Circuit board processing equipment and tool changing method

Abstract

The invention discloses circuit board processing equipment which comprises a workbench, at least one processing station is arranged on the workbench, and a first area and a second area which are adjacent to each other are arranged on the processing station; the first knife box for storing a first knife and the second knife box for storing a second knife are both arranged in the first area; when the first cutter box is used for processing the circuit board, the second cutter box is used for replacing the cutter box externally; when the first cutter box is used for replacing the cutter box externally, the second cutter box is used for processing the circuit board; the shared cutter box for storing shared cutters is arranged in the second area; and the common cutter and the first cutter or the second cutter at least comprise all types of cutters for processing the circuit board. The invention further provides a tool changing method. According to the circuit board processing equipment and the tool changing method, the service life waste of the shared tool can be reduced, and the tool changing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit board processing equipment. More precisely, the present invention relates to a circuit board processing equipment and a tool changing method. Background Art

[0002] With the development of PCB circuit board production towards automation and unmanned operation, the importance of tool automation in circuit board processing equipment has become increasingly prominent. To facilitate tool management, it is usually manual to replace the entire tool magazine. In this method, the service life of some tools has not expired, resulting in waste of tools. The most ideal state is that each tool can be used until its life expires and then replaced, so that each tool can be made the best use of. Therefore, how to efficiently replace tools and reduce waste of tool life is a technical problem that urgently needs to be solved. Summary of the Invention

[0003] The present invention provides a circuit board processing equipment and a tool changing method to solve the problems existing in the prior art.

[0004] According to a first aspect of the present invention, there is provided a circuit board processing equipment, comprising: a workbench, at least one processing station is provided on the workbench, and an adjacent first area and a second area are provided on the processing station; a first tool magazine and a second tool magazine, the first tool magazine storing a first tool and the second tool magazine storing a second tool are both provided in the first area; when the first tool magazine is used for processing the circuit board, the second tool magazine is used for externally replacing the tool magazine; when the first tool magazine is used for externally replacing the tool magazine, the second tool magazine is used for processing the circuit board; a shared tool magazine, the shared tool magazine storing a shared tool is provided in the second area; the shared tool and the first tool or the second tool at least include all types of tools for processing the circuit board.

[0005] In an embodiment of the present invention, the shared tool magazine is fixedly provided on the workbench, and the shared tool is replaced by the first tool magazine or the second tool magazine.

[0006] In an embodiment of the present invention, the circuit board processing equipment includes a tool management module, and the tool management module monitors and updates the service life of the shared tool, the first tool and the second tool in real time.

[0007] In one embodiment of the present invention, the workbench further includes a first tool holder and a second tool holder. Control the unloading of the old common tool to the first tool holder and control the transfer of the new common tool to the second tool holder; or, the workbench includes a first tool holder. Control the unloading of the old common tool to the first tool holder and control the transfer of the new common tool to the common tool magazine; or, the workbench includes a second tool holder. Control the transfer of the new common tool to the second tool holder and control the unloading of the old common tool to the first tool magazine or the second tool magazine; or, control the transfer of the old common tool to the first tool magazine or the second tool magazine and control the transfer of the new common tool magazine to the common tool magazine.

[0008] In one embodiment of the present invention, when unloading the common tool, if the current life of the common tool is less than the preset life, control the unloading of the common tool to the common tool magazine; if the current life of the last common tool of this type is equal to the preset life, control the unloading of the common tool to the first tool magazine or the second tool magazine.

[0009] In one embodiment of the present invention, the common tool magazine is detachably arranged on the workbench, and the frequency of externally replacing tools in the common tool magazine is less than the frequency of externally replacing tool magazines in the first tool magazine and the second tool magazine.

[0010] In one embodiment of the present invention, during the processing of one circuit board, the workload of each type of common tool is less than the workload of each type of the first tool or the second tool.

[0011] In one embodiment of the present invention, the time for externally replacing the tool magazine is less than the time for the first tool magazine or the second tool magazine to process the circuit board; the first tool magazine and the second tool magazine are exactly the same, or, in the first tool magazine and the second tool magazine, at least one of the first tool and the second tool is different.

[0012] In one embodiment of the present invention, the circuit board processing device processes the circuit board according to the first object parameter, and the tool management module jointly determines the following parameters based on the number of circuit boards in the first object parameter, the types and workloads of tools required for processing the circuit board, the life parameters of the common tool, the first tool or the second tool: (1) the types and quantities of the common tools; (2) the types and quantities of the first tools; (3) the types and quantities of the second tools.

[0013] In an embodiment of the present invention, the replacement of the shared tool externally is triggered according to any one of the following triggering conditions: (1) at least one tool reaches the service life; (2) all tools of any type reach the service life; (3) each tool reaches a predetermined threshold of the total life; (4) the remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board.

[0014] In an embodiment of the present invention, the replacement of the first tool magazine or the second tool magazine externally is triggered according to any one of the following triggering conditions: (1) all tools reach the service life; (2) all tools of any type reach the service life; (3) the remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board; (4) the tool magazine completes the predetermined workload.

[0015] According to a second aspect of the present invention, there is provided a tool changing method, which is applied to a circuit board processing device and includes: obtaining parameters of the circuit board and the tool in the first object parameter; determining the types and quantities of the tools in the tool magazine; controlling the circuit board processing device to pick up the tool to process the circuit board; when the sum of the remaining lives of at least one of the tools in the tool magazine cannot meet the workload of processing the next circuit board, controlling to replace the tool magazine externally; or, when the sum of the remaining lives of at least one of the tools in the tool magazine cannot meet the workload of processing the next circuit board, controlling to replace the tool externally.

[0016] According to a third aspect of the present invention, there is provided a tool changing method, which is applied to a circuit board processing device and includes: the tool management module continuously obtains the life of the shared tool; when the remaining life of the shared tool is less than a preset value; controlling to transfer a new shared tool to the first tool magazine or the second tool magazine; after processing the circuit board until before processing the next circuit board, or, when the shared tool reaches the service life; controlling to replace the shared tool with the first tool magazine or the second tool magazine.

[0017] According to a fourth aspect of the present invention, there is provided a tool changing method, which is applied to a circuit board processing device and includes: the tool management module continuously obtains the life of the shared tool; when the remaining life of the shared tool cannot meet the workload of processing the next circuit board; controlling to transfer a new shared tool to the first tool magazine or the second tool magazine; after processing the circuit board until before processing the next circuit board, or, when the shared tool reaches the service life; controlling to replace the shared tool with the first tool magazine or the second tool magazine.

[0018] One beneficial effect of the present invention is that such a circuit board processing device and tool changing method can reduce the waste of the life of the shared tool, save costs and improve the tool changing efficiency.

[0019] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings incorporated in and constituting a part of this specification illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0021] Figure 1 is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0022] Figure 2a is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0023] Figure 2b is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0024] Figure 2c is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0025] Figure 2d is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of a partial structure of a host computer provided by an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a partial structure of a circuit board processing device provided by an embodiment of the present invention;

[0030] Figure 7 is a partial flowchart of a tool change method provided by an embodiment of the present invention;

[0031] Figure 8 is a partial flowchart of a tool change method provided by an embodiment of the present invention;

[0032] Figure 9 is a partial flowchart of a tool change method provided by an embodiment of the present invention;

[0033] Figures 1 to 9 The one-to-one correspondence between the names of the components and the reference numerals in [the figure] is as follows:

[0034] 100, Circuit board processing equipment; 200, Self-moving tool-changing equipment; 300, Warehouse management system; 500, Host computer; 10, Workbench; 20, Spindle assembly; 30, Cross beam; 40, Base; 21, Spindle; 22, Manipulator; 11, Processing station; 111, First area; 112, Second area; 113, Tool holder; 114, Processing area; 115, Pin slot; 116, Tool inspection component; 1111, First tool magazine; 1112, Second tool magazine; 1121, Shared tool magazine; 1131, First tool holder; 1132, Second tool holder; 12, Sub-tool magazine; 121, Tool storage position; Detailed implementation manners

[0035] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as a limitation on the present invention, its application, or its use.

[0037] 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 regarded as part of the specification.

[0038] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0039] The following describes the specific implementation manners of the present invention with reference to the accompanying drawings.

[0040] In this article, "upper", "lower", "front", "rear", "left", "right", etc. are only used to represent the relative positional relationships between relevant parts, rather than defining the absolute positions of these relevant parts.

[0041] In this article, "first", "second", etc. are only used for distinguishing each other, rather than indicating importance, order, and the prerequisite for mutual existence, etc.

[0042] In this article, "equal", "same", "perpendicular", "collinear", "on the same side", etc. are not strict mathematical and / or geometric limitations, and also include the allowable errors that can be understood by those skilled in the art and are allowed in manufacturing or using, etc.

[0043] With the development of PCB circuit board production towards automation and unmanned operation, the importance of tool automation in circuit board processing equipment has become increasingly prominent. The current mainstream tool management methods mainly adopt the universal tool magazine method or the tool allocation method according to part numbers. However, these two methods cannot perfectly meet the current requirements of PCB circuit board automated production. The universal tool magazine can be divided into two forms: overall tool magazine replacement and single tool replacement. Single tool replacement mainly uses the tool changing form of AGV plus robotic arm to achieve single tool grasping. However, due to the poor positioning accuracy of AGV, it is impossible to realize the picking and placing of tools in the tool magazine. For overall tool magazine replacement, the information of each tool in the tool magazine can be traced to achieve precise tool management (tool QR code tracing, tool position tracing in the tool magazine, or RFID technology embedded electronic tags). After the tool is retracted, the tool room can maximize the tool life through tool diameter and life management. However, this brings redundant tool information, which not only requires tool diameter classification but also life classification, causing difficulties in tool room storage, further reducing the sorting and tool allocation efficiency. Moreover, due to the complex types of processed board materials, to achieve universal tool allocation, a large tool magazine capacity is required. In the existing drilling machine equipment, in the non-stop machining mode of alternating production with two tool magazines, the demand for the capacity of the universal tool magazine cannot be met. Although the tool arrangement according to part numbers reduces the tool arrangement quantity of tool types and improves the tool allocation efficiency in the tool room to a certain extent, it still cannot solve the problems of complex tool information management and waste of tool life in the drilling room.

[0044] In order to efficiently replace tools and reduce waste of tool life, the present invention provides a circuit board processing equipment, including: a workbench, at least one processing station is arranged on the workbench, and an adjacent first area and a second area are arranged on the processing station; a first tool magazine and a second tool magazine, the first tool magazine storing a first tool and the second tool magazine storing a second tool are both arranged in the first area; when the first tool magazine is used for processing the circuit board, the second tool magazine is used for externally replacing the tool magazine; when the first tool magazine is used for externally replacing the tool magazine, the second tool magazine is used for processing the circuit board; a common tool magazine, the common tool magazine storing common tools is arranged in the second area; the common tools and the first tool or the second tool include all types of tools for processing the circuit board. This circuit board processing equipment can realize automatic tool replacement, reduce the problem of waste of tool life, save costs, and improve the automated production efficiency of the workshop.

[0045] Such as Figure 5As shown in the figure, the present invention provides a workshop automation management system, including: a host computer 500, a warehousing management system 300, a self-mobile tool-changing device 200, and a circuit board processing device 100. Under the control of the scheduling control system of the host computer 500, the circuit board processing device 100 automatically processes the circuit board and realizes automatic loading and unloading. The warehousing management system 300 schedules and manages tools, processing tools, and loading / unloading tool boxes, outputs new tool boxes or tools to the circuit board processing device 100, and receives the old tool boxes replaced by the circuit board processing device 100. The self-mobile tool-changing device 200, as a carrier of the tool box, transfers the tool box between the circuit board processing device 100 and the warehousing management system 300 under the control of the scheduling control system of the host computer 500. In this way, multiple circuit board processing devices 100 can realize automatic tool changing.

[0046] In Figure 5 the present invention, the scheduling control system of the host computer 500 manages and controls the circuit board processing device 100, the self-mobile tool-changing device 200, and the warehousing management system 300. The circuit board processing device 100 holds the tool in the tool box to process the circuit board and needs to replace the tool regularly. In some embodiments, the self-mobile tool-changing device 200 includes a material box and a robotic arm, and the circuit board processing device 100 includes a buffer device. When there is no replaceable new tool in the tool box on the workbench of the circuit board processing device 100, the whole tool box needs to be replaced. The workbench of the circuit board processing device 100 unloads the old tool box to the buffer device, the robotic arm of the self-mobile tool-changing device 200 picks up the old tool box from the buffer device and transfers it to the material box, picks up a new tool box from the material box to the buffer device, and the circuit board processing device 100 loads the new tool box on the buffer device onto the workbench, thus completing the process of automatic tool box replacement. The control system of the host computer 500, as the central control system, controls the information interaction between the circuit board processing device 100 and the self-mobile tool-changing device 200. The circuit board processing device 100 sends a requirement for tool box replacement to the control system of the host computer 500. The control system of the host computer 500 calls the self-mobile tool-changing device 200 to move automatically and approach the circuit board processing device 100 from the workstation of the warehousing management system 300 with a material box containing a new tool box. When the self-mobile tool-changing device 200 accurately locates the processing station of the circuit board processing device 100 through the identification mark and / or the vision positioning system, it prepares and starts the process of tool box replacement. During the tool changing process, the scheduling control system of the host computer 500 receives and sends information and instructions of the circuit board processing device 100 and the self-mobile tool-changing device 200, and controls the circuit board processing device 100 and the self-mobile tool-changing device 200 to perform the task of tool box replacement. In the above and below embodiments of the present invention, the host computer 500 is the terminal control computer system of the circuit board processing workshop, managing the warehousing management system 300, multiple circuit board processing devices 100, and multiple self-mobile tool-changing devices 200 in the workshop.

[0047] As Figure 4 shown, the circuit board processing device 100 of the present invention includes a base 40, a cross beam 30, a spindle assembly 20, a workbench 10, etc. The workbench 10 is arranged on the base 40, and the cross beam 30 is erected above the workbench 10. At least one spindle assembly 20 is slidably connected to the cross beam 30, and at least one spindle assembly 20 moves along a first direction on the cross beam 30. Each spindle assembly 20 includes at least one spindle 21, and a tool is clamped at the bottom end of each spindle 21. The workbench 10 moves on the base 40 along a second direction, and at least one processing station 11 is arranged on the workbench 10, and a circuit board is placed at each processing station 11. Each spindle assembly 20 corresponds to the circuit board on each processing station 11 one by one, and the spindle 21 clamps the tool and moves along a third direction to process the corresponding circuit board. The first direction, the second direction, and the third direction are perpendicular to each other. In the context embodiment of the present invention, the circuit board processing device 100 can be implemented as a drilling device, a forming device, a milling machine device, a drilling and milling integrated device, etc., which is not limited herein. In the context embodiment of the present invention, the number of spindle assemblies 20 of the circuit board processing device 100 can be one, two, three, four, five, six, ten, twelve, etc., and the number of spindles 21 included in each spindle assembly is one, two, three, etc., which is not limited herein.

[0048] In the context embodiment of the present invention, the circuit board processing device includes a workbench, and at least one processing station is arranged on the workbench, and a circuit board is placed at each processing station. The circuit boards have different types, and there are differences in their materials, sizes, thicknesses, hardnesses, etc. The physical properties of different types of circuit boards vary greatly. However, these circuit boards are all fixed on the workbench, and the spindle assembly moving at high speed clamps the tool to process the circuit board. There are various ways to fix the circuit board on the workbench, including but not limited to: air clamps, bakelite boards, adsorption devices, etc. These fixing methods can stably and reliably fix the circuit board on the workbench so that the tool moving at high speed does not displace when processing the circuit board.

[0049] As Figures 1 to 4As shown, in the upper and lower embodiments of the present invention, the circuit board processing device 100 includes a workbench 10, at least one processing station 11 is provided on the workbench 10, and an adjacent first area 111 and a second area 112 are provided on the processing station 11; a first tool magazine 1111 and a second tool magazine 1112, the first tool magazine 1111 storing the first tool and the second tool magazine 1112 storing the second tool are both provided in the first area 111; when the first tool magazine 1111 is used to process the circuit board, the second tool magazine 1112 is used to replace the tool magazine externally; when the first tool magazine 1111 is used to replace the tool magazine externally, the second tool magazine 1112 is used to process the circuit board; a common tool magazine 1121, the common tool magazine 1121 storing the common tool is provided in the second area 112; the common tool 1121 and the first tool 1111 or the second tool 1112 at least include all types of tools for processing the circuit board. The tools in these tool magazines are used by the spindle 21 to process the circuit board and the tool magazine is replaced after the tool life expires.

[0050] In the upper and lower embodiments of the present invention, the first area 111 includes at least two tool magazines, and the two tool magazines can achieve alternating tool magazine replacement. In order to replace the tool magazine quickly and efficiently, the first area 111 can be provided with a third tool magazine, a fourth tool magazine, etc. The number of tool magazines in the first area is not strictly limited and can be freely configured according to the actual need for tool magazine replacement. The first tool magazine 1111 and the second tool magazine 1112 are only exemplary. Similarly, in the second area 112, the number of common tool magazines 1121 is not limited. The common tool magazine 1121 can be one, two, three, etc., without strict limitation. In the upper and lower embodiments of the present invention, the common tool magazine 1121, the first tool magazine 1111 and the second tool magazine 1112 are all carriers for storing tools. Each of the common tool magazine 1121, the first tool magazine 1111 and the second tool magazine 1112 contains 50 - 500 identical tool storage positions for storing tools. Each tool storage position can only store one tool. The tool storage positions in the three tool magazines have the same structure, but the number of tool storage positions, the types and numbers of tools may vary. In some embodiments, a predetermined number of tools are directly stored in the common tool magazine 1121, the first tool magazine 1111 and the second tool magazine 1112. For example, the common tool magazine 1121 has 400 tool storage positions and stores 350 or 400 tools. The first tool magazine 1111 and the second tool magazine 1112 have the same number of tool storage positions and store the same number of tools. The first tool magazine 1111 and the second tool magazine 1112 have 300 tool storage positions and store 299 or 300 first tools and 299 or 300 second tools respectively. There is no strict limitation here. As Figure 3As shown, in some other embodiments, the shared tool magazine 1121, the first tool magazine 1111, and the second tool magazine 1112 all include sub-tool magazines 12. Each sub-tool magazine 12 includes the same number of tool storage positions 121. For example, the shared tool magazine 1121 includes 8 sub-tool magazines 12, and each sub-tool magazine 12 includes 50 tool storage positions 121. Both the first tool magazine 1111 and the second tool magazine 1112 include 6 sub-tool magazines 12, and each sub-tool magazine 12 also has 50 tool storage positions 121. In some other preferred examples, the shared tool magazine 1121 contains 500 tool storage positions 121, and both the first tool magazine 1111 and the second tool magazine 1112 include 200 tool storage positions 121. In the above-mentioned multiple embodiments, each tool magazine and sub-tool magazine are in a rectangular arrangement structure. Reasonably allocating the structure and layout of the tool magazines helps save the space of the workbench, improve the efficiency of replacing the tool magazines, and also reduce costs.

[0051] In some embodiments of the present invention, the circuit board processing equipment further includes a buffer device. On the front baffle outside the workbench, at least two buffer devices are provided. The buffer devices, the first area, and the second area are located on the same side of the workbench. Each buffer device corresponds to each replaceable tool magazine one by one. The position of the buffer device is aligned with the position of the replaceable tool magazine on the workbench. The buffer device is used to buffer the old and new tool magazines between the circuit board processing equipment and the self-moving tool-changing device, playing a role of temporary transfer. For the circuit board processing equipment, it can achieve tool magazine replacement without stopping the machine. For the self-moving tool-changing equipment, exchanging tool magazines with the buffer device does not affect the working condition of the circuit board processing equipment. The buffer device is fixed outside the front baffle of the circuit board processing equipment. The buffer device includes a chassis, a lifting component, and a buffer rack. The chassis and the buffer rack are fixed to the front baffle. The lifting component extends from the chassis to the buffer rack and passes through the buffer rack. When the lifting component rises, it passes through the buffer rack and holds the tool magazine above the buffer rack. When the lifting component descends, the tool magazine follows and descends until the buffer rack holds the tool magazine. The buffer rack is used to buffer the old and new tool magazines, and can buffer both the old tool magazines unloaded from the circuit board processing equipment and the new tool magazines picked up from the self-moving tool-changing equipment.

[0052] In some other embodiments of the present invention, no buffer device is required on the front baffle outside the circuit board processing equipment. When the workbench carries the tool magazine to the tool-changing position, the self-moving tool-changing equipment moves to the front of each processing station one by one. When unloading the tool magazine, the robotic arm directly grabs the tool magazine to be replaced on the workbench and transfers it to the bin. When loading the tool magazine, the robotic arm transfers the new tool magazine from the bin to the workbench. In this way, direct automatic tool magazine replacement between the self-moving tool-changing equipment and the circuit board processing equipment can be achieved. In this embodiment, the buffer device is omitted, and the robotic arm of the self-moving tool-changing equipment directly picks up or unloads the tool magazine from the processing station.

[0053] In the context of the embodiments of the present invention, the circuit board processing equipment can replace the tool in the following manner. As Figure 4 and Figure 1 shown, the main spindle 21 can replace the tool through the transfer of the robot 22 and the tool holder 113. Specifically, a tool magazine and a tool holder 113 are arranged on the workbench. The main spindle assembly 20 includes a robot 22. The main spindle assembly 20 and the workbench 10 move relative to each other. When a certain main spindle 21 is aligned with the tool holder 113, the main spindle 21 unloads the old tool to the tool holder 113. Then the main spindle assembly 20 and the workbench 10 move relative to each other again. The robot 22 is aligned with the tool holder 113. The robot 22 holds the old tool and moves relative to the tool magazine above, and unloads the old tool into the tool magazine. Then the main spindle assembly 20 and the workbench 10 move relative to each other again. The robot 22 moves to align with the new tool. The robot 22 picks up the new tool and moves relative to the tool holder 113 above, and unloads the new tool into the tool holder. Then the main spindle assembly 20 and the workbench 10 move relative to each other again. The main spindle 21 moves above the tool holder, and the main spindle 21 picks up and loads the new tool in the tool holder 113. In this way, the operation of replacing the same type of tool is completed.

[0054] In the context of the embodiments of the present invention, the self - moving tool - changing device 200 includes: a moving chassis, a tool magazine, and a robot. The tool magazine includes a plurality of storage positions for storing tool magazines; the robotic arm is used to take out the tool magazine from the tool magazine and transfer it to the workbench, or pick up the tool magazine from the workbench or the buffer device and convey it into the tool magazine. The moving chassis carries the tool magazine and the robotic arm to move. Under the control of the scheduling control system of the host computer, the self - moving tool - changing device moves to the workstation of the warehouse management system, receives the tool magazine in the workstation, carries the tool magazine and moves towards the circuit board processing equipment, aligns with a processing station on the workbench, and replaces the tool magazine on the processing station through the robot. After replacing the tool magazine of one processing station, the self - moving tool - changing device replaces the tool magazines of other processing stations of the circuit board processing equipment one by one. After replacing all the tool magazines in the tool magazine, the self - moving tool - changing device carries the tool magazine back to the workstation of the warehouse management system and unloads the old tool magazine to the warehouse management system. Under the control of the host computer scheduling control system, the self - moving tool - changing device receives control instructions for other tool - changing operations and executes other work tasks. In the context of the embodiments of the present invention, the moving chassis is an automatic guided vehicle or an AGV cart. The moving chassis carries the tool magazine and moves along a predetermined trajectory, transfers the tool magazine between the workstation of the warehouse management system and the circuit board processing equipment, and realizes the fully automatic replacement of the tool magazine.

[0055] In the embodiments of the present invention, whether it is a shared tool, a first tool, or a second tool, each tool has a predetermined lifespan. According to the technological requirements of tool processing, a reasonable tool lifespan is set. Here, the lifespan can be understood as the maximum workload completed by the tool. After the tool reaches the workload limit, the processed circuit board does not meet the process requirements. Therefore, a predetermined value of the tool lifespan is set, and after exceeding this lifespan, the tool can no longer be used. In different application scenarios, the parameters of the tool lifespan may vary. For example, during drilling processing, if the tool lifespan is specified as 3000 holes, it means the maximum workload of this tool is to process 3000 holes. In a forming device, if the tool movement stroke is 1000 meters, it means the maximum workload of this tool is 1000 meters. After exceeding the above lifespan, the tool needs to be replaced.

[0056] As Figure 6 shown, to manage the lifespan of each tool, the circuit board processing equipment further includes a tool management module. The tool management module collects the data information of the first object parameters for processing the circuit board, calculates the tool requirement information, and sends the tool parameter information to the host computer. The host computer, based on the tool parameter information, sends the tool requirement information to the warehouse management system. The warehouse management system configures the predetermined tools according to the tool requirement information of the circuit board processing equipment, and under the control of the host computer scheduling control system, transfers the tools to the circuit board processing equipment through the self-moving tool changer. During the continuous processing of the circuit board, the tool lifespan often expires. Therefore, a reasonable quantity and variety of tools need to be equipped to reduce the number of tool cassette replacements. In the embodiments of the present invention, the first object parameter is the computer program for processing the circuit board. When processing different types of circuit boards, the first object parameters are different, and when processing the same type of circuit board, the first object parameters are the same. The first object parameters are preset in the circuit board processing equipment and include tool parameters, circuit board parameters, tool movement trajectories and rules, etc. The first object parameter is a collection of various data information.

[0057] In the embodiments of the present invention, as Figure 1 、 Figure 2a 、 Figure 2b 、 Figure 2c 、 Figure 2dAs shown, each circuit board processing device 100 includes a workbench 10. At least one processing station 11 is provided on the workbench 10. Each processing station 11 is provided with: a processing area 114, a first area 111, a second area 112, a tool holder 113, a tool inspection component 116, etc. The processing area 114 is used to place the circuit board. A first area 111, a second area 112, a tool holder 113, a tool inspection component 116, etc. are provided on the side of the processing area 114 close to the safety door of the circuit board processing device (also called the operation side or the front side). Therefore, the first area 111, the second area 112, and the tool holder 113 on the processing station 11 are located on the same side of the circuit board. And in order to save the space of the workbench 10, the first area 111, the second area 112, and the tool holder 113 are arranged adjacent to each other, with a compact layout.

[0058] As Figure 2a , Figure 2b , Figure 2c , Figure 2d shown, the layout of the first area 111 and the second area 112 can be of various structures, which are reasonably set according to the actual size of the tool magazine, so as to improve the space utilization rate of the workbench 10. In Figure 2a , the tool holder 113 and the second area 112 are located on the same side of the first area 111. In Figure 2b , the tool holder 113 and the second area 112 are also located on the same side of the first area 111, but the arrangement direction of the shared tool magazine in the second area is the same as that of the first tool magazine and the second tool magazine. In the case where the shared tool magazine is replaceable, this layout is beneficial for the self-moving tool change device to pick up and replace the tool magazines in the same direction. In Figure 2c , the shared tool magazine is located between the first tool magazine and the second tool magazine. When the shared tool magazine is fixedly arranged on the workbench, the first tool magazine and the second tool magazine are not adjacent, and there is enough circumferential space to replace the first tool magazine or the second tool magazine externally. In Figure 2d , the first area 111 and the second area 112 are arranged along the second direction. The shared tool magazine 1121, the first tool holder 1131, and the second tool holder 1132 are arranged along the first direction between the first area 111 and the processing area 114. The first tool magazine 1111 and the second tool magazine 1112 in the first area 111 are arranged outside the second area 112. This layout structure helps to reduce the size of each processing station 11 in the first direction. Especially for the processing station with double spindles, reducing the size in the first direction and increasing the size in the second direction can accommodate two sets of tool magazines corresponding to two spindles on one processing station 11, so that each shared tool magazine, first tool magazine, and second tool magazine corresponds to one spindle. Figure 2d The structure of this processing station 11 in

[0059] has a higher space utilization rate of the workbench and a more reasonable layout. Figure 2aAs shown, in the first region 111, the first tool magazine 1111 and the second tool magazine 1112 are arranged along the first direction; the short sides of the shared tool magazine 1121 are arranged along the second direction, and the first direction is perpendicular to the second direction. A tool holder 113 is provided on the workbench 10 adjacent to the second region 112, and the tool holder 113 and the shared tool magazine 1121 are on the same side of the first region 111. At least one pin slot 115 is provided on the processing station 11. In the plane of the workbench 10, the extension line of the shared tool magazine 1121 does not intersect with the pin slot 115. By arranging the shared tool holder at a special position on the processing station and arranging it reasonably with the tool holder and the second region, while providing the capacity of the shared tool magazine, the space utilization rate of the workbench can be improved; at the same time, the position of the tool holder is reasonably arranged to facilitate the tool holder to be approximately the same distance from the shared tool magazine and the first tool magazine, reducing the relative movement stroke of the main shaft and the manipulator and improving the efficiency of the main shaft assembly for tool change; in addition, the extension line of the shared tool magazine does not intersect with the pin slot, which can avoid the interference or potential collision between the shared tools in the shared tool magazine and the pins on the circuit board, especially during front loading.

[0060] As Figure 3 As shown, in the upper and lower embodiments of the present invention, the first tool magazine 1111, the second tool magazine 1112, and the shared tool magazine 1121 contain a plurality of identical tool storage positions 121. Each tool storage position 121 can only store one tool. The structures of the tool storage positions 121 in the three tool magazines are the same, but the number of tool storage positions, the types and quantities of tools may vary. It should be noted here that the shared tool magazine 1121 stores shared tools, which means that at least one type of tool is stored on multiple tool storage positions in the shared tool magazine, and there is at least one tool for each type; these tools of different types and the same or different quantities are all called shared tools. Similarly, the first tool magazine 1111 stores first tools, which means that at least one type of tool is stored on multiple tool storage positions in the first tool magazine, and there is at least one tool for each type; these tools of different types and the same or different quantities are all called first tools. Similarly, the second tool magazine 1112 stores first tools, which means that at least one type of tool is stored on multiple tool storage positions in the second tool magazine, and there is at least one tool for each type; these tools of different types and the same or different quantities are all called second tools. The first tools, second tools, and shared tools are only distinguished according to the tool magazines and are general terms for the tools in the tool magazines, and are not strictly limited here.

[0061] In the upper and lower embodiments of the present invention, the first tool magazine 1111 and the second tool magazine 1112 have different uses and working states, and both are alternately used for processing the circuit board or for externally replacing the tool magazine. Specifically, when the first tool magazine is used for processing the circuit board, the second tool magazine is used for externally replacing the tool magazine; when the first tool magazine is used for externally replacing the tool magazine, the second tool magazine is used for processing the circuit board.

[0062] In some embodiments of the present invention, the spindle assembly 20 picks up any tool in the first tool magazine 1111 and the common tool magazine 1121 to process a circuit board, and the second tool magazine 1112 is used to supplement the insufficient number of tools in the first tool magazine. Therefore, when the first tool magazine is used to process the circuit board, the second tool magazine is used for external tool magazine replacement. At this time, the first tool magazine and the second tool magazine are exactly the same, and the first tool in the first tool magazine and the second tool in the second tool magazine can be tools with exactly the same quantity and type. When processing the circuit board, regardless of whether the common tool magazine needs to replace the tool or in what state the common tool magazine replaces the tool, the first tool magazine and the second tool magazine are alternately replaced. When the tools in the first tool magazine are used up and the second tool magazine is already prepared, it is immediately switched to the second tool magazine, and the tools in the second tool magazine are used to process the circuit board. At this time, the first tool magazine enters the state of external tool replacement. During the process of replacing the tool by the first tool magazine or the second tool magazine through the self-moving tool changer, the time for external tool magazine replacement is less than the time for the first tool magazine or the second tool magazine to process the circuit board; therefore, before the tools in the first tool magazine or the second tool magazine are used up, the other tool magazine has completed external tool magazine replacement and is in a ready state. The first tool magazine and the second tool magazine are alternately processed and replaced in this way, so that the circuit board processing equipment can replace the tool magazine without stopping, and even replacing the tool magazine during the processing of the same circuit board does not affect the processing efficiency.

[0063] In another embodiment of the present invention, the spindle assembly 20 picks up any tool in the first tool magazine 1111 and the common tool magazine 1121 to process a circuit board, and the second tool magazine 1112 is used for processing another type of circuit board. The circuit boards are processed continuously. When switching to processing another type of circuit board, correspondingly, the first object parameters for processing the circuit board change, and the required tools also change. Of course, the tools need to be prepared in advance to avoid wasting time by retrieving tools from the warehouse management system when switching circuit boards. Therefore, when the last circuit board of the first type (batch) is being processed, the types and quantities of the required tools are determined according to the second object parameters of the second type (batch) of circuit boards arranged in sequence, the types and quantities of the second tools are configured, and through the self-moving tool changer, the second tools required for the second type of circuit board are replaced to the workbench through the second tool magazine. At this time, the second tools in the second tool magazine are compared with the first tools in the first tool magazine, and at least one of the first tools is different from the second tools. In this application scenario, when the first tool magazine is used for processing the circuit board, the second tool magazine is used for external tool magazine replacement; when the first tool magazine is used for external tool magazine replacement, the second tool magazine is used for processing the circuit board. Similarly, during the process of replacing tools in the first tool magazine or the second tool magazine through the self-moving tool changer, the time for external tool magazine replacement is less than the time for the first tool magazine or the second tool magazine to process the circuit board. Therefore, before the tools in the first tool magazine or the second tool magazine are used up, the other tool magazine has completed external tool magazine replacement and is in a ready state. The two tool magazines are alternately used for external tool magazine replacement, which can achieve tool magazine replacement without stopping the circuit board processing equipment, and even switching different types (batches) of circuit boards does not affect the processing efficiency.

[0064] In the embodiments of this aspect, the shared tool and the first tool or the second tool at least include all types of tools for processing the circuit board. Both the shared tool and the first tool, and the shared tool and the second tool include multiple types of tools required for processing the corresponding circuit board. Specifically, before processing each circuit board, the tool management module obtains all types of tools according to the first object parameters corresponding to the circuit board, calculates the quantity of each tool, and reasonably arranges the predetermined types of tools with a predetermined quantity of each type in the shared tool and the first tool or the second tool. In some embodiments of the present invention, Table 1 and Table 2 below illustrate the types and quantities of the first tool, the second tool, and the shared tool. In Table 1 and Table 2 below, Φ1, Φ2, Φ3... Φ20 represent 20 types of tools. These 20 types of tools are different in type, and the differences in type specifically include different tool diameters, different service lives, different lengths, different weights, different markings, etc. Each type of tool is configured with a predetermined quantity. In the processing of the same type of circuit board, as shown in Table 1, both the first tool box and the second tool box include: 100 Φ1 tools and 200 Φ2 tools. These tools are called the first tool or the second tool; the shared tool includes: 40 Φ5 tools, 25 Φ6 tools, 30 Φ7 tools... 20 Φ20 tools. In the processing of different types of circuit boards, as shown in Table 2, the first tool box includes 100 Φ1 tools and 200 Φ2 tools, which are called the first tool; the second tool box includes 150 Φ3 tools and 150 Φ4 tools, which are called the second tool; the shared tool includes: 40 Φ5 tools, 25 Φ6 tools, 30 Φ7 tools... 20 Φ20 tools. When processing the same type of circuit board, as shown in Table 1, this type of circuit board requires 5 types of tools, Φ1, Φ2, Φ5, Φ9, Φ17. These 5 types of tools are respectively allocated to the shared tool box and the first tool box or the second tool box in their entirety. In fact, the shared tool box also includes 13 other types of shared tools, Φ6, Φ7, Φ8,... Φ20. When processing different types of circuit boards, as shown in Table 2, the first type of circuit board requires 3 types of tools, Φ1, Φ2, Φ6. These 3 types of tools are respectively allocated to the shared tool box and the first tool box in their entirety; the second type of circuit board requires Φ3, Φ4, Φ18. These 3 types of tools are respectively allocated to the shared tool box and the second tool box in their entirety; in fact, the shared tool box also includes 14 other types of shared tools, Φ5, Φ7, Φ8,... Φ20. That is to say, when processing a certain circuit board, the shared tool and the first tool, or the shared tool and the second tool at least include all types of tools required for processing the corresponding circuit board. Therefore, when processing the circuit board, the number of types of the shared tools in the shared tool box is greater than the number of types of the first tools in the first tool box or the number of types of the second tools in the second tool box; the shared tool is 16 types of tools, Φ5, Φ6... Φ20, which is more than the 4 types of tools of the first tool or the second tool, Φ1, Φ2, Φ3, Φ4.The quantity of each shared cutting tool in the shared tool magazine is less than the quantity of each first cutting tool in the first tool magazine or the quantity of each second cutting tool in the second tool magazine. In Table 1 and Table 2 below, the quantity of each type of shared cutting tool is 45, 25, 30, 20, etc., all of which are less than the quantity of each type of first cutting tool or second cutting tool: 100, 150, 200.

[0065]

[0066]

[0067] Table 1

[0068]

[0069]

[0070] Table 2

[0071] In the upper and lower embodiments of the present invention, the shared tool magazine 1121 is preset on the workbench 10, and the shared tool magazine 1121 contains most of the types of cutting tools required for the entire printed circuit board processing equipment workshop. In practical applications, the types of cutting tools required for the entire workshop in a month are pre-counted. These types of cutting tools are obtained by listing the types of cutting tools required for each printed circuit board processing and then finding the union of multiple types of cutting tools, so as to obtain the total number of types of shared cutting tools and first cutting tools or second cutting tools. Specifically, processing the first type of printed circuit board requires a total of five cutting tools: Φ1, Φ2, Φ5, Φ9, Φ17; processing the second type of printed circuit board requires three cutting tools: Φ3, Φ4, Φ18; processing the third type of printed circuit board requires three cutting tools: Φ1, Φ2, Φ6... According to this listing method, find the total number of types of cutting tools required for processing 50 types of printed circuit boards in the entire workshop in a month: Φ1, Φ2, Φ3... Φ20 indicates 20 types of cutting tools.

[0072] In the embodiments of the present invention, there are different types and quantities of cutting tools, etc. The circuit board processing equipment processes each of the circuit boards according to the first object parameters. The tool management module configures the following parameters jointly according to the number of circuit boards in the first object parameters, the types of cutting tools required for processing a single circuit board and the workload, the shared cutting tools, and the life parameters of the first cutting tool or the second cutting tool: (1) the types and quantities of the shared cutting tools in the shared tool magazine; (2) the types and quantities of the first cutting tools in the first tool magazine; (3) the types and quantities of the second cutting tools in the second tool magazine. Each cutting tool has a life. When the life is exceeded, the cutting tool needs to be replaced and cannot continue to process. In an ideal state, each cutting tool is replaced when it reaches the end of its life. Therefore, the workload of the cutting tool is calculated according to the maximum workload of the cutting tool. The lives of the cutting tools of the same type are the same. In the circuit board processing workshop, for a single circuit board, or on the tool magazine, the product of the quantity of each type of cutting tool and the life of each type of cutting tool can obtain the workload of this type of cutting tool. For example, the quantity of the cutting tool Φ8 is 50, and the life of the cutting tool Φ8 is 3000 holes or 3000 meters, then the workload of the cutting tool Φ8 is 150,000 holes or 150,000 meters. As shown in Table 3 below, within a month, it is statistically found that the entire workshop needs to process 50 types of circuit boards. These 50 types of circuit boards require a total of 20 types of cutting tools, namely Φ1, Φ2, Φ3... Φ20, which are respectively used to process the 50 types of circuit boards in the workshop. The total workloads of the 20 types of cutting tools in the 50 types of circuit boards are respectively statistically calculated. The statistical method is as follows: List the workloads of each cutting tool in the 50 types of circuit boards respectively, and add up the workloads of the cutting tools of the same type to obtain the workload of a single cutting tool in the workshop within a month. Here, the workloads of each cutting tool in each circuit board can be obtained from the data in the corresponding object parameters, and then multiplied by the number of circuit boards, that is, the workloads of the several cutting tools used in a type of circuit board are obtained. Expanding the scope to 50 types of circuit boards within a month, add up the workloads of the 20 types of cutting tools separately according to the types of cutting tools. Finally, the separate workloads of the 20 types of cutting tools in the 50 types of circuit boards within a month are obtained. Sort them in descending order of workload, as shown in Table 3. During the process of processing a circuit board, the workload of each type of shared cutting tool is less than the workload of each first cutting tool or second cutting tool. Determine several cutting tools with relatively large single workloads as the first cutting tool or the second cutting tool, such as cutting tools Φ1, Φ2, Φ3, Φ4; store them in the first tool magazine or the second tool magazine; determine several cutting tools with relatively small workloads as the shared cutting tools, such as: Φ5, Φ6, Φ7... Φ20, and store them in the shared tool magazine. The number of cutting tools with relatively large workloads may be one, two, three... seven, eight, etc., and the number of cutting tools with relatively small workloads may also be ten, fifteen, twenty, etc. There is no special limit here.Actually, dividing the shared tool and the first tool or the second tool according to the tool workload is a floating process, and the dividing line is affected by various factors: (1) the total number of tool types, (2) the number of tools at the critical point, (3) the capacity of the shared tool magazine, (4) the number of each type of tool in each tool magazine, and (5) the number of times of tool or tool magazine replacement. Dividing the shared tool magazine and the first tool magazine or the second tool magazine mainly reduces the waste of the shared tool life, reduces the number of tool replacements, and improves the tool replacement efficiency. In one embodiment, five types of tools, namely Φ1, Φ2, Φ5, Φ9, and Φ17, are required for processing the circuit board. The shared tools include 16 types of tools, namely Φ5, Φ6, Φ7... Φ20, and the first tool magazine or the second tool magazine includes two types of tools, namely Φ1 and Φ2. Therefore, the shared tool and the first tool or the second tool at least include all types of tools for processing the circuit board. Table 3 below shows the monthly tool quantity statistics table in the workshop. The single-type tools are arranged according to the workload to determine the dividing line between the shared tool and the first tool. Then, combined with the life of the single-type tool, the quantity of the single-type tool is calculated respectively. Further combined with the number of tool storage positions in the shared tool magazine, the first tool magazine, and the second tool magazine, the number of the shared tool magazine, the number of the first tool magazine or the second tool magazine is determined respectively, and multiple first tool magazines and second tool magazines are replaced alternately. The tools with large workload are always replaced, and the shared tools with small workload are always set on the workbench without the need to follow the replacement of the first tool magazine or the second tool magazine, thereby reducing the waste of the shared tools, allowing the shared tools to be replaced after their service life, and avoiding the need to replace the shared tools as a whole before their service life expires due to following the replacement of the first tool or the second tool.

[0073]

[0074]

[0075] Table 3

[0076] It should be noted here that the quantity of a single type of tool in a single tool magazine needs to be determined in combination with the specific circuit board. When a circuit board requires five types of tools for processing, as shown in Table 1 above, for example, they are five types of tools: Φ1, Φ2, Φ5, Φ9, and Φ17. According to the above division boundary of shared tools, Φ5, Φ9, and Φ17 are shared tools and are stored in the shared tool magazine. Both Φ1 and Φ2 are the first tools in the first tool magazine. The first tool magazine is exactly the same as the second tool magazine, the first tool is the same as the second tool, and the second tool magazine also stores the second tool of the same type and quantity. The second tool magazine is used to replace the tool magazine after the first tool magazine is used up, that is, it is alternately used for processing the circuit board or for replacing the tool magazine. The first tool magazine contains two types of tools, Φ1 and Φ2. According to the workload of these two tools in the current circuit board and in combination with the service lives of the two tools, the quantity of the two tool magazines can be determined. For example, in one embodiment, in the continuous processing path of the current circuit board, the workloads of the two tools, Φ1 and Φ2, in a sub-circuit board are 60,000 holes and 120,000 holes respectively, and the workloads of the shared tools Φ5, Φ9, and Φ17 are 100 holes, 30 holes, and 6,000 holes; in combination with the service lives of the five types of tools, which are 3,000 holes, the quantities of the five types of tools can be obtained as 20, 40, 1, 1, and 2 respectively. Since the circuit board is continuously replicated and processed, the next sub-circuit board also requires these five types of tools, Φ1, Φ2, Φ5, Φ9, and Φ17. Therefore, the quantity of the first tools that can be configured in the first tool magazine is: 100 Φ1 and 200 Φ2, a total of 300 tools. The first tool magazine can meet the requirement of the first tools for processing 5 sub-circuit boards. At least 1 Φ5, 1 Φ9, and 2 Φ17 should be configured in the shared tool magazine to meet the processing requirements. When the quantities of Φ5, Φ9, and Φ17 in the shared tool magazine are insufficient, the condition for triggering the replacement of the shared tools is activated to replace the shared tools. However, the pre-configured second tool magazine is also configured with 100 Φ1 and 200 Φ2. The second tool magazine is used to replace the tool magazine externally. After all the tools in the first tool magazine reach the service life, the second tool magazine is switched to process the circuit board, and the first tool magazine is used to replace the tools externally. Therefore, in the process of processing the circuit board as described above, the shared tools Φ5, Φ9, and Φ17 are pre-configured in the shared tool magazine. During the process of replacing the first tool magazine or the second tool magazine, the shared tools Φ5, Φ9, and Φ17 are not replaced. Not only is each first tool replaced when it reaches the service life, but each shared tool Φ5, Φ9, and Φ17 is also replaced when it reaches the service life. Therefore, the five types of tools, Φ1, Φ2, Φ5, Φ9, and Φ17, are all made the best use of, and the service life of each tool is used up, reducing the waste of the service life of the shared tools and lowering the cost.

[0077] In the following embodiments of the present invention, the circuit board processing equipment includes a tool management module, which monitors and updates the life of the shared tool, the first tool, or the second tool in real time. In the following embodiments of the present invention, there are two physical measurement units for the life, the number of drilling times (unit: hole) and the movement distance (unit: meter). In some embodiments of the present invention, during the process of processing the circuit board, the CDB detection module is used to detect the number of times the tool clamped by the spindle drills along the third direction, so as to directly obtain the number of times the current tool has been used. Each time a tool is used for drilling, it is considered to process one hole, and the life is reduced by one. By subtracting the number of times used from the total drilling life of the current tool, the real-time remaining life of the current tool is directly obtained. In some other embodiments of the present invention, during the process of processing the circuit board, the CBD detection module is used to detect the time when the tool clamped by the spindle drills and mills the edge, and combined with the relative movement speed, the total movement distance of the tool can be determined; for each meter of movement of each tool, the life is reduced by one. By subtracting the distance already traveled from the total distance life of the current tool, the remaining distance life of the current tool is directly obtained. In either way, the life of the tool can be obtained in real time. This life can be either the remaining life or the life that has been used currently. Regardless of which dimension, once the tool reaches the preset life, the tool cannot be used anymore. When there is a suitable tool of the same type in the tool magazine, the step of replacing the tool in the tool magazine is executed. When there is no available tool in the tool magazine, the tool change condition is triggered, and the steps of automatic tool change or tool magazine replacement are executed.

[0078] In some embodiments of the present invention, such as Figures 1 to 4As shown, the shared tool magazine 1121 is fixedly arranged on the workbench 10, and the shared tool magazine 1121 replaces the shared tools through the first tool magazine 1111 or the second tool magazine 1112. For the circuit board processing equipment 100, the shared tool magazine 1121 is pre-configured. As described above, all the tools with relatively small workload within a predetermined time of one month are stored in the shared tool magazine. Regardless of the type of circuit board being processed, the corresponding shared tools can be found in the shared tool magazine 1121. The remaining tools with relatively large workload are allocated to the first tool magazine 1111 and the second tool magazine 1112. The two tool magazines are alternately replaced to ensure the maximum utilization rate of the tool life and reduce the turnover. For the shared tool magazine 1121, the shared tool magazine 1121 is fixedly arranged at the processing station 11 on the workbench 10, and the shared tools are pre-configured in the shared tool magazine 1121. When switching the circuit board, only the first tool magazine 1111 or the second tool magazine 1112 needs to be switched, and there is no need to switch the shared tool magazine 1121, ensuring that the shared tools are made the best use of. Each shared tool can be used until its full life is exhausted before being replaced, improving the life of the shared tools and reducing costs. In this embodiment, the shared tool magazine 1121 is fixedly arranged on the workbench 10, which means that the shared tool magazine 1121 is fixed to the processing station 11 of the workbench by connecting parts such as screws. At this time, the shared tool magazine 1121 cannot be replaced, and the shared tool magazine 1121 becomes one of the structural parts of the workbench 10.

[0079] When the shared tool magazine 1121 is fixedly arranged on the workbench 10, the shared tool magazine 1121 contains a variety of shared tools, and these shared tools are used to process different types of circuit boards. However, the capacity of the shared tool magazine is limited. Even if the shared tool magazine stores more shared tools, there will come a time when their service lives are exhausted. Therefore, how to replace the shared tools? In this embodiment, the first tool magazine or the second tool magazine is used to replace the tools in the shared tool magazine, and through the transfer of the first tool magazine or the second tool magazine, the shared tool magazine can replace the tools externally. Specifically, when the service life of a certain type of tool in the shared tool magazine is completely exhausted and the tool needs to be replaced, the shared tools can be replaced by any of the following methods.

[0080] The first method for replacing the shared tool. The workbench 10 further includes a first tool holder 1131 and a second tool holder 1132. Control the unloading of the old shared tool to the first tool holder 1131, and control the transfer of the new shared tool to the second tool holder 1132 or the shared tool magazine 1121. In this method of replacing the shared tool, each processing station 11 needs to be equipped with two tool holders 113: the first tool holder 1131 and the second tool holder 1132. Usually, the first tool holder 1131 is used to cache the unloaded old tool, and the second tool holder 1132 is used to cache the loaded new tool, so as to avoid cross-contamination between the new and old tools on the same tool holder. During the process of replacing the old tool in the shared tool magazine 1121, under the control of the control system of the circuit board processing equipment 100, the following steps are included:

[0081] S11. When the shared tool magazine is short of tools, or when the shared tool magazine needs to replace tools, the tool management module sends a demand message for replacing the shared tool to the host computer management system through the circuit board processing equipment. The host computer queries the inventory tools in the warehouse management system, and overall loads the required shared tools into the first tool magazine or the second tool magazine, and loads the first tool magazine and the second tool magazine through the self-moving tool changer, and transports them to the processing station of the circuit board processing equipment, and transports the first tool magazine or the second tool magazine to the processing station through the manipulator or the buffer device. In this way, the shared tools of the types missing in the shared tool magazine are transferred to the processing station, and only the shared tools need to be transferred between the shared tool magazine and the first tool magazine or the second tool magazine.

[0082] S12. Control the unloading of the old shared tool to the first tool holder. The manipulator on the spindle assembly picks up the old tool from the shared tool magazine and unloads it to the first tool holder; or the spindle directly unloads the old shared tool to the first tool holder. When the new shared tool is transported to the processing station, in the first method, the old shared tool is first downloaded to the first tool holder to provide at least one tool storage position on the shared tool magazine for the new shared tool to be stored.

[0083] S13. Control the transfer of the new common tool to the second tool holder. The first tool magazine or the second tool magazine stores common tools of the required types. Here, the common tools can be one tool of one type, or five tools of one type, or ten tools of two types, without limitation here. Of course, to improve the transfer efficiency, the first tool magazine definitely stores the first tool, or the second tool magazine definitely stores the second tool. Loading multiple tools in each tool magazine at one time can save the number of times of replacing the tool magazine and improve the efficiency of automatic tool change. Specifically, the robot on the spindle assembly picks up the common tool in the first tool magazine or the second tool magazine and directly transfers it to the second tool holder. After being transferred through the second tool holder, the new common tool is then transferred to the common tool magazine. Similarly, the old common tool is transferred from the first tool holder to the first tool magazine or the second tool magazine. In this way, the replacement of one common tool is completed. Repeating this process multiple times can complete the task of replacing the common tool through the first tool holder, the second tool holder, the first tool magazine or the second tool magazine.

[0084] In the first method of replacing the common tool, the order of S12 and S13 is not restricted. Either of them can complete the task of replacing the common tool regardless of which one comes first. In this method, the common tool magazine does not participate in the replacement, and only the common tool needs to be replaced. Borrowing the first tool magazine or the second tool magazine to transfer the common tool can reduce the difficulty of tool management in the warehousing management system, improve the transfer efficiency from the self-moving tool changer to the equipment, reduce costs, and also save the cost of the common tool magazine. Each workshop only needs to be equipped with a small number of common tool magazines, which improves the transfer efficiency of the entire workshop.

[0085] In the second method of replacing the common tool, the workbench further includes a first tool holder 1131. Control the unloading of the old common tool to the first tool holder 1131, and control the transfer of the new common tool to the common tool magazine. It is the same as S11 and S12 in the first method, which is to transfer the common tool to the first tool magazine or the second tool magazine and control the unloading of the old common tool to the first tool holder. The difference is that only one tool holder is needed to complete the task of replacing the common tool. Specifically, after unloading the old common tool to the first tool holder, during the process of loading the new common tool, the new common tool is directly transferred to the common tool magazine; after the robot picks up the common tool from the first tool magazine or the second tool magazine, it directly transfers it to the common tool magazine without passing through the first tool holder. This method is more simple and direct. In addition to the technical effects in the first method of replacing the common tool, it can further improve the efficiency of replacing the common tool.

[0086] The third method for replacing the shared tool. The workbench further includes a second tool holder 1132. Control the transfer of the new shared tool to the second tool holder 1132, and control the unloading of the old shared tool to the first tool magazine 1111 or the second tool magazine 1112. Similar to S11 in the first method, both transfer the shared tool to the first tool magazine or the second tool magazine. The difference is that the new shared tool is first loaded onto the second tool holder, and then the old shared tool is unloaded to the first tool magazine or the second tool magazine. This sequence depends on the availability of the spindle assembly, the shared tool magazine, and the tool storage positions in the first tool magazine or the second tool magazine, and there is no special limitation. For example, when the first tool magazine or the second tool magazine is full of tools, obviously, the first tool magazine or the second tool magazine cannot accommodate the old shared tool anymore. Therefore, it is necessary to first pick up the new shared tool to the second tool holder to vacate a tool storage position in the first tool magazine or the second tool magazine to accommodate the old shared tool. Similar to the second method for replacing the shared tool, after the new shared tool is transferred to the second tool holder, the old shared tool is directly transferred from the shared tool magazine to the first tool magazine or the second tool magazine without passing through the tool holder. This method is also simple and direct. In addition to the technical effects of the first method for replacing the shared tool, it can further improve the efficiency of replacing the shared tool.

[0087] The fourth method for replacing the shared tool. Control the transfer of the old shared tool to the first tool magazine or the second tool magazine, and control the transfer of the new shared tool magazine to the shared tool magazine. The fourth method is applicable to replacing multiple shared tools simultaneously. When there are multiple old shared tools to be replaced in the shared tool magazine and the first tool magazine or the second tool magazine is loaded with multiple new shared tools, the robot on the spindle assembly can perform the above transfer work at night. Specifically, in one embodiment, the robot picks up an old shared tool from the shared tool magazine and transfers it to the first tool magazine or the second tool magazine; then picks up a new shared tool from the first tool magazine or the second tool magazine and transfers it to the shared tool magazine. The new shared tool and the old shared tool are alternately transferred to each other's tool storage positions. Of course, there is an empty tool storage position in the first tool magazine or the second tool magazine for their turnover. In another embodiment, when there are multiple empty tool storage positions in the shared tool magazine, the first tool magazine, or the second tool magazine, the robot picks up the old shared tools from the shared tool magazine one by one and transfers them to the first tool magazine or the second tool magazine, and then the robot picks up the new shared tools from the first tool magazine or the second tool magazine one by one and transfers them to the shared tool magazine. These two replacement methods mainly consider the empty status in the tool magazine, the number of tool replacements, etc., in combination with the tool replacement efficiency to achieve the purpose of improving the tool replacement efficiency.

[0088] In the context of the embodiments of the present invention, the new shared tool and the old shared tool refer to the following: during the process of replacing the shared tool, the tool that has been used or has reached the end of its service life needs to be replaced, which is called the old shared tool; the shared tool transported by the self-moving tool-changing device needs to be loaded into the shared tool magazine, which is called the new shared tool. The new shared tool and the old shared tool are only relative names during the tool-changing process and are not strictly restricted.

[0089] The above four methods are all examples and are not particularly restricted. During the process of replacing the shared tool, at least one of these replacement methods may be used. In actual applications, there may be multiple types and multiple quantities of shared tools in the shared tool magazine that need to be replaced simultaneously to improve efficiency and reduce the number of replacements. Therefore, it is more likely to replace multiple shared tools at once. During the process of replacing multiple shared tools simultaneously, to improve the transfer and turnover efficiency, at least one of the above four methods can be used, or similar variant methods can also be applied, which are not particularly restricted here. The ultimate goal in actual operation is to improve efficiency.

[0090] In some embodiments of the present invention, when unloading a shared tool, if the current life of the shared tool is less than the preset life, control is to unload the shared tool to the shared tool magazine; if the current life of the last shared tool of this type is equal to the preset life, control is to unload the shared tool to the first tool magazine or the second tool magazine. The tool management module monitors and replaces the life of each tool in real time, and triggers control information for replacing the shared tool after detecting that the life of the shared tool has expired. Specifically, for each type of tool in the shared tool magazine, the replacement method is divided into two types: (1) Replace the last one of a type of shared tool. In order not to waste the life of each shared tool and strive to use each shared tool until its life expires, especially in the shared tool magazine. When the other tools of this type have all used up their lives, the last tool of this type is being processed on the spindle. In this case, the tool management module updates the service life of each tool in real time, including the last tool. When the life of the last tool expires, the tool cannot continue to be processed, and at this time the spindle holds the tool. To improve the tool change efficiency, it is necessary to control to unload the shared tool to the first tool magazine or the second tool magazine without returning to the shared tool magazine. Whether it is necessary to transfer through the tool holder can be freely selected in combination with the above method of replacing the shared tool. In this scenario, the tool management module updates the tool life in real time, and the control system of the circuit board processing equipment collects the tool life. When unloading the tool of this type, if the current life of the shared tool is equal to the preset life, control is to unload the shared tool to the first tool magazine or the second tool magazine. The shared tool here is the last shared tool of this type. After the spindle holds the tool and finishes processing, if it is found that the current life of the shared tool has been equal to the preset life, the last tool is directly unloaded to the first tool magazine or the second tool magazine. Here, there is a prerequisite that the first tool magazine or the second tool magazine already has at least one empty tool storage position, or the first tool magazine and the second tool magazine are in a state of not being full.

[0091] (2) Replace any other tool except the last one in a type of shared tool. In this application scenario, the spindle assembly picks up the shared tools of this type one by one in sequence to process the circuit board. After the life of one of the shared tools expires, the spindle assembly returns the shared tool with the expired life to the original tool storage position in the shared tool magazine, and picks up another shared tool of this type to continue processing the circuit board. During this process, the shared tool magazine stores other shared tools of this type, so there is no need to change tools externally, and the spindle only needs to replace another shared tool of the same type. Until any other shared tool except the last one of this type has been used up, after the spindle picks up the last tool, it can directly process the circuit board according to the above method and unload it to the first tool magazine or the second tool magazine.

[0092] In the following embodiments of the present invention, there are two methods for replacing the shared tool as follows. The first tool replacement method: The tool management module obtains the life of the shared tool in real time; when the remaining life of the shared tool is less than a preset value; controls the transfer of a new shared tool to the second tool magazine; after processing the circuit board until before processing the next circuit board, or when the shared tool reaches its service life; controls the replacement of the shared tool with the second tool magazine. The second tool replacement method: The tool replacement method is applied to a circuit board processing device, including: The tool management module obtains the life of the shared tool in real time; when the remaining life of the shared tool cannot meet the workload of processing the next circuit board; controls the transfer of a new shared tool to the second tool magazine; after processing the circuit board until before processing the next circuit board, or when the shared tool reaches its service life; controls the replacement of the shared tool with the second tool magazine. During the process of replacing the shared tool on the spindle, in most cases, the life of the shared tool has not expired. Therefore, the tool management module updates the life of the shared tool in real time. When the current life of the shared tool is less than the preset life, controls the unloading of the shared tool to the shared tool magazine; so as to continue using the shared tool until the life is exhausted. Thus, reducing the waste of the life of the shared tool.

[0093] In some embodiments of the present invention, there are multiple methods for replacing the shared tool as above. However, for the tool management module and the control system of the circuit board processing device, when does the shared tool need to be replaced? Although ideally, each shared tool can be replaced after its life is used up, but when replacing the tool, multiple factors such as the efficiency of replacing the tool and the classification of the tool magazine need to be considered. Seek the most reasonable balance point under multiple conflicting factors. That is to say, in many cases, the tool needs to be replaced before its life is completely used up to improve efficiency. Therefore, the conditions for triggering the external replacement of the shared tool include any one of the following: (1) All tools reach their service life; (2) All tools of any type reach their service life; (3) Each tool reaches a predetermined threshold of the total life; (4) The remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board.

[0094] For the first triggering condition, when all tools reach their service life, the control information for triggering the external replacement of the shared tool is generated. It means that the conditions for replacing the shared tool are preset in the tool management module. When this condition is met, the tool management module issues the control information for replacing the shared tool externally. Specifically, all tools reaching their service life means that in the shared tool magazine, there are multiple types and multiple quantities of shared tools, and all these shared tools have reached their service life. At this time, all the shared tools definitely need to be replaced.

[0095] For the second triggering condition, when all the cutting tools of any type reach their service life, the control information for externally replacing the shared cutting tools is triggered. This means that the conditions for replacing the shared cutting tools are preset in the cutting tool management module. When these conditions are met, the cutting tool management module sends out the control information for externally replacing the shared cutting tools. When all the cutting tools of any type reach their service life, it means that in the shared tool magazine, there are multiple types and quantities of cutting tools. As long as all the shared cutting tools of one type reach their service life, the control information for replacing the shared cutting tools of that type is triggered. One type here may be five cutting tools or one cutting tool, and there is no limit in this regard.

[0096] For the third triggering condition, when the total life of each type of cutting tool reaches a predetermined threshold value, the control information for externally replacing the shared cutting tools is triggered. This means that the conditions for replacing the shared cutting tools are preset in the cutting tool management module. When these conditions are met, the cutting tool management module sends out the control information for externally replacing the shared cutting tools. When the total life of each type of cutting tool reaches a predetermined threshold value, it means that in the shared tool magazine, classified by the type of cutting tool, the product of the quantity of the cutting tools of that type and the tool life can be determined as the total life of that type of cutting tool. When the total life of the used cutting tools reaches 90% of the total life of all the cutting tools of that type, the replacement of the shared cutting tools is triggered in advance. For example, there are 16 types of public cutting tools in the tool magazine, and the total life of each type of cutting tool is different. However, among the 16 types of cutting tools, when the total life of each type of cutting tool that has been used reaches 90% of the total life of all the cutting tools of that type, the condition for replacing the cutting tools is triggered, and it is necessary to prepare for replacing the cutting tools in advance to prevent the situation where there are no cutting tools available in the shared tool magazine.

[0097] For the fourth triggering condition, the remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board; triggering the control information for externally replacing the shared tool. This means that the conditions for replacing the shared tool are preset in the tool management module. When this condition is met, the tool management module sends out the control information for externally replacing the shared tool. The remaining total life of at least one type of tool not being able to meet the workload of processing the next circuit board means that the life of each type of shared tool is updated during continuous use. The result of subtracting the used life from the total life of this type of tool is the remaining life of this type of shared tool; processing the next circuit board means that tool replacement needs to be anticipated in advance to leave enough time for the self-moving tool changer to transfer. Therefore, when processing the current circuit board, anticipate in advance the workload of various types of shared tools required for the next circuit board. Here, the workload is also the number of holes or the distance that this type of tool needs to process on the next circuit board. If the remaining total life of this type of tool cannot meet the workload of processing the next circuit board, then the control information for replacing the shared tool needs to be triggered to prepare for replacing the shared tool in advance. On the one hand, it can prevent the standby state where there is no available shared tool when processing the next circuit board; on the other hand, it can save tool change time. While changing materials for the front and rear two circuit boards, the shared tool can be replaced in advance. Although the life of some shared tools has not been used up, time can be saved and the efficiency of tool change and material change can be improved.

[0098] Another aspect of the present invention also provides a tool change method, which is applied to a circuit board processing device and includes: obtaining the parameters of the circuit board and the tool in the first object parameter; determining the types and quantities of the tools in the tool magazine; controlling the circuit board processing device to pick up the tools to process the circuit board; when the sum of all the remaining lives of at least one of the tools in the tool magazine cannot meet the workload of processing the next circuit board, controlling to externally replace the tools.

[0099] In some other embodiments of the present invention, the shared tool magazine 1121 is detachably disposed on the workbench 10, and the frequency of externally replacing the tools in the shared tool magazine 1121 is less than the frequencies of externally replacing the tool magazines of the first tool magazine 1111 and the second tool magazine 1112. As two implementation manners of the present invention, when the shared tool magazine is fixed on the workbench, the tools in the shared tool magazine are replaced by the first tool magazine or the second tool magazine; when the shared tool magazine is detachably disposed on the workbench, the shared tool magazine can be externally replaced. Specifically, similar to the first tool magazine or the second tool magazine, the shared tool magazine can be replaced by the self-moving tool changing device, which will not be elaborated herein. In the above and below embodiments of the present invention, regardless of the manner in which the shared tool magazine is disposed on the workbench, the first tool magazine and the second tool magazine are both detachably disposed on the workbench. It should be noted that in the above and below embodiments of the present invention, being detachably disposed on the workbench means that the shared tool magazine, the first tool magazine, and the second tool magazine are disposed on the workbench by means of magnetic attraction, elastic limit, mechanical limit, etc., and the three tool magazines can be switched between two states of locking and releasing. Specifically, when the three tool magazines are located at the processing stations of the workbench, they are in the locked state, and when the three tool magazines need to externally replace the tool magazines or tools, they are in the released state, so as to facilitate the self-moving tool changing device to exchange the old and new tool magazines with the circuit board processing equipment.

[0100] When the shared tool magazine is detachably disposed on the workbench, the shared tool magazine, the first tool magazine, and the second tool magazine all need to externally replace the tool magazines to meet the tools required by the circuit board processing equipment. However, as described above, the workload of the tools in the shared tool magazine is less than that of the tools in the first tool magazine and the second tool magazine, and the workload of each shared tool is relatively small. Therefore, the frequency of externally replacing the shared tool magazine is relatively small, less than the frequencies of externally replacing the tool magazines of the first tool magazine or the second tool magazine. Specifically, the self-moving tool changing device needs to replace the first tool magazine or the second tool magazine at the processing station every 2 hours, but the self-moving tool changing device only needs to replace the shared tool magazine every 48 hours. For the warehousing management system, the host computer, and the self-moving tool changing device, this separate replacement of the tool magazines can, on the one hand, improve the transfer efficiency, and on the other hand, make the best use of everything, improve the service life of the shared tools in the shared tool magazine, reduce the waste of the service life of the shared tools, and thus reduce the cost.

[0101] In the following embodiments of the present invention, the methods for the first tool magazine and the second tool magazine to replace the tool magazines and tools are as follows. Taking the first tool magazine as an example, each first tool magazine stores a predetermined type and a predetermined number of first tools. The spindle assembly selects a first tool according to the first object parameters and the configuration of the tool management module and processes the circuit board according to a predetermined rule. During this process, the spindle may need to change tools. Whether it is to change the first tool or the common tool, the original tool held by the spindle will be put back into the original tool storage position in the first tool magazine to facilitate the continued use of the first tool next time. Until a certain first tool reaches the end of its life, through the tool changing method of the spindle assembly, another first tool of the same type is replaced in the first tool magazine and the processing continues. And so on, until the spindle assembly uses up all the first tools in the first tool magazine. After the first tool magazine runs out of tools, the circuit board processing equipment switches to the second tool magazine and continues to pick up the tools in the second tool magazine to process the circuit board. At this time, the first tool magazine is used to replace the tool magazine externally and cooperate with the self-moving tool changing device to replace the entire first tool magazine. Before the second tool magazine uses up all the second tools, the first tool magazine has completed the replacement and is in a waiting state. In this way, when the second tool magazine is used to process the circuit board, the first tool magazine is used to replace the tool magazine externally; when the first tool magazine is used to process the circuit board, the second tool magazine is used to replace the tool magazine externally.

[0102] During the process of the first tool magazine and the second tool magazine replacing the tool magazines externally, it is also necessary to predict in advance the type and quantity of the tools. As mentioned above, the type of tools in each tool magazine and the quantity of tools of each type can be determined through parameters such as the workload of the circuit board. After obtaining the type and quantity of the tools through the tool management module and the first object parameters, when will the control information for triggering the replacement of the tool magazine be generated? In the tool management module, the conditions for triggering the replacement of the first tool magazine and the second tool magazine are pre-configured. Only when any of the following triggering conditions is met, the control information for replacing the first tool magazine or the second tool magazine is activated. The circuit board processing equipment sends this control information to the host computer, and the host computer, under the control of the scheduling control system, invokes the self-moving tool changing device to transfer the tool magazine from the warehouse management system to the circuit board processing equipment. The triggering conditions include the following four: (1) All tools have reached the end of their service life; (2) All tools of any one type have reached the end of their service life; (3) The remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board; (4) The tool magazine has completed the predetermined workload.

[0103] For the first trigger condition, when all the cutting tools reach their service life, a control message for externally replacing the first tool magazine or the second tool magazine is triggered. This means that the conditions for replacing the first tool magazine or the second tool magazine are preset in the tool management module. When this condition is met, the tool management module sends out a control message for replacing the first tool magazine or the second tool magazine. Specifically, when all the cutting tools reach their service life, it means that in the first tool magazine, there are multiple first cutting tools of multiple types, and all these first cutting tools have reached their service life. At this time, it is certain that the first tool magazine needs to be replaced. Or, in the second tool magazine, there are multiple second cutting tools of multiple types, and all these second cutting tools have reached their service life. At this time, it is certain that the second tool magazine needs to be replaced.

[0104] For the second trigger condition, when all the cutting tools of any one type reach their service life, a control message for externally replacing the first tool magazine or the second tool magazine is triggered. This means that the conditions for replacing the first tool magazine or the second tool magazine are preset in the tool management module. When this condition is met, the tool management module sends out a control message for replacing the first tool magazine or the second tool magazine. When all the cutting tools of any one type reach their service life, it means that in the first tool magazine, there are multiple first cutting tools of multiple types stored. As long as all the first cutting tools of one type reach their service life, a control message for replacing the first tool magazine of this type is triggered. Similarly, for the second cutting tools, when all the cutting tools of any one type reach their service life, it means that in the second tool magazine, there are multiple second cutting tools of multiple types stored. As long as all the second cutting tools of one type reach their service life, a control message for replacing the second tool magazine of this type is triggered. Here, one type may have 150 first cutting tools or second cutting tools, and there is no limit in this regard.

[0105] For the third triggering condition, the remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board; trigger the control information for externally replacing the first tool magazine or the second tool magazine. It means that the conditions for replacing the first tool magazine or the second tool magazine are preset in the tool management module. When this condition is met, the tool management module sends out the control information for replacing the first tool magazine or the second tool magazine externally. The remaining total life of at least one type of tool not being able to meet the workload of processing the next circuit board means that the life of the first tool or the second tool of each type will be updated during continuous use. Subtracting the used life from the total life of this type of tool, the result is the remaining life of the first tool or the second tool of this type; processing the next circuit board means that tool replacement needs to be predicted in advance to leave enough time for the self-moving tool changer to transfer. Therefore, when processing the current circuit board, predict in advance the workload of the first tool or the second tool of various types required for the next circuit board. Here, the workload is also the number of holes or the distance that this type of tool needs to process on the next circuit board. If the remaining total life of this type of tool cannot meet the workload of processing the next circuit board, then the control information for replacing the first tool magazine or the second tool magazine needs to be triggered to prepare for tool magazine replacement in advance. On the one hand, it can prevent the standby state where there is no first tool or second tool available when processing the next circuit board; on the other hand, it can save tool change time. While changing materials for the front and rear two circuit boards, replace the first tool magazine or the second tool magazine in advance. Although the life of a small part of the first tool or the second tool has not been used up, it can save time and improve the efficiency of tool magazine replacement and material change.

[0106] For the fourth triggering condition, the tool magazine has completed the predetermined workload; trigger the control information for externally replacing the first tool magazine or the second tool magazine. It means that the conditions for replacing the first tool magazine or the second tool magazine are preset in the tool management module. When this condition is met, the tool management module sends out the control information for replacing the first tool magazine or the second tool magazine externally. The tool magazine having completed the predetermined workload means that during the process of processing the circuit board, the first tool magazine or the second tool magazine has completed the predetermined workload given by the first object parameter, then trigger the control information for replacing the tool magazine. Specifically, at the end stage of processing a circuit board or a type of circuit board, only half a magazine of the first tool or the second tool is needed to complete the processing task. At this time, the self-moving tool changer transfers half a magazine of tools. Among these half a magazine of tools, some tools have not been used up. For example, a certain tool has only used 1% of its life but has completed the workload of processing this circuit board. For this tool and for the entire tool magazine, the predetermined task of processing the circuit board has been completed. At this time, even if some tools have not used up their life, the first tool or the second tool needs to be replaced to meet the need for replacing the circuit board or changing the type of circuit board, thereby improving the circuit board processing efficiency.

[0107] Another aspect of the present invention further provides a tool changing method, which is applied to a circuit board processing device and includes: obtaining the parameters of the circuit board and the tool in the first object parameters; determining the types and quantities of the tools in the tool magazine; controlling the circuit board processing device to pick up the tool to process the circuit board; when the sum of the remaining lives of all at least one type of tool in the tool magazine cannot meet the workload of processing the next circuit board, controlling to externally replace the tool magazine.

[0108] The above circuit board processing device and tool changing method of the present invention can reduce the waste of the life of shared tools, improve the utilization rate of shared tools, save costs, and also improve the efficiency of automatic tool change.

[0109] Embodiment 1

[0110] In this embodiment, taking the circuit board processing device 100 as a two-axis drilling device as an example, the structure and tool changing method of the circuit board processing device in an automated circuit board processing equipment workshop are described in detail.

[0111] In this embodiment, as Figure 1 , Figure 2a , Figure 3 , Figure 4 shown, the circuit board processing device 100 includes a workbench 10, a spindle assembly 20, a cross beam 30, and a base 40. The spindle assembly 20 includes a spindle 21 and a manipulator 22. At least one processing station 11 is provided on the workbench 10, and an adjacent first area 111 and a second area 112 are provided on the processing station 11; a first tool magazine 1111 and a second tool magazine 1112, the first tool magazine 1111 storing a plurality of first tools and the second tool magazine 1112 storing a plurality of second tools are both provided in the first area 111; a shared tool magazine 1121, the shared tool magazine 1121 storing a plurality of shared tools is provided in the second area 112, the shared tool magazine 1121 is fixedly provided on the workbench 10, and the shared tool magazine 1121 replaces the shared tool through the first tool magazine 1111 or the second tool magazine 1112. In this embodiment, the first tool magazine 1111 and the second tool magazine 1112 are magnetically attached to the workbench 10 for easy external replacement of the tool magazine.

[0112] As Figure 1 , Figure 2a , Figure 3 , Figure 4As shown in the figure, there are two processing stations 11 arranged on the workbench 10. Each processing station 11 is provided with a processing area 114, a first area 111, a second area 112, a tool holder 113, a tool inspection component 116, etc. The processing area 114 is used for placing the circuit board. The first area 111, the second area 112, the tool holder 113, the tool inspection component 116, etc. are arranged on the side of the processing area 114 close to the safety door of the circuit board processing equipment (also called the operation side or the front side). Therefore, the first area 111, the second area 112, and the tool holder 113 on the processing station 11 are located on the same side of the circuit board. And in order to save the space of the workbench, the first area 111, the second area 112, and the tool holder 113 are arranged adjacent to each other with a compact layout. As Figure 1 shown, the shared tool magazine 1121 is fixedly arranged on the workbench 10, and the shared tool magazine 1121 replaces the shared tool through the first tool magazine 1111 or the second tool magazine 1112. When the first tool magazine 1111 is used for processing the circuit board, the second tool magazine 1112 is used for externally replacing the tool magazine; when the first tool magazine 1111 is used for externally replacing the tool magazine, the second tool magazine 1112 is used for processing the circuit board.

[0113] As Figure 2a shown, in the first area 111, the first tool magazine 1111 and the second tool magazine 1112 are arranged along the first direction; the short side of the shared tool magazine 1121 is arranged along the second direction, and the first direction is perpendicular to the second direction. A tool holder 113 is arranged on the workbench 10 adjacent to the second area 112, and the tool holder 113 and the shared tool magazine 1121 are on the same side of the first area 111. At least one pin slot 115 is arranged on the processing station 11. In the plane of the workbench 10, the extension line of the shared tool magazine 1121 does not intersect with the pin slot 115.

[0114] As Figure 3 shown, each shared tool magazine 1121, the first tool magazine 1111 or the second tool magazine 1112 includes a plurality of identical sub-tool magazines 12. Specifically, the shared tool magazine 1121 includes 10 sub-tool magazines 12, and the first tool magazine 1111 or the second tool magazine 1112 includes 6 sub-tool magazines 12. Each sub-tool magazine 12 includes 50 identical tool storage positions 121, and each tool storage position 121 can only store one tool.

[0115] In Figure 1 , whether it is a shared tool magazine or the first tool magazine and the second tool magazine, the tool holder 113 and the manipulator 22 on the spindle assembly 20 can be freely selected to complete the replacement of the same type of tool. After a tool reaches the end of its service life, another tool of the same type stored in the tool magazine is replaced; in Table 1, the replacement between 40 Φ5 tools, or the replacement between 200 Φ2 tools. Correspondingly, the first tool holder 1131 and / or the second tool holder 1132 can be selected to cooperate to complete.

[0116] AsFigure 5 As shown in the figure, in an automated workshop, there are a host computer 500, a circuit board processing device 100, a self-moving tool-changing device 200, and a warehousing management system 300. Under the control of the scheduling control system of the host computer 500, the self-moving tool-changing device 200 transfers tool magazines between the circuit board processing device 100 and the warehousing management system 300 to achieve the purpose of automatic tool change.

[0117] In this embodiment, a plurality of types of common tools are stored in the common tool magazine 1121. As shown in Table 1, the common tool magazine 1121 includes a total of 16 types of common tools, namely Φ5, Φ6... Φ20, with a total quantity of 500. Both the first tool magazine 1111 and the second tool magazine 1112 include the same two types of tools, Φ1 and Φ2, with a total of 300. Five types of tools, namely Φ1, Φ2, Φ5, Φ9, and Φ17, are required for processing the target circuit board. These five types of tools are all distributed in the common tool magazine 1121 and the first tool magazine 1111, and the second tool magazine 1112 is used to replace the first tool magazine 1111. Therefore, the common tools and the first tool or the second tool at least include all the types of tools required for processing the circuit board.

[0118] In Table 1 above, before all 40 Φ5 tools are used up, the common tool Φ5 can be replaced by the following method. Specifically, as Figure 7 shown, it includes the following steps:

[0119] S20, obtain the parameters of the circuit board and the tool in the first object parameter. Before processing the circuit board, each circuit board has a corresponding first object parameter. Obtain the first object parameters of 50 types of circuit boards planned to be processed within one month, query the first object parameters of each type of circuit board, and obtain the workload of various tools. Statistically analyze the workload of 20 types of tools among the above 50 types of circuit boards, classify and stack them, and then sort them. Determine the division boundary between the common tools and the first tool or the second tool. Determine several types of tools with relatively large single workload as the first tool or the second tool, such as tools Φ1, Φ2, Φ3, Φ4; store them in the first tool magazine or the second tool magazine; determine several types of tools with relatively small workload as the common tools, such as: Φ5, Φ6, Φ7... Φ20, and store them in the common tool magazine. At this time, the types and quantities of the common tool magazines have been determined.

[0120] S30, determine the types and quantities of the tools in the tool magazine. After determining the division boundary of the tool magazine, compare the first object parameter of the target circuit board to determine the quantity of the first tool in the first tool magazine. After querying the first object parameter to obtain the two types of tool types, Φ1 and Φ2, and then determine the quantities of the two types of tools, Φ1 and Φ2, according to the processing path of the first object parameter.

[0121] S40. Control the circuit board processing equipment to pick up the tool and process the circuit board. After determining the types and quantities of the shared tool, the first tool, control the spindle 21 to pick up the tool to process the circuit board. According to the rules of the first object parameters, freely select five types of tools, namely Φ1, Φ2, Φ5, Φ9, and Φ17, to process the circuit board.

[0122] S50. When the sum of the remaining lives of all of at least one type of the tools in the tool magazine cannot meet the workload of processing the next circuit board, control to replace the tool externally. Since the shared tool cannot replace the tool magazine and can only replace the tool, when the sum of the remaining lives of all of at least one type of the tool in the shared tool magazine cannot meet the workload of processing the next circuit board, control to replace the shared tool externally. Specifically, when the sum of the remaining lives of Φ5 is 10 holes and the workload of Φ5 for processing the next circuit board is 12 holes, obviously, the shared tool Φ5 cannot completely process the next circuit board. To improve efficiency, save time, and waste the remaining life of 10 holes of the shared tool Φ5, trigger the control information for externally replacing the shared tool Φ5 and start externally replacing the shared tool Φ5.

[0123] In Table 1 above, before all 200 of the first tools Φ2 are used up, the shared tool Φ2 can be replaced by the following method. Specifically, as Figure 7 shown, it includes the following steps:

[0124] S120. Obtain the parameters of the circuit board and the tool in the first object parameters. Similar to S20 above, determine the division boundary between the shared tool and the first tool or the second tool. Details are not repeated.

[0125] S130. Determine the types and quantities of the tools in the tool magazine. Similar to S30 above, determine the types and quantities of the first tools. Details are not repeated.

[0126] S140. Control the circuit board processing equipment to pick up the tool and process the circuit board. Similar to S40 above, according to the rules of the first object parameters, freely select five types of tools, namely Φ1, Φ2, Φ5, Φ9, and Φ17, to process the circuit board. Details are not repeated.

[0127] S150. When the sum of the remaining lives of all of at least one of the cutting tools in the tool magazine cannot meet the workload for machining the next circuit board, control is performed to externally replace the tool magazine. S150 is slightly different from S50. In step S150, before all 200 first cutting tools Φ2 are used up, the first tool magazine needs to be externally replaced. Specifically, when the sum of the remaining lives of Φ2 is 1000 holes and the workload for Φ2 to machine the next circuit board is 1200 holes, obviously, the first cutting tool Φ2 cannot completely machine the next circuit board. To improve efficiency, save time, and waste the remaining life of 1000 holes of the shared cutting tool Φ2, a control message for externally replacing the first cutting tool Φ2 is triggered, and the external replacement of the first tool magazine is started.

[0128] During the process of replacing the shared cutting tool in the above-mentioned shared tool magazine. Specifically for the shared cutting tool Φ5, the external replacement of the cutting tool can be achieved through the following method. As Figure 9 shown, it includes the following steps:

[0129] S200. The tool management module obtains the life of the cutting tool in real time. The circuit board processing equipment includes a tool management module, and the tool management module monitors and updates the tool life in real time. For the shared cutting tool Φ5, for each hole machined, the life is reduced by one. In Table 3, the total life of 40 Φ5 is 120,000 in total.

[0130] S300. When the remaining life of the shared cutting tool cannot meet the workload for machining the next circuit board; control is performed to transfer a new shared cutting tool to the second tool magazine or the second tool magazine. In the shared tool magazine, the total life of Φ5 is 120,000. When the remaining life of Φ5 is 10 holes, it can no longer meet the workload of 12 holes for machining the next circuit board, then a control message for replacing the shared cutting tool Φ5 is triggered. The circuit board processing equipment sends the control message for replacing Φ5 to the host computer. Under the control of the scheduling control system of the host computer, the self-moving tool changing device 200 retrieves 40 Φ5 cutting tools from the warehousing management system 300 and moves towards the circuit board processing equipment in the first tool magazine 1111 or the second tool magazine 1112.

[0131] S400, after processing the circuit board until before processing the next circuit board, or when the shared tool reaches its service life, control the replacement of the shared tool with the first tool magazine or the second tool magazine. The circuit board processing equipment is in the processing state. Therefore, in this embodiment, after processing the current circuit board until before processing the next circuit board, replace the shared tool Φ5. Although part of the life of Φ5 is wasted, the tool change efficiency can be improved, and a reasonable balance can be found between the tool change efficiency and the tool life, which also saves costs. In some other embodiments, when the shared tool Φ5 reaches its service life, that is, continue to use Φ5 to process the next circuit board, and replace the shared tool Φ5 after Φ5 has used up the remaining life of 10 holes. This method replaces the shared tool Φ5 during the process of processing one circuit board, which can make the shared tool Φ5 use up all its life, reduce the waste of the life of the shared tool Φ5, and save costs. Regardless of which state the shared tool Φ5 is replaced, the shared tool Φ5 is replaced through the first tool magazine or the second tool magazine.

[0132] Embodiment 2

[0133] In this embodiment, taking the circuit board processing equipment 100 as a two-axis drilling equipment as an example, the structure and tool change method of the circuit board processing equipment in an automated circuit board processing equipment workshop are described in detail.

[0134] Other parts of this embodiment are the same as those of Embodiment 1, and the difference lies in that the shared tool magazine 1121 is detachably arranged on the workbench 10. The shared tool magazine 1121, the first tool magazine 1111, and the second tool magazine 1112 are all arranged at the processing station 11 of the workbench 10 by magnetic attraction. The shared tool magazine 1121 itself can be externally replaced with a tool magazine without the need for transfer through the first tool magazine or the second tool magazine. Correspondingly, the structure of the shared tool magazine is exactly the same as that of the first tool magazine and the second tool magazine, and both include 6 sub-tool magazines, and each sub-tool magazine has a total of 50 tool storage positions. The shared tool magazine is configured with predetermined tool types and quantities in the warehouse management system. The same as in Embodiment 1, the division boundary between the shared tool magazine, the first tool magazine, or the second tool magazine is also determined by the method of Embodiment 1, and then the tool types and quantities in each tool magazine are determined. Finally, it is transported to the workbench of the circuit board processing equipment through the self-moving tool change equipment.

[0135] In this embodiment, the method of changing the tool magazine for the shared tool magazine, the first tool magazine, and the second tool magazine is the same as the method of changing the tool magazine for the first tool magazine in the embodiment. It will not be elaborated here.

[0136] Compared with Embodiment 1, this kind of circuit board processing equipment is more flexible, and can also reduce the waste of the life of the shared tool, save costs, and improve the tool change efficiency.

[0137] Embodiment 3

[0138] In this embodiment, taking the circuit board processing equipment 100 as a two-axis drilling equipment as an example, the structure and tool change method of the circuit board processing equipment in an automated circuit board processing equipment workshop are described in detail.

[0139] Other aspects of this embodiment are the same as those of the first embodiment, except that the conditions for triggering the replacement of the common tool are different. In this embodiment, as Figure 8 shown, the method for replacing the common tool includes the following steps:

[0140] S600, The tool management module obtains the tool life in real time. Similar to step S200, the tool management module monitors and updates the tool life in real time. The total life of the common tool Φ5 is 120,000 holes.

[0141] S700, When the remaining life of the common tool is less than a preset value; control the transfer of a new common tool to the first tool magazine or the second tool magazine. The tool management module configures the preset value for the common tool Φ5. When the remaining life of the common tool Φ5 is 10 holes, which is less than the preset value of 11 holes, the condition for externally replacing the common tool is triggered. The circuit board processing equipment sends the control information for replacing Φ5 to the host computer. Under the control of the scheduling control system of the host computer, the automatic tool change device 200 retrieves 40 Φ5 tools from the warehouse management system 300 and moves towards the circuit board processing equipment in the first tool magazine 1111 or the second tool magazine 1112.

[0142] S800, After processing the circuit board until before processing the next circuit board, or when the common tool reaches its service life; control the replacement of the common tool with the first tool magazine or the second tool magazine. Similar to step S400, regardless of which state the common tool Φ5 is replaced, the common tool Φ5 is replaced through the first tool magazine or the second tool magazine.

[0143] In this embodiment, the structures of the common tool magazine, the first tool magazine, and the second tool magazine are the same as those of the first embodiment. Details are not repeated. Compared with the first embodiment, this tool change method for the circuit board processing equipment is more flexible, and can also reduce the waste of the life of the common tool, save costs, and improve the tool change efficiency.

[0144] Embodiment Four

[0145] In this embodiment, taking the circuit board processing equipment 100 as a two-axis forming equipment as an example, the structure and tool change method of the circuit board processing equipment in an automated circuit board processing equipment workshop are described in detail.

[0146] Other aspects of this embodiment are basically the same as those of the first embodiment, or are adjusted as appropriate. The differences are as follows: (1) The tool life is measured by the distance traveled, with the unit of meters; (2) Correspondingly, the calculation method of the tool workload is also different, and the distance traveled is calculated by the spindle movement speed and time. For other structures or methods, appropriate adjustments are made. Those skilled in the art can make translations or fine-tuning based on this, and obtain the structure of the forming equipment and the tool change method, which will not be elaborated further here.

[0147] For forming equipment, it is also possible to reduce the waste of the life of shared tools, save costs, and improve the tool change efficiency.

[0148] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the disclosed embodiments. The scope of the present invention is defined by the appended claims.

Claims

1. A circuit board processing equipment, It is characterized in that include: A workbench, wherein at least one processing station is arranged on the workbench, and the processing station is provided with a first area and a second area adjacent to each other; A first knife box and a second knife box, wherein the first knife box for storing a first knife and the second knife box for storing a second knife are both arranged in the first area; when the first knife box is used for processing a circuit board, the second knife box is used for externally replacing the knife box; when the first knife box is used for externally replacing the knife box, the second knife box is used for processing the circuit board; A common tool box for storing common tools is arranged in the second area; the common tool and the first tool or the second tool at least include all kinds of tools for processing the circuit board.

2. The circuit board processing equipment according to claim 1, It is characterized in that The common knife box is fixedly arranged on the workbench, and the common knife box replaces the common knife through the first knife box or the second knife box.

3. The circuit board processing equipment according to claim 2, It is characterized in that The circuit board processing equipment comprises a tool management module, which monitors and updates the life of the common tool, the first tool and the second tool in real time.

4. The circuit board processing equipment according to claim 3, It is characterized in that The workbench also includes a first tool holder and a second tool holder, which controls the unloading of the old shared tool to the first tool holder and controls the transfer of the new shared tool to the second tool holder; Alternatively, the workbench includes a first tool holder, and the old shared tool is controlled to be unloaded to the first tool holder, and the new shared tool is controlled to be transferred to the shared tool box; Alternatively, the workbench includes a second tool holder, and controls the new shared tool to be transferred to the second tool holder, and controls the old shared tool to be unloaded to the first tool box or the second tool box; Alternatively, the old shared tool is controlled to be transferred to the first tool box or the second tool box, and the new shared tool box is controlled to be transferred to the shared tool box.

5. The circuit board processing equipment according to claim 3, It is characterized in that When unloading the common tool, if the current life of the common tool is less than the preset life, the common tool is controlled to be unloaded to the common tool box; if the current life of the last common tool of this type is equal to the preset life, the common tool is controlled to be unloaded to the first tool box or the second tool box.

6. The circuit board processing equipment according to claim 1, It is characterized in that The common knife box is detachably arranged on the workbench, and the frequency of externally replacing knives by the common knife box is less than the frequency of externally replacing knife boxes by the first knife box and the second knife box.

7. The circuit board processing equipment according to claim 1, It is characterized in that In the process of processing one of the circuit boards, the workload of each type of the common tool is less than the workload of each type of the first tool or the second tool.

8. The circuit board processing equipment according to claim 1, It is characterized in that The time used to replace the knife box is less than the time used by the first knife box or the second knife box to process the circuit board; the first knife box is exactly the same as the second knife box, or, in the first knife box and the second knife box, at least one of the first knife and the second knife is different.

9. The circuit board processing equipment according to any one of claims 3 to 5, It is characterized in that The circuit board processing equipment processes the circuit board according to the first object parameters, and the tool management module determines the following parameters according to the number of circuit boards in the first object parameters, the type and workload of tools required to process the circuit boards, and the life parameters of the common tool, the first tool or the second tool: (1) the type and quantity of the common tool; (2) the type and quantity of the first tool; (3) the type and quantity of the second tool.

10. The circuit board processing equipment according to any one of claims 1 to 8, It is characterized in that According to any of the following triggering conditions, the shared tool is replaced externally: (1) At least one tool has reached the end of its service life; (2) All tools of any type have reached the end of their service life; (3) Each tool reaches a predetermined threshold for the total life span; (4) The remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board.

11. The circuit board processing equipment according to any one of claims 1 to 8, It is characterized in that According to any of the following triggering conditions, the first blade box or the second blade box is triggered to be replaced externally: (1) All cutting tools have reached the end of their service life; (2) All tools of any type have reached the end of their service life; (3) The remaining total life of at least one type of tool cannot meet the workload of processing the next circuit board; (4) The knife box completes the predetermined workload.

12. A tool changing method, It is characterized in that The tool changing method is applied to circuit board processing equipment, including: Obtaining the parameters of the circuit board and the tool in the first object parameters; Determining the type and quantity of the knives in the knife box; Controlling the circuit board processing equipment to pick up the tool to process the circuit board; When the sum of all remaining lifespans of at least one of the cutting tools in the cutting tool box cannot meet the workload of processing the next circuit board, the cutting tool box is controlled to be replaced externally; or, When the sum of all remaining lifespans of at least one of the cutting tools in the cutting tool box cannot meet the workload of processing the next circuit board, the cutting tool is controlled to be replaced externally.

13. A tool changing method, It is characterized in that The tool changing method is applied to circuit board processing equipment, including: The tool management module obtains the life of shared tools in real time; When the remaining life of the common tool is less than a preset value; controlling the transfer of a new common tool to the first tool box or the second tool box; After processing the circuit board and before processing the next circuit board, or when the common tool reaches the end of its service life, control is performed to replace the common tool with the first tool box or the second tool box.

14. A tool changing method, It is characterized in that The tool changing method is applied to circuit board processing equipment, including: The tool management module obtains the life of shared tools in real time; When the remaining life of the common tool cannot meet the workload of processing the next circuit board; control the transfer of a new common tool to the first tool box or the second tool box; After processing the circuit board and before processing the next circuit board, or when the common tool reaches the end of its service life, control is performed to replace the common tool with the first tool box or the second tool box.

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