it on the material tray, so that loading and unloading can be carried out simultaneously, reducing the time for loading and unloading, realizing fast loading and unloading, and meeting the needs of fast operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention.

[0013] Figure 2It is a structural schematic diagram of the machine platform, C-axis working head, loading robot, unloading robot, material guiding robot, material pulling robot and conversion driver of the present invention.

[0014] Figure 3 It is a structural schematic diagram of the material feeding position of the present invention.

[0015] Figure 4 It is a schematic structural diagram of the loading robot and the unloading robot of the present invention.

[0016] Figure 5 It is a schematic structural diagram of the material guiding robot, the material pulling robot and the conversion driver of the present invention.

[0017] Figure 6 It is a schematic diagram of the exploded structure of the knife surface grinding workstation of the present invention.

[0018] Figure 7 It is a schematic structural diagram of the secondary tool face grinding and cutting portion and the primary tool face grinding and cutting portion of the present invention.

[0019] Figure 8 It is a schematic diagram of the structure of the UC / edge knife workstation of the present invention.

[0020] Fig. 9 It is a structural schematic diagram of the UC angle biasing mechanism of the present invention.

[0021] Fig.10 It is a structural schematic diagram of the rotating plate of the present invention.

[0022] Fig.11 It is a schematic diagram of the structure of the UC lifting Z3 axis driver and the UC / edge knife grinding and cutting processing head of the present invention.

[0023] Reference numerals include:

[0024] 1. Machine table; 11. Material tray; 2. C-axis working head; 22. Material feeding position; 221. Fixing hole; 222. Self-resetting rotating tongue; 223. Limit rod; 224. Through hole; 3. Loading manipulator; 31. First loading and unloading driver; 32. Rotating driver; 33. Second loading and unloading driver; 34. Loading and unloading clamp; 35. Detection mechanism; 351. Detection driver; 352. Detection seat; 353. Sensor; 4. Unloading manipulator; 5. Material guiding manipulator; 6. Material pulling manipulator; 61. Material pulling driver; 62. Material pulling actuator; 63. Material pulling slide; 601. Clamping actuator; 602, fixture; 64, clamping mechanism; 641, clamping driver; 642, ejector; 7, conversion driver; 711, conversion connection seat; 712, conversion sliding seat; 713, conversion actuator; 8, knife face grinding workstation; 81, angle offset mechanism; 811, fixed reference plate; 812, sliding plate; 813, sliding limit groove; 814, sliding fastener; 82, lower slide Y2 axis driver; 821, Y2 fixed shell; 822, Y2 axis actuator; 823, Y2 lower slide; 83, upper slide X2 axis driver; 831, X2 fixed seat; 832, X2 slide; 83 21. First fixed part; 8322. Second fixed part; 833. X2 actuator; 84. Secondary blade grinding and cutting part; 841. Secondary blade grinding actuator; 842. Secondary blade grinding wheel; 85. Upper slide Z2 axis driver; 86. Primary blade grinding and cutting part; 861. Primary blade grinding actuator; 862. Primary blade grinding wheel; 9. UC / edge cutter workstation; 91. Lower slide X3 axis driver; 911. Fixed seat; 912. Slide seat; 913. Slide driver; 92. UC angle offset mechanism; 921. Fixed plate; 9211. Mounting slot; 9212. Slide slot; 922. Rotating Moving plate; 9221, piston slider; 923, deflection driver; 9231, transmission seat; 9232, driving wheel; 924, air guide channel; 9241, air inlet; 9242, air exhaust port; 9243, air suction and blowing port; 9244, sliding chamber; 93, UC lifting Z3 axis driver; 931, mounting seat; 932, fixing frame; 933, fixing support plate; 9331, limiting groove; 934, movable plate; 9341, anti-sliding block; 935, fixing rod; 94, UC / edge knife grinding and cutting processing head; 941, processing driver; 942, rotating working axis; 943, grinding wheel fixing groove. DETAILED DESCRIPTION

[0025] The present invention is described in detail below with reference to the accompanying drawings.

[0026] like Figures 1 to 11As shown, a high-speed multi-station PCB drill needle forming processing center of the present invention includes a machine table 1, a C-axis work head 2, a loading and unloading robot 4, a grooving workstation, a knife surface grinding workstation 8 and a UC / edge cutter workstation 9. The C-axis work head 2 is rotatably arranged on the machine table 1 and is used to convey the blank bar material to the grooving workstation, the knife surface grinding workstation 8 and the UC / edge cutter workstation 9 for processing to form a PCB drill needle. The loading and unloading robot 4, the grooving workstation, the knife surface grinding workstation 8 and the UC / edge cutter workstation 9 are arranged along the circumference of the C-axis work head 2.

[0027] The machine 1 is provided with a tray 11 for placing blank bars and collecting PCB drill needles.

[0028] The C-axis working head 2 is provided with a plurality of feeding positions 22 .

[0029] The loading and unloading robot 4 includes a loading robot 3, a unloading robot 4, a material guiding robot 5, a material pulling robot 6 and a conversion driver 7. The loading robot 3 and the unloading robot 4 are respectively arranged on both sides above the material tray 11. The conversion driver 7 is arranged between the C-axis work head 2 and the loading robot 3 and the unloading robot 4 and is used to drive the material guiding robot 5 and the material pulling robot 6 to perform displacement conversion relative to the axis of the C-axis work head 2 material feed position 22. The material guiding robot 5 is used to assist the loading robot 3 to insert the blank bar into the material feed position 22 of the C-axis work head 2, and the material pulling robot 6 is used to pull out the PCB drill needle released by the material feed position 22 of the C-axis work head 2.

[0030] The design of the conversion driver 7 enables the material guide manipulator 5 and the material extraction manipulator 6 to accurately perform displacement conversion relative to the material feeding position 22 of the C-axis work head 2. This ensures the accurate loading of the blank bar material and the precise extraction of the PCB drill needle, and improves the processing accuracy and consistency of the product.

[0031] When in use, when the feeding position 22 of the C-axis work head 2 is in an empty state and rests on one side of the material tray 11, the conversion driver 7 simultaneously drives the material guiding manipulator 5 and the material pulling manipulator 6 to move, and when the material guiding manipulator 5 is aligned with the axis of the feeding position 22 of the C-axis work head 2, the loading manipulator 3 obtains the blank bar material from the material tray 11 and loads the material to the feeding position 22 of the C-axis work head 2 through the material guiding manipulator 5;

[0032] When the feeding position 22 of the C-axis working head 2 is in the position of clamping the PCB drill needle and resting on one side of the material tray 11, the conversion driver 7 simultaneously drives the material guiding robot 5 and the material pulling robot 6 to move. When the material pulling robot 6 is aligned with the axis of the feeding position 22 of the C-axis working head 2, the material pulling robot 6 pulls out the PCB drill needle released by the C-axis working head 2, and the conversion driver 7 simultaneously drives the material guiding robot 5 and the material pulling robot 6 to move again. The material guiding robot 5 is aligned with the axis of the feeding position 22 of the C-axis working head 2 again. The loading robot 3 obtains the blank bar material from the material tray 11 and loads the feeding position 22 of the C-axis working head 2 again through the material guiding robot 5. At the same time, the material pulling robot 6 clamps the PCB drill needle and is misaligned with the axis of the feeding position 22 of the C-axis working head 2. The unloading robot 4 obtains the PCB drill needle released by the material pulling robot 6 and places it on the material tray 11.

[0033] With the cooperation of the C-axis working head 2, the material guiding manipulator 5, the material pulling manipulator 6 and the conversion driver 7, when the feeding position 22 of the C-axis working head 2 clamps the PCB drill needle, the conversion driver 7 drives the material guiding manipulator 5 and the material pulling manipulator 6 to move. After the material pulling manipulator 6 pulls out the PCB drill needle released by the feeding position 22 of the C-axis working head 2, the feeding position 22 of the C-axis working head 2 is vacant, and the conversion driver 7 drives the material guiding manipulator 5 and the material pulling manipulator 6 to move again, so that the material guiding manipulator 5 assists the loading manipulator 3 to insert the blank bar into the feeding position 22 of the C-axis working head 2. At the same time, the unloading manipulator 4 obtains the PCB drill needle released by the material pulling manipulator 6 and places it on the material tray 11, so that loading and unloading can be carried out simultaneously, reducing the time for loading and unloading, realizing fast loading and unloading, and meeting the needs of fast operation.

[0034] like Figure 5 As shown, the conversion driver 7 of this embodiment is provided with a conversion connecting seat 711, a conversion sliding seat 712 and a conversion actuator 713, and the material pulling robot 6 is provided with a material pulling driver 61, wherein the conversion actuator 713 and the material pulling driver 61 are both cylinders, electric cylinders, hydraulic cylinders or linear motor drivers, etc. In this embodiment, the conversion actuator 713 and the material pulling driver 61 are both cylinders.

[0035] The conversion connecting seat 711 is fixed to the machine table 1, the conversion sliding seat 712 is slidably connected to the conversion connecting seat 711, the material guiding robot 5 is fixed to one side of the conversion sliding seat 712, and the material pulling drive 61 is arranged on the other side of the conversion sliding seat 712 and drives the material pulling robot 6 to move, so that the material guiding robot 5, the material pulling robot 6 and the material pulling drive 61 slide with the sliding of the conversion sliding seat 712, thereby realizing position conversion.

[0036] The conversion actuator 713 drives the conversion sliding seat 712 to slide in a direction perpendicular to the axial direction of the C-axis work head 2 to convert the material guiding robot 5 or the material pulling robot 6 to align with the axial position of the material input position 22 of the C-axis work head 2, so as to facilitate the material guiding robot 5 to clamp the blank bar material transported to the C-axis work head 2 by the loading robot 3 or to facilitate the material pulling robot 6 to clamp the PCB drill needle released by the C-axis work head 2.

[0037] The material guiding robot 5 is used to clamp or release the blank bar material, the material pulling robot 6 is used to clamp or release the PCB drill needle, and the material pulling driver 61 drives the material pulling robot 6 to move axially along the C-axis working head 2 to approach or move away from the C-axis working head 2, so that the material pulling robot 6 can clamp the PCB drill needle released by the C-axis working head 2 and pull it out of the feeding position 22 of the C-axis working head 2.

[0038] The conversion actuator 713 drives the conversion sliding seat 712 to slide, so as to flexibly switch between the two operating positions of the material guiding robot 5 and the material removing robot 6.

[0039] The arrangement of the material extraction driver 61 enables the material extraction robot 6 to automatically move closer to or farther away from the PCB drill needle, thereby reducing manual intervention and improving production efficiency.

[0040] The precise control of the conversion actuator 713 and the material extraction driver 61 ensures that the material guide robot 5 and the material extraction robot 6 can be accurately aligned with the axis position of the C-axis work head 2 material feeding position 22, thereby ensuring the accuracy and stability of the processing.

[0041] Specifically, Figure 5 As shown, the material guiding robot 5 and the material pulling robot 6 are both provided with a clamping actuator 601 and a clamp 602 . The clamping actuator 601 drives the clamp 602 to open or close, so as to realize the mechanized material grabbing and releasing functions of the material guiding robot 5 and the material pulling robot 6 .

[0042] The clamping and placing actuator 601 is a cylinder, an electric cylinder, a hydraulic cylinder or a finger manipulator, etc. In this embodiment, the clamping and placing actuator 601 is taken as an example of a cylinder.

[0043] The material pulling drive 61 includes a material pulling actuator 62 and a material pulling slide 63 . The material pulling slide 63 is slidably connected to the conversion slide 712 . The material pulling robot 6 is fixed to the material pulling slide 63 .

[0044] The material extraction actuator 62 fixes the conversion slide seat 712 and is used to drive the material extraction slide seat 63 to approach or move away from the material feeding position 22 of the C-axis work head 2. The material extraction actuator 62 and the material extraction slide seat 63 cooperate to realize that the material extraction driver 61 drives the material extraction manipulator 6 to move axially along the material feeding position 22 of the C-axis work head 2 and approach or move away from the material feeding position 22 of the C-axis work head 2. Thereby, it is ensured that the PCB drill needle can be accurately extracted from the material feeding position 22 of the C-axis work head 2.

[0045] The material pulling actuator 62 is a cylinder, an electric cylinder, a hydraulic cylinder or a linear motor drive, etc. In this embodiment, the material pulling actuator 62 is taken as an example of a cylinder.

[0046] like Figure 3 As shown, the feed position 22 of this embodiment is provided with a fixing hole 221 for fixing the blank bar material, and a self-resetting rotating tongue 222 and a limiting rod 223 are provided in the fixing hole 221. The self-resetting rotating tongue 222 is used to press the blank bar material against the fixing hole 221, and the limiting rod 223 is used to limit the depth of the blank bar material inserted into the fixing hole 221.

[0047] Each feeding position 22 is provided with a fixing hole 221, and the blank bar can be clamped accurately and firmly by the cooperation of the self-resetting rotating tongue 222 and the limiting rod 223. The self-resetting rotating tongue 222 can adapt to bars of different sizes, and the limiting rod 223 ensures that the depth of the bar inserted into the fixing hole 221 is consistent, avoiding material damage or conveying failure caused by unstable clamping.

[0048] Specifically, the self-resetting rotating tongue 222 includes a clamping part and an operating part. The clamping part is provided with a rotating rod. The clamping part is rotatably connected to the fixing hole 221 through the rotating rod. A spring is provided between the operating part and the fixing hole 221. When the operating part is pressed down, the spring is compressed and the clamping part moves away from the axis of the fixing hole 221, thereby realizing the self-resetting rotating tongue 222 releasing the blank bar material, that is, the feeding position 22 releases the blank bar material.

[0049] The operating part is released, the spring is reset, and the clamping part is close to the axis of the fixing hole 221, so that the self-resetting rotating tongue 222 presses the blank bar against the fixing hole 221, that is, the feeding position 22 clamps the blank bar.

[0050] Specifically, Figure 2 and Figure 5 As shown, the feeding position 22 is provided with a through hole 224.

[0051] The conversion driver 7 includes a clamping mechanism 64, which includes a clamping driver 641 and a ejector pin 642.

[0052] The clamping driver 641 is fixed to the machine 1 and is used to drive the ejector pin 642 to extend into the through hole 224 to contact the self-resetting rotating tongue 222 or to withdraw from the through hole 224 and separate from the self-resetting rotating tongue 222 to control the self-resetting rotating tongue 222 to clamp or release the blank bar.

[0053] When the ejector pin 642 extends into the through hole 224 and contacts the self-resetting rotating tongue piece 222 , the self-resetting rotating tongue piece 222 releases the blank bar material, thereby realizing that the blank bar material is released from the feeding position 22 .

[0054] When the ejector pin 642 exits the through hole 224 and separates from the self-resetting rotating tongue 222 , the self-resetting rotating tongue 222 resets itself and presses the blank bar inserted into the fixing hole 221 and presses against the fixing hole 221 , thereby enabling the feed position 22 to clamp the blank bar.

[0055] The clamping driver 641 is a pneumatic cylinder, an electric cylinder, a hydraulic cylinder or a linear motor driver, etc. In this embodiment, the clamping driver 641 is taken as a pneumatic cylinder.

[0056] like Figure 4 As shown, the feeding manipulator 3 of this embodiment is also provided with a detection mechanism 35. The detection mechanism 35 detects whether the depth of the blank bar fixed to the feeding position 22 of the C-axis working head 2 meets the preset setting.

[0057] The detection mechanism 35 includes a detection driver 351, a detection seat 352 and a sensor 353. The detection driver 351 is a cylinder, an electric cylinder, a hydraulic cylinder or a linear motor driver, etc. In this embodiment, the detection driver 351 is an example of a cylinder, and the sensor 353 is a contact sensor.

[0058] The detection driver 351 is fixed to the loading robot 3 and is used to drive the detection seat 352 to approach or move away from the conversion driver 7. The sensor 353 is used to contact the blank bar to detect whether the depth of the blank bar fixed to the feeding position 22 of the C-axis working head 2 is correct.

[0059] When in use, when the detection driver 351 drives the detection seat 352 to approach the conversion driver 7, the sensor 353 contacts the blank bar material, and the sensing end of the touch sensor 353 is compressed. When the sensing end of the touch sensor 353 is compressed to a preset position, it is confirmed whether the depth of the blank bar material fixed at the feeding position 22 of the C-axis working head 2 is correct.

[0060] The method of fixing the blank bar material at the C-axis work head 2 feeding position 22 and performing depth detection is as follows:

[0061] A1. The clamp opening driver 641 drives the ejector pin 642 to extend into the through hole 224 and to contact the self-resetting rotating tongue 222 to control the self-resetting rotating tongue 222 to be in the open state;

[0062] A2. The loading robot 3 obtains the blank bar from the material tray 11 and loads the blank bar to the feeding position 22 of the C-axis working head 2 through the material guiding robot 5. When the blank bar is inserted into the fixing hole 221, the material guiding robot 5 clamps the blank bar, and the loading robot 3 releases the blank bar;

[0063] A3. The loading manipulator 3 clamps the neck of the blank bar again, and the material guiding manipulator 5 releases the blank bar. The loading manipulator 3 pushes the blank bar into the fixing hole 221 again to ensure that the blank bar is in conflict with the limit rod 223. The material guiding manipulator 5 clamps the blank bar again, and the loading manipulator 3 releases the blank bar.

[0064] A4. The feeding robot 3 is away from the blank bar material by a certain distance, and the detection driver 351 drives the detection seat 352 to approach the conversion driver 7, so that the sensor 353 is at the front end of the feeding robot 3. The feeding robot 3 approaches the blank bar material again, and the sensor 353 is against the blank bar material to obtain the compression stroke of the blank bar material on the sensor 353. Then, the detection driver 351 drives the detection seat 352 away from the conversion driver 7. When the compression stroke of the sensor 353 meets the preset value, execute step A5, otherwise repeat step A3;

[0065] A5. The clamping driver 641 drives the ejector pin 642 to exit the through hole 224 and separate from the self-resetting rotating tongue 222, so as to control the self-resetting rotating tongue 222 to clamp the blank bar.

[0066] Through the coordinated work of the feeding robot 3 and the material guiding robot 5, the automatic feeding and fixing of the blank bar material is realized, which greatly improves the production efficiency.

[0067] The sensor 353 is used to accurately measure the compression stroke of the blank bar material to ensure that the position of the blank bar material in the fixing hole 221 is accurate, thereby ensuring the accuracy of subsequent processing.

[0068] By opening and closing the self-resetting rotating tongue 222, the blank bar material can be quickly fixed and released, and the operation is simple and reliable.

[0069] By driving the detection seat 352 to approach or move away from the sensor 353 through the detection driver 351, intelligent detection of the depth of the blank bar is achieved, avoiding the error and inconvenience of manual detection.

[0070] Specifically, Figure 4 As shown, the loading manipulator 3 and the unloading manipulator 4 both include a first loading and unloading driver 31, a rotary driver 32, a second loading and unloading driver 33, and a loading and unloading clamp 34, wherein the first loading and unloading driver 31 and the second loading and unloading driver 33 are cylinders, electric cylinders, hydraulic cylinders, or linear motor drivers, etc. In this embodiment, the first loading and unloading driver 31 and the second loading and unloading driver 33 are both cylinders. The rotary driver 32 is an example of a rotary cylinder.

[0071] The first loading and unloading driver 31 is fixed to the machine table 1 and drives the rotary driver 32 to slide, so as to facilitate the loading robot 3 and the unloading robot 4 to dock with the material tray 11 and drive the loading robot 3 and the unloading robot 4 to approach or move away from the feeding position 22 of the C-axis working head 2.

[0072] The rotary driver 32 drives the second loading and unloading driver 33 to rotate, so that the loading robot 3 can convey the blank bar material and the unloading robot 4 can convey the PCB drill needle between the feeding position 22 of the C-axis work head 2 and the material tray 11.

[0073] The second loading and unloading drive 33 drives the loading and unloading clamp 34 to approach or move away from the conversion drive 7 or the material tray 11, so that the loading robot 3 obtains the blank bar on the material tray 11 and transports it to the feeding position 22 of the C-axis working head 2 through the material guiding robot 5, and the unloading robot 4 approaches the pulling robot 6 to obtain the PCB drill needle on the pulling robot 6 and transports it to the material tray 11.

[0074] The loading and unloading clamp 34 is used to clamp or release the blank bar or PCB drill needle, which is convenient for the loading robot 3 to clamp or release the blank bar, and the unloading robot 4 to clamp or release the PCB drill needle.

[0075] Specifically, the detection driver 351 is fixed on the first loading and unloading driver 31 of the loading robot 3 , so that the detection driver 351 moves toward or away from the feeding position 22 of the C-axis work head 2 along with the loading robot 3 .

[0076] like Figure 6 As shown, the blade grinding workstation 8 of this embodiment includes an angle offset mechanism 81, a lower slide Y2 axis driver 82, an upper slide X2 axis driver 83, a secondary blade grinding and cutting unit 84, an upper slide Z2 axis driver 85 and a primary blade grinding and cutting unit 86.

[0077] The lower slide Y2-axis driver 82 is arranged on the angle offset mechanism 81 and is used to drive the upper slide X2-axis driver 83 to slide; the upper slide X2-axis driver 83 simultaneously drives the secondary blade grinding and cutting part 84 and the upper slide Z2-axis driver 85 to slide; the upper slide Z2-axis driver 85 drives the primary blade grinding and cutting part 86 to slide.

[0078] Through the cooperation of the lower slide Y2 axis driver 82, the upper slide X2 axis driver 83 and the upper slide Z2 axis driver 85, the secondary cutting surface grinding and cutting part 84 and the primary cutting surface grinding and cutting part 86 can grind the drill tip part of the blank bar at the same time, reducing the processing time and improving the processing efficiency.

[0079] Since the upper slide Z2 axis driver 85 can independently drive the main tool face grinding cutting part 86 to slide, without interfering with the processing of the secondary tool face grinding cutting part 84, the main tool face grinding cutting part 86 can be driven by the upper slide Z2 axis driver 85 to avoid the C-axis working head 2 to prevent the tool face grinding workstation 8 from interfering with the C-axis working head 2.

[0080] When in use, the lower slide Y2 axis driver 82 is responsible for sliding on the angle offset mechanism 81 to adjust the distance between the secondary tool surface grinding and cutting portion 84 and the primary tool surface grinding and cutting portion 86 and the blank bar material.

[0081] The upper slide X2 axis driver 83 is responsible for sliding on the lower slide, so that the secondary blade grinding cutting part 84 and the primary blade grinding cutting part 86 can reciprocate along the axial direction of the upper slide X2 axis driver 83 to process the blank bar material.

[0082] The upper slide Z2 axis driver 85 is responsible for driving the main cutting surface grinding cutting part 86 to move along its axial direction, so that the component can be more flexible to approach or move away from the blank bar. This design allows the secondary cutting surface grinding cutting part 84 and the main cutting surface grinding cutting part 86 to act on the blank bar at the same time, thereby significantly improving the processing efficiency and shortening the processing cycle.

[0083] In the case of needing to avoid the C-axis work head 2, the lower slide Y2 axis driver 82 will start, driving the secondary blade grinding cutting unit 84, the upper slide Z2 axis driver 85 and the main blade grinding cutting unit 86 to slide and retract. In this process, the upper slide Z2 axis driver 85 also independently drives the main blade grinding cutting unit 86 to retract. Such coordinated operation not only reduces the sliding stroke of the lower slide Y2 axis driver 82, but also reduces the adjustment stroke required to approach and process the blank bar again, thereby reducing the preparation time for positioning and adjustment, and improving the flexibility and efficiency of the overall processing flow.

[0084] On the other hand, after the lower slide Y2-axis driver 82 and the upper slide X2-axis driver 83 cooperate to drive the secondary blade grinding and cutting part 84 to complete the zero-position coordinate positioning with the blank bar, the upper slide Z2-axis driver 85 drives the primary blade grinding and cutting part 86 to share the secondary blade grinding and cutting part 84 and the zero-position coordinate of the blank bar to process the blank bar, thereby reducing the time consumption of secondary positioning.

[0085] The working method of the knife surface grinding workstation 8 of this embodiment is:

[0086] B1. When the axis working head clamps the blank bar and stops at one side of the blade grinding workstation 8, the lower slide Y2 axis driver 82 drives the upper slide X2 axis driver 83, the secondary blade grinding cutting part 84 and the upper slide Z2 axis driver 85 and the primary blade grinding cutting part 86 to slide close to the blank bar;

[0087] B2. The lower slide Y2-axis driver 82 and the upper slide X2-axis driver 83 cooperate with the secondary blade grinding and cutting unit 84 to locate the zero position coordinate of the blank bar, record and store the positioning data, and start the secondary blade grinding and cutting unit 84 to grind the secondary blade surface of the blank bar according to the preset grinding parameters and path;

[0088] B3. The upper slide Z2 axis driver 85 shares the secondary face grinding and cutting unit 84 with the zero position coordinate positioning data of the blank bar and drives the main face grinding and cutting unit 86 to approach the blank bar and grind the main face of the blank bar according to the preset grinding parameters and path;

[0089] B4. After the main cutting surface grinding and cutting unit 86 is ground, the upper slide Z2 axis driver 85 drives the main cutting surface grinding and cutting unit 86 to retract and avoid, and the secondary cutting surface grinding and cutting unit 84 continues to grind the blank bar material;

[0090] B5. After the secondary cutting surface of the blank bar is processed, the lower slide Y2 axis driver 82 drives the secondary cutting surface grinding cutting section 84 and the main cutting surface grinding cutting section 86 to retract the tool as a whole;

[0091] B6. The axis work head clamps the blank bar and continues to transport it to the next workstation for processing.

[0092] Through the coordinated work of the lower slide Y2 axis driver 82, the upper slide X2 axis driver 83 and the upper slide Z2 axis driver 85, efficient and automated grinding of the cutter surface of the blank bar is achieved, which significantly improves the production efficiency.

[0093] The lower slide Y2 axis driver 82 and the upper slide X2 axis driver 83 cooperate with the secondary blade grinding and cutting unit 84 to locate the zero position coordinate of the blank bar material, and record and store the positioning data to ensure the accuracy of the grinding process. At the same time, the processing is carried out according to the preset grinding parameters and paths, further improving the processing accuracy.

[0094] After sharing the positioning data of the secondary blade grinding and cutting part 84, the upper slide Z2 axis driver 85 drives the main blade grinding and cutting part 86 to perform grinding processing, thereby realizing resource sharing and optimization, reducing the time of repeated positioning, and improving processing efficiency.

[0095] The method allows the secondary face grinding cutting part 84 and the primary face grinding cutting part 86 to work independently or in coordination, and can be flexibly adjusted according to processing requirements. At the same time, it also provides the possibility of adding more cutting parts or improving the processing flow in the future. The entire processing process is automatically controlled by the driver, which reduces manual intervention, operation difficulty and labor costs.

[0096] like Figure 6As shown, specifically, the angle biasing mechanism 81 includes a fixed reference plate 811 and a sliding plate 812. The fixed reference plate 811 is provided with a sliding limit groove 813, and the sliding plate 812 is provided with a sliding fastener 814. The sliding plate 812 is fixed to the fixed reference plate 811 after sliding along the sliding limit groove 813 to adjust the angle through the sliding fastener 814.

[0097] The angle biasing mechanism 81 achieves precise angle adjustment of the components connected or mounted on the sliding plate 812 by sliding adjustment of the sliding plate 812 on the fixed reference plate 811. This improves the adaptability and flexibility of the equipment, allowing the equipment to be quickly and accurately adjusted according to different processing requirements or working environments.

[0098] The cooperation between the sliding fastener 814 and the sliding limit groove 813 ensures the stability and reliability of the sliding plate 812 during the adjustment process. Once the sliding plate 812 reaches the desired angular position, the sliding fastener 814 can firmly fix it on the fixed reference plate 811 to prevent angular deviation caused by vibration or external force.

[0099] The sliding fasteners 814 are bolts and nuts. When the sliding plate 812 reaches a desired angle position, the sliding plate 812 is fixed to the fixed reference plate 811 through the cooperation of the nuts and bolts.

[0100] The Y2-axis driver 82 of the lower slide comprises a Y2-fixed shell 821, a Y2-axis actuator 822 and a Y2-lower slide plate 823. The Y2-fixed shell 821 is connected to the angle biasing mechanism 81. The Y2-axis actuator 822 is disposed in the Y2-fixed shell 821 and is used to drive the Y2-lower slide plate 823 to slide. The Y2-lower slide plate 823 is connected to the X2-axis driver 83 of the upper slide plate.

[0101] The lower slide Y2 axis driver 82 realizes a highly integrated and modular design by integrating the Y2 fixed shell 821, the Y2 axis actuator 822 and the Y2 lower slide plate 823. This design not only simplifies the structure of the equipment and reduces the manufacturing cost, but also improves the reliability and maintainability of the equipment.

[0102] The Y2-axis actuator 822 is disposed in the Y2 fixed housing 821, and is used to drive the Y2 lower slide plate 823 to slide accurately along a predetermined direction. This design ensures that the Y2 lower slide plate 823 can move to the desired position smoothly and accurately, thereby improving the processing accuracy and positioning accuracy of the equipment.

[0103] The Y2-axis actuator 822 is a linear motor, a cylinder or a screw, etc. In this embodiment, the Y2-axis actuator 822 uses a linear motor as an example. The linear motor is known for its high-precision positioning and smooth motion characteristics, which can ensure that the Y2 lower slide plate 823 achieves micron-level positioning accuracy during the sliding process, and there is no jitter during the motion process.

[0104] The upper slide X2 axis driver 83 includes an X2 fixed seat 831, an X2 slide seat 832 and an X2 actuator 833.

[0105] The X2 fixed seat 831 is fixed to the lower slide Y2 axis driver 82 , and the X2 actuator 833 is fixed to the X2 fixed seat 831 and is used to drive the X2 slide 832 to slide.

[0106] The upper slide X2 axis driver 83 drives the X2 slide seat 832 to slide on the X2 fixed seat 831 through the X2 actuator 833, thus realizing a high-precision positioning function. At the same time, the cooperation with the lower slide Y2 axis driver 82 can form a precise motion control in a two-dimensional plane, thus meeting the requirements of complex processing tasks.

[0107] The X2 actuator 833 is a servo motor, and the X2 actuator 833 slides with the X2 slide seat 832 through a lead screw and a nut.

[0108] The upper slide X2 axis driver 83 includes an X2 fixed seat 831, an X2 slide 832 and an X2 actuator 833. The X2 fixed seat 831 is fixed to the lower slide Y2 axis driver 82. The X2 actuator 833 is fixed to the X2 fixed seat 831 and is used to drive the X2 slide 832 to slide.

[0109] The upper slide X2 axis driver 83 drives the X2 slide seat 832 to slide on the X2 fixed seat 831 through the X2 actuator 833, thus realizing a high-precision positioning function. At the same time, the cooperation with the lower slide Y2 axis driver 82 can form a precise motion control in a two-dimensional plane, thus meeting the requirements of complex processing tasks.

[0110] The X2 actuator 833 is a servo motor, and the X2 actuator 833 slides with the X2 slide seat 832 through a lead screw and a nut.

[0111] The upper slide Z2 axis driver 85 is fixed to the top of the second fixing part 8322 or the top side of the second fixing part 8322, so that the upper slide Z2 axis driver 85 can be flexibly arranged when fixed to the second fixing part 8322.

[0112] Preferably, a seal, such as a sealing sheet or a sealing ring, is provided at the connection between the upper slide Z2 axis driver 85 and the second fixing portion 8322 to effectively prevent the cutting fluid from entering the interior of the upper slide Z2 axis driver 85 .

[0113] The secondary blade surface grinding cutting part 84 includes a secondary blade surface grinding actuator 841 and a secondary blade surface grinding wheel 842. The secondary blade surface grinding actuator 841 is fixed to the upper slide X2 axis driver 83 and is used to drive the secondary blade surface grinding wheel 842 to rotate.

[0114] The main cutting surface grinding cutting part 86 includes a main cutting surface grinding actuator 861 and a main cutting surface grinding wheel 862 . The main cutting surface grinding actuator 861 is fixed to the upper slide Z2 axis driver 85 and is used to drive the main cutting surface grinding wheel 862 to rotate.

[0115] The secondary tool face grinding and cutting part 84 and the primary tool face grinding and cutting part 86 are driven independently, thereby achieving simultaneous or alternating grinding of different tool faces, thereby significantly improving the processing efficiency.

[0116] like Figure 7 As shown, the secondary blade surface grinding actuator 841 and the primary blade surface grinding actuator 861 are staggered, and the angle A between the end surface of the secondary blade surface grinding wheel 842 and the end surface of the primary blade surface grinding wheel 862 is 15°-25°.

[0117] By staggering the secondary blade grinding actuator 841 and the primary blade grinding actuator 861, and maintaining the angle A between the end faces of the secondary blade grinding wheel 842 and the primary blade grinding wheel 862 at 15°-25°, the grinding wheel can accurately contact different surfaces of the tool, ensuring the uniformity and consistency of grinding and improving the grinding accuracy.

[0118] like Figure 8 As shown, the UC / edge cutter workstation 9 of this embodiment includes a lower slide X3 axis driver 91, a UC angle offset mechanism 92, a UC lifting Z3 axis driver 93 and a UC / edge cutter grinding and cutting processing head 94.

[0119] The lower slide X3 axis driver 91 drives the UC angle offset mechanism 92 to move closer to or away from the blank bar;

[0120] The UC angle offset mechanism 92 drives the UC lifting Z3 axis driver 93 to offset the angle;

[0121] The UC lifting Z3 axis driver 93 drives the UC / edge knife grinding and cutting processing head 94 to lift and lower;

[0122] The UC / edge cutter grinding and cutting processing head 94 is used to perform two processes of UC cutting and edge cutter cutting on the blank bar material.

[0123] By integrating the lower slide X3 axis driver 91, the UC angle offset mechanism 92, the UC lifting Z3 axis driver 93 and the UC / edge cutter grinding and cutting processing head 94, the UC / edge cutter workstation 9 can realize the accurate and efficient UC cutting and edge cutter cutting of the blank bar. This integrated design reduces the changeover time during the processing and improves the overall production efficiency.

[0124] The UC angle offset mechanism 92 can drive the UC lifting Z3 axis driver 93 and the processing head to perform angle offset, which enables the UC / edge cutter workstation 9 to adapt to the processing requirements of blank bars of different shapes and sizes, thereby improving the flexibility and adaptability of processing.

[0125] The lower slide X3 axis driver 91 and the UC lifting Z3 axis driver 93 both have high-precision driving capabilities, which can ensure the precise position control of the machining head during the machining process, thereby ensuring the machining quality and accuracy.

[0126] The design of the UC / edge knife grinding and cutting processing head 94 enables it to complete the two processes of UC cutting and edge knife cutting at the same time, reducing equipment investment and floor space, and lowering production costs.

[0127] During operation, the lower slide X3-axis driver 91 realizes the movement of the processing head in the X-axis direction through linear motion, the UC angle offset mechanism 92 adjusts the angle of the processing head through rotational motion, and the UC lifting Z3-axis driver 93 is responsible for accurately controlling the lifting and lowering of the processing head in the Z-axis direction. The UC / edge cutter grinding processing head 94 performs accurate UC and edge cutter processing on the blank bar material according to the preset processing parameters and procedures, and efficiently completes the two-step processing of UC cutting and edge cutter cutting, reducing processing time, avoiding rotation processing in multiple devices, and eliminating the need for multiple positioning, thereby improving processing accuracy.

[0128] Specifically, Fig. 9 As shown, the lower slide X3 axis driver 91 includes a fixed seat 911, a slide seat 912 and a slide driver 913, wherein the slide driver 913 is a cylinder or motor drive module. In this embodiment, the slide driver 913 is a motor drive module combined with a screw rod, and the slide driver 913 drives the slide seat 912 to slide through the screw rod and the transmission nut. The slide seat 912 is connected to the UC angle offset mechanism 92.

[0129] The slide driver 913 is fixed to the fixed seat 911 and drives the slide 912 to approach or move away from the blank bar.

[0130] The stability and accuracy of the UC angle offset mechanism 92 and subsequent processing components during the movement are ensured by designing the lower slide X3 axis driver 91 including a fixed seat 911, a slide seat 912 and a slide driver 913. The fixed seat 911 provides a solid support foundation, and the slide seat 912 moves smoothly through the precise control of the slide driver 913, thereby ensuring the accuracy of the processing position.

[0131] The slide driver 913 can drive the slide 912 to approach or move away from the blank bar. This design enables the UC / edge cutter workstation 9 to flexibly adjust the processing range to adapt to blank bars of different lengths or positions, thereby improving the flexibility and adaptability of processing.

[0132] like Fig. 9 As shown, the UC angle biasing mechanism 92 of this embodiment includes a fixed plate 921, a rotating plate 922 and a deflection driver 923, wherein the deflection driver 923 is a motor, such as a servo motor.

[0133] The fixed plate 921 is fixed to the lower slide X3 axis driver 91; the rotating plate 922 is hinged to the fixed plate 921;

[0134] The deflection driver 923 is fixed to the fixed plate 921 and drives the rotating plate 922 to rotate along the hinge between the rotating plate 922 and the fixed plate 921 .

[0135] The UC angle biasing mechanism 92 achieves precise adjustment of the angle of the UC / edge knife grinding and cutting processing head 94 through the combination of a fixed plate 921 , a rotating plate 922 and a deflection driver 923 .

[0136] The deflection driver 923 can drive the rotating plate 922 to rotate along the hinge between the rotating plate 922 and the fixed plate 921, thereby ensuring that the UC / edge cutter grinding and cutting processing head 94 can be offset according to a predetermined angle, thereby improving the processing accuracy and flexibility.

[0137] The fixing plate 921 is fixed to the lower slide X3 axis driver 91, providing a stable support for the entire UC angle biasing mechanism 92. At the same time, it is convenient for the lower slide X3 axis driver 91 to drive the UC angle biasing mechanism 92 to approach or move away from the blank bar material.

[0138] The rotating plate 922 and the fixed plate 921 are connected by hinges, which not only ensures the flexibility of rotation, but also ensures the stability of the structure, and avoids vibration or shaking caused by angle adjustment during the processing.

[0139] Specifically, the fixing plate 921 is provided with a mounting groove 9211, the deflection driver 923 is provided with a transmission seat 9231, and the deflection driver 923 is fixed in the mounting groove 9211 through the transmission seat 9231;

[0140] The transmission seat 9231 is provided with a driving wheel 9232 for driving the rotating plate 922 , and the driving wheel 9232 is frictionally connected to the rotating plate 922 .

[0141] By providing a mounting groove 9211 on the fixing plate 921 and fixing the deflection driver 923 in the mounting groove 9211 through the transmission seat 9231, compact installation of the driver is achieved. This design not only saves space, but also makes the installation process of the entire UC angle biasing mechanism 92 simpler and faster.

[0142] The driving wheel 9232 provided on the transmission seat 9231 is frictionally connected with the rotating plate 922. This transmission mode has the characteristics of simple structure and high transmission efficiency. The driving wheel 9232 drives the rotating plate 922 to rotate through friction force, thereby realizing the precise adjustment of the processing head angle. At the same time, since the friction connection has a certain self-locking property, it can also prevent the rotating plate 922 from rotating automatically when no external force is applied in some cases.

[0143] like Fig. 9 and Fig.10 As shown, the rotating plate 922 of this embodiment is provided with an air guide channel 924 inside, and the air guide channel 924 is provided with an air inlet 9241, an air extraction port 9242 and an air suction and blowing port 9243.

[0144] The air inlet 9241 is connected to an external positive pressure device; the air exhaust port 9242 is connected to an external negative pressure device; and the air suction and blowing port 9243 faces the fixed plate 921 .

[0145] When the rotating plate 922 rotates along the hinge between the rotating plate 922 and the fixed plate 921, the external positive pressure device blows air into the air guide channel 924 through the air inlet 9241, so that the gas is blown from the air intake and blowing port 9243 to the fixed plate 921, thereby making the rotating plate 922 float above the fixed plate 921, reducing the friction between the rotating plate 922 and the fixed plate 921, and facilitating the rotating plate 922 to rotate along the hinge between the rotating plate 922 and the fixed plate 921.

[0146] When the UC / edge cutter grinding and cutting processing head 94 performs the two processes of UC cutting and edge cutter cutting on the blank bar material, the external negative pressure device evacuates the inside of the air guide channel 924 through the exhaust port 9242, and the rotating plate 922 is attached to the fixed plate 921 due to gravity, and the inside of the air guide channel 924 is in a vacuum state. The rotating plate 922 is adsorbed and fixed to the fixed plate 921 through the suction and blowing port 9243 to form a locked state, providing stable support for the UC lifting Z3 axis driver 93 and the UC / edge cutter grinding and cutting processing head 94, so that the UC / edge cutter grinding and cutting processing head 94 can work more stably to improve the processing accuracy.

[0147] like Fig. 9 and Fig.10As shown, the air guide channel 924 of this embodiment is provided with a sliding cavity 9244.

[0148] The fixed plate 921 is provided with a slide groove 9212 , and the rotating plate 922 is provided with a piston slider 9221 . The piston slider 9221 is slidably disposed in the sliding cavity 9244 up and down and slides horizontally along the inside of the slide groove 9212 .

[0149] When the rotating plate 922 rotates along the hinge between the rotating plate 922 and the fixed plate 921, the external positive pressure device blows air into the air guide channel 924 through the air inlet 9241, and the piston slider 9221 slides down and slides horizontally along the inside of the slide groove 9212, thereby making the rotation between the rotating plate 922 and the fixed plate 921 more controllable.

[0150] When the UC / edge cutter grinding and cutting processing head 94 performs UC cutting and edge cutter cutting processes on the blank bar material, the external negative pressure device evacuates the inside of the air guide channel 924 through the exhaust port 9242, and the piston slider 9221 slides up, so that the piston slider 9221 contacts the inner wall of the slide groove 9212, increasing the friction force of rotation between the rotating plate 922 and the fixed plate 921, making the locking state formed by the rotating plate 922 and the fixed plate 921 more stable.

[0151] like Fig.11 As shown, the UC lifting Z3 axis driver 93 of this embodiment is provided with a mounting seat 931, and the UC / edge knife grinding and cutting processing head 94 is fixed in the mounting seat 931, wherein the UC lifting Z3 axis driver 93 is a cylinder, an oil cylinder or a linear motor. In this embodiment, the UC lifting Z3 axis driver 93 is taken as an example of a linear motor.

[0152] The mounting base 931 includes a fixing frame 932, a fixing support plate 933, a movable plate 934 and a fixing rod 935.

[0153] The fixed frame 932 is fixed to the UC lifting Z3 axis driver 93 , the fixed support plate 933 is fixed to one end of the fixed frame 932 , the movable plate 934 is hinged to the fixed frame 932 , and the fixed rod 935 is connected between the fixed support plate 933 and the movable plate 934 .

[0154] The UC lifting Z3 axis driver 93 is firmly connected to the mounting seat 931 through the fixing frame 932, which ensures the stability and accuracy of the entire processing head, and is conducive to maintaining a stable cutting force and position accuracy during the processing.

[0155] The movable plate 934 is connected to the fixed frame 932 by a hinged manner. Combined with the connection of the fixed rod 935 between the fixed support plate 933 and the movable plate 934, it provides the possibility of adjusting the position and angle of the UC / edge knife grinding and cutting processing head 94, so that the UC / edge knife grinding and cutting processing head 94 can adapt to workpieces of different shapes and sizes, thereby enhancing the adaptability and flexibility of the equipment.

[0156] By adjusting the length or angle of the fixing rod 935, the position of the movable plate 934 can be conveniently adjusted, and then the position and angle of the processing head can be adjusted, which simplifies the operation process and improves work efficiency.

[0157] The design of the mounting seat 931 makes the disassembly, assembly and maintenance of the UC / edge cutter grinding and cutting processing head 94 more convenient, which is beneficial to the long-term stable operation and maintenance of the equipment.

[0158] Specifically, the fixed support plate 933 is provided with a limiting groove 9331 , which provides a precise positioning point for the UC / edge knife grinding and cutting processing head 94 .

[0159] The movable plate 934 is provided with an anti-sliding block 9341 which contacts with the UC / edge knife grinding and cutting processing head 94. The anti-sliding block 9341 provided on the movable plate 934 contacts with the UC / edge knife grinding and cutting processing head 94, which not only increases the friction between the UC / edge knife grinding and cutting processing head 94 and the movable plate 934, but also prevents the UC / edge knife grinding and cutting processing head 94 from sliding or deflecting during the cutting process.

[0160] Specifically, Fig.11 As shown, the UC / edge cutter grinding processing head 94 includes a processing driver 941 , which is provided with a rotating working shaft 942 , and the rotating working shaft 942 is provided with a grinding wheel fixing groove 943 , and both the UC processing grinding wheel and the edge cutter grinding wheel are fixed in the grinding wheel fixing groove 943 .

[0161] By setting a grinding wheel fixing groove 943 on the same rotating working shaft 942 and allowing the UC processing grinding wheel and the edge cutter grinding wheel to be fixed to the grinding wheel fixing groove 943 simultaneously or separately, the UC / edge cutter grinding processing head 94 has multiple processing functions. This design not only improves the utilization rate of the equipment, but also reduces the cost and time of replacing the processing head, so that the equipment can more flexibly respond to different processing requirements.

[0162] Among them, the UC / edge knife grinding and cutting processing head 94 is a motor.

[0163] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A high-speed multi-station PCB drill needle forming processing center, comprising a machine (1), a C-axis work head (2), a loading and unloading manipulator (4), a grooving work station, a knife face grinding work station (8) and a UC / edge cutter work station (9), wherein the C-axis work head (2) is rotatably arranged on the machine (1) and is used to convey a blank bar material to the grooving work station, the knife face grinding work station (8) and the UC / edge cutter work station (9) for processing to form a PCB drill needle, and the loading and unloading manipulator (4), the grooving work station, the knife face grinding work station (8) and the UC / edge cutter work station (9) are arranged along the circumference of the C-axis work head (2), characterized in that: The machine (1) is provided with a material tray (11) for placing blank bars and collecting PCB drill needles; The C-axis working head (2) is provided with a plurality of material feeding positions (22); The loading and unloading manipulator (4) comprises a loading manipulator (3), a unloading manipulator (4), a material guiding manipulator (5), a material pulling manipulator (6) and a conversion driver (7). The loading manipulator (3) and the unloading manipulator (4) are respectively arranged on both sides above the material tray (11). The conversion driver (7) is arranged between the C-axis working head (2) and the loading manipulator (3) and the unloading manipulator (4) and is used to drive the material guiding manipulator (5) and the material pulling manipulator (6) to perform displacement conversion relative to the axis of the feeding position (22) of the C-axis working head (2). The material guiding manipulator (5) is used to assist the loading manipulator (3) to insert the blank bar into the feeding position (22) of the C-axis working head (2), and the material pulling manipulator (6) is used to pull out the PCB drill needle released by the feeding position (22) of the C-axis working head (2). When the material feeding position (22) of the C-axis working head (2) is in an empty state and rests on one side of the material tray (11), the conversion driver (7) simultaneously drives the material guiding manipulator (5) and the material removing manipulator (6) to move, and when the material guiding manipulator (5) is aligned with the axis of the material feeding position (22) of the C-axis working head (2), the loading manipulator (3) obtains the blank bar material from the material tray (11) and loads the blank bar material to the material feeding position (22) of the C-axis working head (2) through the material guiding manipulator (5); When the material feeding position (22) of the C-axis working head (2) is in a position to clamp the PCB drill needle and rest on one side of the material tray (11), the conversion driver (7) simultaneously drives the material guiding manipulator (5) and the material pulling manipulator (6) to move. When the material pulling manipulator (6) is aligned with the axis of the material feeding position (22) of the C-axis working head (2), the material pulling manipulator (6) pulls out the PCB drill needle released by the C-axis working head (2), and the conversion driver (7) simultaneously drives the material guiding manipulator (5) and the material pulling manipulator (6) to move again, and the material feeding position (22) of the C-axis working head (2) is adjusted. The material manipulator (5) is aligned with the axis of the material feed position (22) of the C-axis working head (2) again, the loading manipulator (3) obtains the blank bar material from the material tray (11) and loads the blank bar material to the material feed position (22) of the C-axis working head (2) again through the material guiding manipulator (5), and at the same time, the material extraction manipulator (6) clamps the PCB drill needle and is misaligned with the axis of the material feed position (22) of the C-axis working head (2), and the unloading manipulator (4) obtains the PCB drill needle released by the material extraction manipulator (6) and places it on the material tray (11).

2. A high-speed multi-station PCB drill needle forming processing center according to claim 1, characterized in that: The conversion driver (7) is provided with a conversion connection seat (711), a conversion sliding seat (712) and a conversion actuator (713), and the material extraction manipulator (6) is provided with a material extraction driver (61); The conversion connection seat (711) is fixed to the machine platform (1), the conversion sliding seat (712) is slidably connected to the conversion connection seat (711), the material guiding manipulator (5) is fixed to one side of the conversion sliding seat (712), and the material pulling drive (61) is arranged on the other side of the conversion sliding seat (712) and drives the material pulling manipulator (6) to move; The conversion actuator (713) drives the conversion sliding seat (712) to slide in a direction perpendicular to the axial direction of the C-axis working head (2) to convert the material guiding robot (5) or the material pulling robot (6) to align with the axial position of the material feeding position (22) of the C-axis working head (2); The material guiding robot (5) is used to clamp or release the blank bar material, the material pulling robot (6) is used to clamp or release the PCB drill needle, and the material pulling driver (61) drives the material pulling robot (6) to move axially along the C-axis working head (2) to approach or move away from the C-axis working head (2).

3. A high-speed multi-station PCB drill needle forming processing center according to claim 1, characterized in that: The feeding position (22) is provided with a fixing hole (221) for fixing the blank bar material, and a self-resetting rotating tongue (222) and a limiting rod (223) are provided in the fixing hole (221), the self-resetting rotating tongue (222) is used to press the blank bar material against the fixing hole (221), and the limiting rod (223) is used to limit the depth of the blank bar material inserted into the fixing hole (221); The feeding position (22) is provided with a through hole (224). The conversion driver (7) comprises a clamp opening mechanism (64), and the clamp opening mechanism (64) comprises a clamp opening driver (641) and a ejector pin (642). The clamping driver (641) is fixed to the machine (1) and is used to drive the ejector pin (642) to extend into the through hole (224) to contact the self-resetting rotating tongue (222) or to withdraw from the through hole (224) and separate from the self-resetting rotating tongue (222), so as to control the self-resetting rotating tongue (222) to clamp or release the blank bar.

4. A high-speed multi-station PCB drill needle forming processing center according to claim 3, characterized in that: The feeding robot (3) is also provided with a detection mechanism (35); The detection mechanism (35) comprises a detection driver (351), a detection seat (352) and a sensor (353). The detection driver (351) is fixed to the loading robot (3) and is used to drive the detection seat (352) to approach or move away from the conversion driver (7), and the sensor (353) is used to contact the blank bar material to detect whether the depth of the blank bar material fixed to the feeding position (22) of the C-axis working head (2) is correct; The method for fixing the blank bar material at the feeding position (22) of the C-axis working head (2) and performing depth detection is as follows: A1. The clamp opening driver (641) drives the ejector pin (642) to extend into the through hole (224) and contact the self-resetting rotating tongue (222) to control the self-resetting rotating tongue (222) to be in an open state; A2. The loading robot (3) obtains the blank bar from the material tray (11) and loads the blank bar to the material input position (22) of the C-axis working head (2) through the material guiding robot (5). When the blank bar is inserted into the fixing hole (221), the material guiding robot (5) clamps the blank bar, and the loading robot (3) releases the blank bar; A3. The loading manipulator (3) clamps the neck of the blank bar again, and the material guiding manipulator (5) releases the blank bar. The loading manipulator (3) pushes the blank bar into the fixing hole (221) again to ensure that the blank bar is in contact with the limit rod (223). The material guiding manipulator (5) clamps the blank bar again, and the loading manipulator (3) releases the blank bar. A4. The loading manipulator (3) is away from the blank bar material by a certain distance, and the detection driver (351) drives the detection seat (352) to approach the conversion driver (7) so that the sensor (353) is at the front end of the loading manipulator (3). The loading manipulator (3) approaches the blank bar material again, and the sensor (353) is pressed against the blank bar material to obtain the compression stroke of the blank bar material on the sensor (353). Then, the detection driver (351) drives the detection seat (352) away from the conversion driver (7). When the compression stroke of the sensor (353) meets the preset value, execute step A5, otherwise repeat step A3; A5. The clamping driver (641) drives the ejector pin (642) to withdraw from the through hole (224) and separate from the self-resetting rotating tongue (222), so as to control the self-resetting rotating tongue (222) to clamp the blank bar.

5. A high-speed multi-station PCB drill needle forming processing center according to claim 1, characterized in that: The knife face grinding workstation (8) comprises an angle offset mechanism (81), a lower slide Y2 axis driver (82), an upper slide X2 axis driver (83), a secondary knife face grinding and cutting unit (84), an upper slide Z2 axis driver (85) and a primary knife face grinding and cutting unit (86). The lower slide table Y2 axis driver (82) is arranged on the angle biasing mechanism (81) and is used to drive the upper slide table X2 axis driver (83) to slide; The upper slide X2 axis driver (83) simultaneously drives the secondary blade grinding cutting part (84) and the upper slide Z2 axis driver (85) to slide; The upper slide Z2 axis driver (85) drives the main tool surface grinding cutting part (86) to slide.

6. A high-speed multi-station PCB drill needle forming processing center according to claim 5, characterized in that: The working method of the knife surface grinding workstation (8) is: B1. When the axis working head clamps the blank bar and stops at one side of the blade grinding workstation (8), the lower slide Y2 axis driver (82) drives the upper slide X2 axis driver (83), the secondary blade grinding cutting part (84) and the upper slide Z2 axis driver (85) and the primary blade grinding cutting part (86) to slide close to the blank bar; B2. The lower slide Y2-axis driver (82) and the upper slide X2-axis driver (83) cooperate with the secondary blade grinding and cutting unit (84) to locate the zero position coordinate of the blank bar, record and store the positioning data, and start the secondary blade grinding and cutting unit (84) to grind the secondary blade surface of the blank bar according to the preset grinding parameters and path; B3. The upper slide Z2 axis driver (85) shares the secondary blade grinding and cutting unit (84) with the zero position coordinate positioning data of the blank bar and drives the main blade grinding and cutting unit (86) to approach the blank bar and grind the main blade surface of the blank bar according to the preset grinding parameters and path; B4. After the main cutting surface grinding and cutting unit (86) is ground, the upper slide Z2 axis driver (85) drives the main cutting surface grinding and cutting unit (86) to retract and avoid, and the secondary cutting surface grinding and cutting unit (84) continues to grind the blank bar material; B5. After the secondary cutting surface of the blank bar is processed, the lower slide Y2 axis driver (82) drives the secondary cutting surface grinding cutting section (84) and the main cutting surface grinding cutting section (86) to retract the tool as a whole; B6. The axis work head clamps the blank bar and continues to transport it to the next workstation for processing.

7. A high-speed multi-station PCB drill needle forming processing center according to claim 1, characterized in that: The UC / edge cutter workstation (9) comprises a lower slide X3 axis driver (91), a UC angle offset mechanism (92), a UC lifting Z3 axis driver (93) and a UC / edge cutter grinding and cutting processing head (94). The lower slide X3 axis driver (91) drives the UC angle biasing mechanism (92) to move closer to or away from the blank bar; The UC angle biasing mechanism (92) drives the UC lifting Z3 axis driver (93) to shift the angle; The UC lifting Z3 axis driver (93) drives the UC / edge knife grinding and cutting processing head (94) to lift and lower; The UC / edge cutter grinding and cutting processing head (94) is used to perform two processes of UC cutting and edge cutter cutting on the blank bar material.

8. A high-speed multi-station PCB drill needle forming processing center according to claim 7, characterized in that: The UC angle biasing mechanism (92) comprises a fixed plate (921), a rotating plate (922) and a deflection driver (923). The fixing plate (921) is fixed to the lower slide X3 axis driver (91); The rotating plate (922) is hinged to the fixed plate (921); The deflection driver (923) is fixed to the fixed plate (921) and drives the rotating plate (922) to rotate along the hinge between the rotating plate (922) and the fixed plate (921).

9. A high-speed multi-station PCB drill needle forming processing center according to claim 8, characterized in that: The rotating plate (922) is provided with an air guide channel (924) inside, and the air guide channel (924) is provided with an air inlet (9241), an air extraction port (9242) and an air suction and blowing port (9243). The air inlet (9241) is connected to an external positive pressure device; The air extraction port (9242) is connected to an external negative pressure device; The air suction and blowing port (9243) faces the fixing plate (921); The air guide channel (924) is provided with a sliding cavity (9244). The fixed plate (921) is provided with a slide groove (9212), and the rotating plate (922) is provided with a piston slider (9221). The piston slider (9221) is slidably arranged in the sliding cavity (9244) up and down and slides horizontally along the inside of the slide groove (9212).

10. A high-speed multi-station PCB drill needle forming processing center according to claim 7, characterized in that: The UC lifting Z3 axis driver (93) is provided with a mounting seat (931), and the UC / edge knife grinding and cutting processing head (94) is fixed in the mounting seat (931). The mounting seat (931) comprises a fixing frame (932), a fixing support plate (933), a movable plate (934) and a fixing rod (935). The fixed frame (932) is fixed to the UC lifting Z3 axis driver (93), the fixed support plate (933) is fixed to one end of the fixed frame (932), the movable plate (934) is hinged to the fixed frame (932), and the fixed rod (935) is connected between the fixed support plate (933) and the movable plate (934); The UC / edge cutter grinding processing head (94) comprises a processing driver (941), wherein the processing driver (941) is provided with a rotating working shaft (942), wherein the rotating working shaft (942) is provided with a grinding wheel fixing groove (943), and both the UC processing grinding wheel and the edge cutter grinding wheel are fixed in the grinding wheel fixing groove (943).

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