CN117359363A - Self-moving tool changing device, tool changing control method and circuit board processing device - Google Patents

Self-moving tool changing device, tool changing control method and circuit board processing device Download PDF

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Publication number
CN117359363A
CN117359363A CN202311338385.8A CN202311338385A CN117359363A CN 117359363 A CN117359363 A CN 117359363A CN 202311338385 A CN202311338385 A CN 202311338385A CN 117359363 A CN117359363 A CN 117359363A
Authority
CN
China
Prior art keywords
cutterhead
tool changing
moving
self
buffer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311338385.8A
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Chinese (zh)
Inventor
任少伟
季峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Vega Technology Co Ltd
Original Assignee
Suzhou Vega Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Vega Technology Co Ltd filed Critical Suzhou Vega Technology Co Ltd
Priority to CN202311338385.8A priority Critical patent/CN117359363A/en
Publication of CN117359363A publication Critical patent/CN117359363A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor

Abstract

The invention discloses a self-moving tool changing device, which comprises: the motion chassis is provided with a first area and a second area which are adjacent to each other; the feed box is arranged in the first area and comprises a plurality of storage positions for storing cutterheads; the conveying device is arranged in the second area and comprises a moving part and an executing part, the executing part carries the cutter disc to rotate, and the moving part drives the executing part to move between the buffer storage device and the storage position. The invention also discloses self-moving tool changing equipment, a tool changing control method and circuit board processing equipment. The self-moving tool changing equipment, the tool changing control method and the circuit board processing equipment realize full-automatic tool changing, and have low cost and high efficiency.

Description

Self-moving tool changing device, tool changing control method and circuit board processing device
Technical Field
The invention relates to the technical field of circuit board processing equipment, in particular to self-moving tool changing equipment, a tool changing control method and circuit board processing equipment.
Background
Currently, in order to improve the utilization rate of equipment production, full-automatic drilling machines are developing to an automation and intelligent direction, and in order to further improve the equipment efficiency, automatic cutter disc replacement becomes necessary. In the prior art, the circuit board processing equipment adopts a mode of stopping the equipment and replacing a cutter disc, waits for technicians or cutter replacing equipment to replace cutters, causes time loss, and has lower equipment utilization rate. How to realize replacement of the cutterhead without stopping, reduce the stopping time and shorten the waiting time of equipment for changing the cutterhead is an important technical problem. In addition, an AGV tool changing method is urgently needed at the present stage to realize the butt joint of circuit board processing equipment and realize efficient and reliable cutter head replacement.
Disclosure of Invention
The invention provides self-moving tool changing equipment, a tool changing control method and circuit board processing equipment, and aims to solve the problems in the prior art.
According to a first aspect of the present invention, there is provided a self-moving tool changing device comprising: the motion chassis is provided with a first area and a second area which are adjacent to each other; the feed box is arranged in the first area and comprises a plurality of storage positions for storing cutterheads; the carrying device is arranged in the second area and comprises a moving part and an executing part, the executing part carries the cutterhead to rotate, and the moving part drives the executing part to move between the caching device and the storage position.
In one embodiment of the invention, the executing part is arranged on the moving part, and the executing part carries the cutter disc to rotate between the direction of the buffer device and the direction of the feed box.
In one embodiment of the present invention, the executing part includes a groove and an executing member disposed in the groove, the executing member extends along the opening direction of the groove, and the conveying driving member drives the executing member to send the cutterhead into the groove or send the cutterhead out of the groove.
In one embodiment of the present invention, the executing member includes at least two parallel bodies, and a conveying member disposed on each body, and the conveying driving member synchronously drives each conveying member to drive the cutterhead to move along the opening direction of the groove.
In one embodiment of the invention, guide members are arranged on two sides of the groove, and the guide members guide the cutterhead to enter and exit the groove; a limiting piece is arranged on the opposite side of the opening of the groove, and the limiting piece prevents the cutterhead from being positioned in the groove; the side where the limiting piece is located is provided with an inductor, and the inductor is used for detecting whether the cutterhead in the groove is in place.
In one embodiment of the present invention, the movement part includes a support member and a movement driving member, the execution part is disposed on the support member, and the movement driving member drives the execution part to move along three mutually perpendicular directions of the support member.
In one embodiment of the present invention, the support member includes a guide rail, a beam, and a column, and the movement driving member drives the actuator to move along a first direction of the guide rail, to move along a second direction of the beam, and to move along a third direction of the column, wherein the first direction, the second direction, and the third direction are perpendicular to each other.
In one embodiment of the invention, a lifting platform is arranged between the feed box and the motion chassis, an insertion port is arranged at the bottom of the feed box, and the self-moving tool changing device is used for replacing the feed box through the lifting platform and the insertion port.
According to a second aspect of the present invention, there is provided a self-moving tool changing device comprising: the motion chassis is provided with a first area, a second area and a third area which are adjacent in sequence; the two feed boxes are arranged in the first area in a back-to-back mode, and each feed box comprises a plurality of storage positions for storing cutterheads; the two carrying devices are respectively arranged in a second area and a third area on two sides of the first area, each carrying device corresponds to one feed box, each carrying device comprises a moving part and an executing part arranged on the moving part, the executing part drives a bearing cutter disc to rotate, and the moving part drives the executing part to move between the buffer storage device and the feed box.
According to a third aspect of the present invention, there is provided a self-moving tool changing device comprising: the motion chassis is provided with a feed box and a motion part, and the motion part is used for driving the feed box to move up and down; the feed box comprises a plurality of storage positions, and each storage position is used for storing a cutter head; each storage position is internally provided with an executing part, and the executing part is used for driving the cutterhead to linearly reciprocate in the storage position towards the direction of the buffer device so as to send the cutterhead into the storage position or send the cutterhead out of the storage position.
According to a fourth aspect of the present invention, there is provided a tool changing control method including the steps of:
s10, controlling the self-moving tool changing equipment to approach and align with the buffer device;
s20, controlling an executing part to load an old cutterhead on the caching device;
s30, controlling an executing part to bear the old cutterhead to move to a storage position of an alignment bin, and unloading the old cutterhead;
s40, controlling the executing part to move to another storage position aligned with the feed box, and loading a new cutter disc;
s50, controlling the executing part to bear the new cutterhead to move to the alignment caching device, and unloading the new cutterhead to the caching device.
In one embodiment of the present invention, the step S30 includes: and the control movement part drives the execution part and the cutterhead to move to a preset position, and controls the execution part to bear the old cutterhead to rotate towards the feed box, so that the old cutterhead is unloaded from the execution part to the storage position.
In one embodiment of the present invention, the step S50 includes: and the control movement part drives the execution part and the new cutterhead to move to a preset position, and controls the execution part to bear the old cutterhead to rotate towards the caching device, so that the new cutterhead is unloaded from the execution part to the caching device.
In one embodiment of the present invention, the self-moving tool changing device includes two sets of carrying devices and a magazine, each set of carrying devices corresponds to one set of the magazine and one of the buffer devices, and the two sets of carrying devices replace cutterheads with the two buffer devices at the same time.
According to a fifth aspect of the present invention, there is provided a tool changing control method applied to a circuit board processing apparatus, comprising the steps of:
s210, controlling a workbench bearing cutter disc to move towards a caching device;
s212, controlling a lifting assembly of the caching device to ascend until the cutterhead is lifted;
s214, controlling the workbench to move in a direction deviating from the buffer device;
and S216, controlling the lifting assembly to descend so as to enable the cutterhead to descend to a cache frame of the cache device.
In one embodiment of the present invention, the step S210 includes: and controlling the workbench to move until the cutterhead is positioned above the caching device.
In one embodiment of the present invention, the step S212 includes: and controlling the lifting assembly to penetrate through the buffer storage frame to ascend until the upper end part of the lifting assembly abuts against the bottom of the cutterhead, and controlling the lifting assembly to continuously ascend so as to lift the cutterhead.
In one embodiment of the present invention, the tool changing method further includes: after the cutterhead is transferred to a cache frame of the cache device from the self-moving tool changing device, controlling the lifting assembly to ascend; controlling the workbench to move towards the direction of the buffer device; and controlling the lifting assembly to descend until the cutterhead descends to the workbench.
According to a sixth aspect of the present invention, there is provided a circuit board processing apparatus comprising: the workbench is provided with a cutter head; the buffer memory device, set up in on the front bezel in the workstation outside, the buffer memory device includes: the device comprises a bottom frame, a lifting assembly and a buffer frame, wherein the bottom frame and the buffer frame are fixedly arranged on the front baffle; the lifting component extends from the underframe to the buffer frame and moves up and down through the buffer frame; when the lifting assembly ascends, the cutter head passes through the cache frame and is lifted above the cache frame; and when the lifting assembly descends, the cutterhead descends along with the lifting assembly until the caching frame lifts the cutterhead.
The self-moving tool changing device, the tool changing control method and the circuit board processing device have the beneficial effects that: (1) The full-automatic cutter head replacement is realized, the machine is not stopped, and the processing efficiency of the circuit board processing equipment is improved; (2) The cost is lower, the position and the angle of the cutter disc can be changed through the executing part and the moving part, and the cutter disc is replaced with the lowest cost by being matched with the buffer device; (3) The efficiency is improved, the cutterhead can be replaced at two sides, and the cutterhead of the circuit board processing equipment at two sides can be replaced in sequence without turning around the self-moving tool changing equipment for the workshop of the circuit board processing equipment which is arranged face to face.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic view of a portion of a self-moving tool changing device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a circuit board processing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of a portion of a self-moving tool changing device according to an embodiment of the present invention;
fig. 4A is a schematic view of a part of a circuit board processing apparatus according to an embodiment of the present invention;
fig. 4B is a schematic view of a part of a circuit board processing apparatus according to an embodiment of the present invention;
FIG. 4C is a schematic view of a circuit board processing device according to an embodiment of the present invention;
fig. 4D is a schematic view of a part of a circuit board processing apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic view of a portion of a self-moving tool changing apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a portion of a self-moving tool changing apparatus and a circuit board processing apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic view of a portion of a self-moving tool changing apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic view of a portion of a self-moving tool changing apparatus according to an embodiment of the present invention;
the one-to-one correspondence between the component names and the reference numerals in fig. 1 to 8 is as follows:
100. a self-moving tool changing device;
10. conveying device
11. Movement part
111. Support body
1110. Guide rail
1111. Cross beam
1112. Upright post
12. Execution part 121, groove
122. Actuator element
1221. Body
1222. Conveying member 123, opening
124. Guide 125, stopper 126, inductor 13, and bracket
20. Material box
21. Storage position 22, lifting platform 23, inserting opening 30, moving chassis 31, first region 32, second region 33, third region 40, manipulator 200, buffer 210, chassis
220. Lifting assembly 230, buffer frame 300, circuit board processing equipment 310, workbench 320 and cutterhead
330. Front baffle
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The following describes specific embodiments of the present invention with reference to the drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.
Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.
Herein, "equal," "same," "aligned," "simultaneous," "above," and the like are not strictly mathematical and/or geometric limitations, but also include deviations in the manufacturing or use that would be appreciated by one of ordinary skill in the art, and the like.
The invention relates to circuit board processing equipment which comprises a base, a cross beam, a main shaft assembly, a workbench and the like, wherein the workbench is arranged on the base, the cross beam is arranged above the workbench in an erected mode, and at least one main shaft assembly is connected to the cross beam in a sliding mode. The workbench moves on the base and along a second direction, the cross beam is erected above the workbench, and at least one main shaft component moves on the cross beam along the first direction; the bottom end of each spindle assembly clamps a cutter, and the cutter moves along a third direction to process a circuit board carried on a workbench; the first direction, the second direction and the third direction are mutually perpendicular. In the context of the present invention, the circuit board processing apparatus may be implemented as a drilling apparatus, a forming apparatus, a gong machine apparatus, a gong-drilling integrated apparatus, etc., without limitation. In the above and below embodiments of the present invention, the number of spindle assemblies of the circuit board processing apparatus may be one, three, six, ten, twelve, etc., without any limitation.
In the working process of the circuit board processing equipment, the main shaft component clamps the circuit board on the cutter processing workbench. The circuit boards have different types, and the material, the size, the thickness, the hardness and the like of the circuit boards are different, so that the physical characteristics of the circuit boards of different types are greatly different. However, these circuit boards are fixed on a workbench, and a spindle assembly moving at high speed clamps a cutter to process the circuit boards. There are various ways of fixing the circuit board on the table, including but not limited to: the fixing modes can realize that the circuit board is stably and reliably fixed on the workbench, so that the circuit board is not displaced when the cutter moving at high speed processes the circuit board. The cutter is a consumable, and when a relatively fixed circuit board is processed, the cutter is easy to wear and even break. Therefore, it is necessary to provide a device for detecting the tool and replacing the tool. The CBD and tool detection assembly is typically used to detect the tool. How does the tool change? Typically, a cutterhead is provided on a table, a spindle assembly holds the old tool relatively moved over the cutterhead, unloads the old tool into the cutterhead, and picks up and loads the new tool into the cutterhead. This completes the tool changing action.
On a workbench of the circuit board processing equipment, each processing station on the workbench corresponds to one main shaft assembly, each processing station bears one circuit board, and a control system controls each main shaft assembly to process the corresponding circuit board on the processing station. At least two parallel cutterheads are arranged on the periphery of a processing station on the workbench and close to one side of the safety door, the two cutterheads are used for alternately replacing the cutterheads, each cutterhead comprises four to six cutter boxes, and 50 cutters are stored in each cutter box. The cutterhead is used for replacing the cutter corresponding to the spindle assembly, after the cutter is replaced, the cutterhead needs to be replaced integrally, and how is the cutterhead replaced? This is a technical problem that needs to be solved urgently. Since the cutterhead is positioned on the workbench, when the cutterhead is replaced, the old cutterhead needs to be unloaded, and a new cutterhead needs to be loaded, and the action is usually completed through a mechanical arm or a buffer device. AGVs load manipulators or buffer devices to complete replacement of new and old cutterheads. In other embodiments, 300 cutters are provided in each cutter head, and the cutter heads are directly loaded with cutters, eliminating the need for a cutter box.
In order to improve the utilization rate of circuit board processing equipment, full-automatic circuit board processing equipment is developing to automation and intellectualization, and in order to further improve the processing efficiency of the equipment, automatic flow of cutterheads becomes necessary. The existing circuit board processing equipment adopts a mode of stopping the equipment and replacing the cutterhead, waits for technicians or cutter changing equipment to replace the cutterhead, wastes time and has lower equipment utilization rate. How to realize the replacement of the cutterhead without stopping, reduce the downtime and shorten the waiting time of the equipment for changing the cutter, which is a technical problem to be solved urgently. In addition, a tool changing method is urgently needed at the present stage to butt joint circuit board processing equipment and a buffer device, so that the cutter head can be replaced stably and reliably with high efficiency.
The invention provides a self-moving tool changing device, comprising: the motion chassis is provided with a first area and a second area which are adjacent to each other; the feed box is arranged in the first area and comprises a plurality of storage positions for storing cutterheads; the carrying device is arranged in the second area and comprises a moving part and an executing part, the executing part carries the cutterhead to rotate, and the moving part drives the executing part to move between the caching device and the storage position. The self-moving tool changing device has the following technical effects: (1) The full-automatic cutter head replacement is realized, the machine is not stopped, and the processing efficiency of the circuit board processing equipment is improved; (2) The cost is lower, the position and the angle of the cutter disc can be changed through the executing part and the moving part, and the cutter disc is replaced at the lowest cost; (3) The efficiency is improved, the cutterhead can be replaced at two sides, and the cutterhead for replacing the circuit board processing equipment at two sides can be realized without turning around the self-moving tool changing equipment for the workshop of the circuit board processing equipment which is arranged face to face.
The upper computer control system of the invention manages and controls the circuit board processing equipment, the self-moving tool changing equipment and the warehouse management system. The circuit board processing equipment clamps cutters in the cutter disc to process a circuit board, the cutters need to be replaced regularly, when no replaceable new cutters exist in the cutter disc, the cutter disc needs to be replaced integrally, the old cutter disc is unloaded to the buffer device, the self-moving cutter changing equipment picks up the old cutter disc from the buffer device to be transported to the feed box, the new cutter disc is picked up from the feed box to the buffer device, and the circuit board processing equipment loads the new cutter disc on the buffer device on the workbench, so that the process of automatically changing the cutter disc is completed. The upper computer control system is used as a central control system for controlling information interaction between the circuit board processing equipment and the self-moving tool changing equipment, the circuit board processing equipment sends a cutter disc replacement demand to the upper computer control system, the upper computer control system calls the self-moving tool changing equipment, a work bin with a built-in new cutter disc is loaded from a work station of the warehouse management system to the circuit board processing equipment and moves to the circuit board processing equipment automatically and approaches the work bin, and when the self-moving tool changing equipment is accurately positioned to a cache device of the circuit board processing equipment through an identification mark and/or a visual positioning system, a cutter disc replacement process is prepared and started. In the tool changing process, the upper computer control system receives and sends information and instructions of the circuit board processing equipment and the self-moving tool changing equipment, and controls the circuit board processing equipment and the self-moving tool changing equipment to execute work tasks of the tool changing disc. In the upper and lower embodiments of the present invention, the upper computer is a terminal control computer system of a circuit board processing workshop, a warehouse management system of a management workshop, a plurality of circuit board processing devices and a plurality of self-moving tool changing devices.
In the upper and lower embodiments of the invention, the workbench of the circuit board processing equipment comprises at least one processing station, at least two cutterheads are arranged outside each processing station, 200-300 cutters are arranged in the cutterheads, and the cutterheads are used for replacing cutters of spindle assemblies corresponding to the processing stations. At least two buffer devices are arranged on a front baffle plate on the outer side of the cutterhead, each buffer device corresponds to each cutterhead one by one, the positions of the buffer devices are aligned with the positions of the cutterheads on the workbench, and the buffer devices are used for buffering new and old cutters between circuit board processing equipment and self-moving cutter changing equipment, so that the temporary transfer function is realized. For the circuit board processing equipment, the cutter disc can be replaced without stopping, and for the self-moving cutter changing equipment, the cutter disc is exchanged with the buffer device, so that the working condition of the circuit board processing equipment is not influenced.
The circuit board processing equipment is provided with the buffer device, the buffer device is fixed on the outer side of the front baffle of the circuit board processing equipment, the buffer device comprises a bottom frame, a lifting assembly and a buffer frame, and the bottom frame and the buffer frame are fixed on the front baffle. The lifting assembly extends from the underframe to the cache frame, penetrates through the cache frame, and penetrates through the cache frame when lifted, and lifts the cutterhead above the cache frame; when the lifting component descends, the cutterhead descends along with the lifting component until the buffer storage frame lifts the cutterhead. The buffer frame is used for buffering new and old cutterheads, can buffer old cutterheads unloaded from the circuit board processing equipment, and can buffer new cutterheads picked up from the self-moving tool changing equipment. The cache rack comprises two parts: the cutter head picking device comprises a left bracket and a right bracket, wherein an opening is arranged between the left bracket and the right bracket so that an executing piece of the self-moving cutter changing device stretches into the opening to pick up the cutter head.
When the old cutterhead is unloaded, the workbench drives the cutterhead to move towards the direction of the caching device, and when the cutterhead moves to the upper part of the caching device, the lifting assembly penetrates through the caching frame to lift the cutterhead, and the lifting assembly lifts the cutterhead to enable the cutterhead to be separated from the workbench. The table moves away from the buffer. The lifting component descends, and the cutterhead descends along with the lifting component until the cutterhead descends to the cache frame. When the cutterhead is positioned on the cache frame, the transfer process of the cutterhead from the workbench to the cache device is completed. Moving the executive part of the self-moving tool changing device to the direction of the buffer device until the executive part approaches to and aligns with the buffer frame; the executing piece of the executing part stretches into the bottom of the cutter disc on the buffer frame, the cutter disc is lifted from the opening of the buffer frame, and the cutter disc is lifted by the executing piece to be separated from the buffer frame. And then the cutter head is transferred to the groove of the executing part through the transfer of the executing part, so that the cutter head is transferred to the executing part of the self-moving cutter changing device from the buffer device. The executing part moves towards the direction of the feed box, and the cutter disc is transferred into the feed box.
When loading a new cutterhead, the new cutterhead is picked up from the executing part of the mobile tool changing device and moves towards the caching device, and when the executing part is aligned to the caching frame of the caching device, the cutterhead is transferred to the caching frame from the groove through the executing part. The buffer storage frame lifts the new cutterhead. The lifting component is lifted to lift the new cutterhead to be separated from the buffer frame and lifted to be higher than the preset height of the workbench. The workbench moves towards the direction of the buffer device, when the workbench moves to the lower part of the cutterhead, the lifting component descends, the new cutterhead descends onto the workbench, and the new cutterhead on the buffer frame is transferred to the workbench. The transfer of the new cutterhead from the caching device to the workbench is completed. The circuit board processing equipment comprises a plurality of processing stations, each processing station corresponds to the cutter discs and buffer devices in the same number, the self-moving tool changing equipment is sequentially aligned to each buffer device, and new and old cutter discs are exchanged with the circuit board processing equipment through the buffer devices.
The self-moving tool changing device of the present invention includes: the motion chassis is provided with a first area and a second area which are adjacent to each other; the feed box is arranged in the first area and comprises a plurality of storage positions for storing cutterheads; the carrying device is arranged in the second area and comprises a moving part and an executing part arranged on the moving part, the executing part and the cutterhead carried by the executing part rotate, and the moving part drives the executing part to move between the buffer storage device and the storage position. The self-moving tool changing device sequentially exchanges cutterhead with each buffer device of the circuit board processing device, thereby realizing the purpose of fully automatically changing the cutterhead of the circuit board processing device.
In some embodiments of the present invention, the executing portion is disposed on the moving portion, and the executing portion is disposed on the moving portion through a rotation shaft, a bracket, or the like. The executing part is used for carrying the cutterhead between the buffer device and the feed box, and when feeding, the executing part rotates from the feed box direction to the buffer device direction after picking up the cutterhead; during blanking, the executing part bears the cutterhead and rotates from the direction of the buffer device to the direction of the feed box. Because the included angle between the direction of the buffer device and the direction of the feed box is 90 degrees, the executing part bears the rotary motion of the cutter disc between the direction of the buffer device and the direction of the feed box, the rotary motion is mainly reversing, the direction and the angle of the cutter disc are changed, the executing part is switched between the direction of the buffer device and the direction of the feed box, and the rotating switching is only needed for 90 degrees each time. The executing part bears the rotary motion of the cutter head, so that the space of the self-moving cutter changing device can be saved, the change of the cutter head direction can be realized in a limited space range, and the work of automatically changing the cutter head is completed. In the embodiments of the present invention, the direction of the bin is parallel to the first direction, the direction of the buffer is parallel to the second direction, and the first direction is perpendicular to the second direction.
In some embodiments of the present invention, the executing portion of the handling device includes a groove and an executing member disposed in the groove, the groove is circumferentially defined by three sidewalls, wherein another direction is open to form an opening of the groove. The executing piece extends outwards from the groove along the opening direction of the groove, and in the groove, the cutter disc is borne on the executing piece, and the conveying driving piece drives the executing piece to reciprocate in the groove, so that the cutter disc is driven to enter and exit the groove from the opening of the groove. And during discharging, the conveying driving part drives the executing part to move into the groove, the cutter disc is fed into the groove, and during charging, the conveying driving part drives the executing part to move out of the groove, and the cutter disc is fed out of the groove. In the upper embodiment and the lower embodiment of the invention, the executing part drives the cutterhead to enter and exit the groove, so that the technical effects that the executing part bears the cutterhead and drives the cutterhead to safely and stably rotate are realized; the cutter disc is arranged in the groove, the executing part bears the rotation of the cutter disc, and the cutter disc is stably and reliably transported between the feed box and the buffer device.
In some embodiments of the present invention, the executing member includes at least two parallel bodies and a conveying member disposed on each body, and the executing member drives the cutterhead to enter and exit the groove through the conveying member. The conveying driving part drives the conveying part to drive the cutterhead to reciprocate along the opening direction of the groove. The conveying driving piece is arranged at the bottom of the outer side of the groove. In the above and below embodiments of the present invention, the transfer member may be a belt and the transfer driving member may be a motor. The two conveying parts synchronously drive the cutterhead to reciprocate, so that the reciprocating type cutter is more stable and reliable. In the upper and lower embodiments of the present invention, the opening direction of the groove is parallel to the second direction.
In some embodiments of the present invention, two opposite sidewalls of the groove of the actuator are provided with guide members, which are parallel to the actuator and extend in a direction of entering and exiting the groove. The guide member guides the cutterhead into and out of the groove from the opening of the groove. The guide piece enables the cutter disc to enter the groove more smoothly, and efficiency of transferring the cutter disc and stability of equipment are improved. The recess is enclosed by three lateral walls of circumference and is established the formation, and recess open-ended opposite side is provided with the locating part, and the locating part stops the motion of blade disc in the recess, prevents the blade disc is in the recess. The side wall where the limiting piece is located is provided with a limiting sensor, and the limiting sensor is used for detecting whether a cutter disc in the groove is in place or not. The guide piece, the limiting piece and the inductor are arranged on the three side walls of the groove, guide, prevent and induce the movement of the cutter disc in the groove, and improve the efficiency of transferring the cutter disc.
In some embodiments of the present invention, the handling device includes a moving portion and an executing portion, where the moving portion includes a supporting member and a moving driving member, the executing portion is disposed on the supporting member through a bracket and a rotating shaft, the executing portion is connected to the bracket through the rotating shaft, and the executing portion rotates relative to the bracket, so that the executing portion carries the cutterhead to rotate. The support is fixedly arranged on the support piece, and the movable driving piece drives the support, the rotating shaft and the executing part to integrally and synchronously move. Specifically, the motion part drives the execution part to move between the buffer device and the storage position so as to realize the transfer and transportation of the cutterhead between the feed box and the buffer device. In the upper and lower embodiments of the present invention, the support member is a three-dimensional lifting platform, and the movement driving member drives the actuating portion to move along three mutually perpendicular directions of the support member. The support piece comprises a guide rail, a cross beam and an upright post, the moving driving piece drives the executing part to move along a first direction of the guide rail, move along a second direction of the cross beam and move along a third direction of the upright post, and the first direction, the second direction and the third direction are mutually perpendicular. The three-dimensional movement of the supporting piece can realize the accurate positioning of the position of the executing piece bearing cutter disc, and the reliability and stability of the device are improved.
In some embodiments of the invention, a lifting platform is provided between the bin and the bottom chassis in the first region, the lifting platform being operable to drive the bin in lifting movement relative to the chassis. The bottom of the feed box is provided with at least one insertion opening, and the insertion opening can be used for the mechanical arm to insert and lift the feed box. The self-moving tool changing equipment is used for replacing the material box through the lifting platform and the inserting opening, when the material box is unloaded, the lifting platform is lifted, the material box is lifted to a first height, the manipulator is inserted into the inserting opening at the bottom of the material box, the manipulator is lifted, the lifting material box is lifted to a second height, and the manipulator continuously moves towards other directions, so that the material box is unloaded. When the material box is loaded, the manipulator lifts the material box to move above the first area of the self-moving tool changing device, and descends from the second height to the first height, so that the material box is loaded by the self-moving tool changing device. In an embodiment of the invention, the second height is greater than the first height.
Another embodiment of the present invention provides a self-moving tool changing apparatus comprising: comprising the following steps: the motion chassis is provided with a first area, a second area and a third area which are adjacent in sequence; the two feed boxes are arranged in the first area in a back-to-back mode, and each feed box comprises a plurality of storage positions for storing cutterheads; the two carrying devices are respectively arranged in a second area and a third area on two sides of the first area, each carrying device corresponds to one feed box, each carrying device comprises a moving part and an executing part arranged on the moving part, the executing part drives a bearing cutter disc to rotate, and the moving part drives the executing part to move between the buffer storage device and the feed box.
Another embodiment of the present invention provides a self-moving tool changing apparatus comprising: the motion chassis is provided with a feed box and a motion part, and the motion part is used for driving the feed box to move up and down; the feed box comprises a plurality of storage positions, and each storage position is used for storing a cutter head; each storage position is internally provided with an executing part, and the executing part is used for driving the cutterhead to linearly reciprocate in the storage position towards the direction of the buffer device so as to send the cutterhead into the storage position or send the cutterhead out of the storage position.
Another embodiment of the present invention provides a circuit board processing apparatus including: the workbench is provided with a cutter head; the buffer memory device, set up in on the front bezel in the workstation outside, the buffer memory device includes: the device comprises a bottom frame, a lifting assembly and a buffer frame, wherein the bottom frame and the buffer frame are fixedly arranged on the front baffle; the lifting component extends from the underframe to the buffer frame and moves up and down through the buffer frame; when the lifting assembly ascends, the cutter head passes through the cache frame and is lifted above the cache frame; and when the lifting assembly descends, the cutterhead descends along with the lifting assembly until the caching frame lifts the cutterhead.
In the upper embodiment and the lower embodiment of the invention, the moving chassis is a self-moving guide car or an AGV trolley, the moving chassis carries the feed box to do mechanical movement, and the feed box of the cutterhead is transferred between a workstation of a warehouse management system and circuit board processing equipment, so that the cutterhead is replaced fully automatically.
Example 1
In this embodiment, a two-axis circuit board processing apparatus is taken as an example, and the structures of the self-moving tool changing apparatus and the circuit board processing apparatus and the process of changing the cutterhead from the self-moving tool changing apparatus are described in detail.
As shown in fig. 1 to 3, the self-moving tool changing apparatus 100 in the present embodiment includes: a movement chassis 30, wherein a first area 31 and a second area 32 are adjacent to each other on the movement chassis 30; a bin 20, disposed in the first area 31, where the bin 20 includes a plurality of storage locations 21 for storing cutterheads 320; the carrying device 10 is disposed in the second area 32, the carrying device 10 includes a moving portion 11 and an executing portion 12, the executing portion 12 carries the cutterhead 320 to rotate, and the moving portion 11 drives the executing portion 12 to move between the buffer device 200 and the warehouse 21.
In the present embodiment, the actuator 12 is disposed on the moving part 11, the actuator 12 is connected to the moving part 11 through a bracket 13 and a rotating shaft (not shown), one end of the bracket 112 is fixed to the column 1112, the other end is provided with the rotating shaft, and the actuator 12 is connected to the bracket 13 through the rotating shaft. The driving part drives the bracket 13 to drive the executing part 12 to move along the third direction of the upright 1112 so as to change the positions of the executing part 12 and the cutterhead 320 carried by the executing part 12 in the third direction; the driving part drives the rotating shaft 113 to drive the executing part 12 and the cutter disc 320 carried by the executing part to rotate between the direction of the buffer device and the direction of the feed box so as to change the position and the angle of the cutter disc 320.
The moving part 11 includes a support 111 and a moving driving part, the executing part 12 is disposed on the support 111 through a bracket 13 and a rotating shaft, and the moving driving part drives the executing part 12 to move along three mutually perpendicular directions of the support 111. In this embodiment, the moving part 11 is a three-dimensional moving platform, the supporting member 111 includes a guide rail 1110, a beam 1111, and a column 1112, the moving driving member drives the executing part 12 to move along a first direction of the guide rail 1110, move along a second direction of the beam 1111, and move along a third direction of the column 1112, and the first direction, the second direction, and the third direction are perpendicular to each other. The actuator 12 moves along three dimensions, so that the cutter 320 carried by the actuator can move along three dimensions to change the position of the cutter 320 in three dimensions, thereby realizing that the actuator 12 is aligned with the buffer device 200 and the bin 20 respectively to transfer and carry the cutter 320.
In fig. 1, the executing portion 12 includes a groove 121 and an executing member 122 disposed in the groove, the groove 121 is formed by surrounding three circumferential side walls, the other side wall is open to form an opening 123 of the groove, the executing member 122 is disposed at the bottom of the groove 121 and extends outwards along the direction of the opening 123 of the groove, and the transmitting driving member drives the executing member 122 to send the cutterhead 320 into the groove 121 or send the cutterhead 320 out of the groove 121. In this embodiment, the groove 121 serves to temporarily buffer the cutterhead 320, and stably and reliably convey the cutterhead 320. The actuator 122 drives the cutterhead 320 into the groove 121 or drives the cutterhead 320 out of the groove 121.
As shown in fig. 1 and 5, to achieve stable handling of the cutterhead 320 by the actuator 122, the actuator 122 includes at least two parallel bodies 1221 and a conveyor 1222 disposed on each body 1221. In the groove 121, the cutterhead 320 is disposed on two bodies 1221, and a conveying member 1222 is disposed between the cutterhead 320 and the bodies 1221, and the conveying member 1222 extends along the direction of the bodies 1221. The actuator 122 drives the cutterhead 320 into and out of the groove 121 via the conveyor 1222 to effect the transfer of the cutterhead 320. The conveying driving member 1222 drives the cutter 320 to reciprocate along the opening direction of the groove. In this embodiment, the transfer member 1222 is a belt and the transfer drive member is a motor.
As shown in fig. 3, two opposite side walls of the groove 121 are provided with guide members 124, and the guide members 124 guide the cutterhead 320 into and out of the groove 121; in the embodiment of the present invention, the guide member has a horn structure, and the guide member 124 is tapered from outside to inside in the opening direction of the groove, so as to guide the cutterhead 320 into the groove 121 smoothly, and even if the cutterhead 320 is slightly shifted, an abnormal condition that the cutterhead 320 cannot enter and exit the groove 121 does not occur.
In the circumferential direction of the groove 121, two opposite side walls are provided with guide members 124, one circumferential side wall is provided with an opening 123 of the groove, and the other circumferential side wall, namely, opposite sides of the opening 123 of the groove are provided with limiting members 125, wherein the limiting members 125 prevent the cutter disc 320 from being arranged in the groove 121; during the process of the cutter 320 entering and exiting the groove 121, the limiting member 125 blocks and stops the movement of the cutter 320 within the groove 121, so that the cutter 320 is buffered within the groove 121. The same side wall as the limiting member 125 is provided with an inductor 126, and the inductor 126 is used for detecting whether the cutterhead in the groove is in place. The sensor 126 cooperates with the conveyor drive to control the reciprocation of the cutterhead 320 within the recess 121.
In the embodiment of the present invention, as shown in fig. 1, 5 and 7, the magazine 20 is disposed in the first region 31 of the self-moving tool changing device 100, and the magazine 20 is provided with a plurality of storage locations 21, each of which stores one cutterhead 320. A lifting platform 22 is arranged between the bin 20 and the moving chassis 30, and the lifting platform 22 is used for changing the height of the bin 20 so as to integrally replace the bin 20. At least one insertion opening 23 is provided at the bottom of the bin 20, and a robot 40 is inserted into the insertion opening 23 to integrally unload or load the bin 20 to replace the bin 20. The insertion opening 23 and the lifting platform 22 are used as a structure of the exchange bin 20 for exchanging the bin 20 with a warehouse management system or a manipulator. The self-moving tool changing device changes the feed box 20 through the lifting platform 22 and the insertion opening 23, thereby achieving the purpose of fully automatically changing the cutter head.
In this embodiment, the tool changing control method of the self-moving tool changing device specifically includes the following steps:
s10, controlling the self-moving tool changing equipment to approach and align with the buffer device;
in the workshop of the circuit board processing equipment 300, an upper computer management system is arranged, and is used for managing and controlling the circuit board processing equipment, the self-moving tool changing equipment and the warehouse management system, receiving the tool changing requirement task information of the circuit board processing equipment in real time, sending out an adaptive control instruction, calling a cutter head material box of the warehouse management system, controlling the self-moving tool changing equipment to carry the cutter head material box, and approaching the circuit board processing equipment.
It should be noted that, each cutter head of the circuit board processing device has a corresponding management module, and each cutter in the cutter head has a corresponding service life, where the service life includes: the cutter processing time reaches the preset upper limit of the processing time, or the cutter processing times reaches the preset upper limit of the processing times, or the cutter is broken, or the cutter is failed. When the cutter reaches the service life, the control system of the circuit board processing equipment controls and starts the step of replacing the cutter, and the method specifically comprises the following steps of: and controlling the spindle assembly to unload the old cutter into the cutter head, picking up the new cutter, and continuing the processing task after finishing tool setting and tool testing. However, the number of tools in each cutter head is limited, and in most cases, 200-300 tools are loaded in one cutter head, and when the tools are completely replaced, the cutter head needs to be replaced as a whole. The corresponding management module of the cutterhead controls the replacement of the cutterhead, when all the cutters in the cutterhead are completely replaced, the cutterhead is required to be replaced integrally, the old cutterhead is unloaded, and a new cutterhead is loaded to a workbench of the circuit board processing equipment so as to be needed by processing of a main shaft component of the circuit board processing equipment.
When the management module of the cutterhead triggers a control command for changing the cutterhead, the control information of the cutterhead is sent to the upper computer management system by the circuit board processing equipment, when the upper computer management system receives a certain cutterhead of a certain processing station of the circuit board processing equipment, the new cutterhead is matched, the new cutterhead information is queried in real time, the new cutterhead demand information is sent to the warehouse management system, the warehouse management system queries a stock cutterhead material box according to the new cutterhead demand information, and the queried and matched new cutterhead material box is sent to a work station of the warehouse management system. Then, the upper computer management system inquires and invokes the self-moving tool changing equipment, and sends the work task information for conveying the new cutterhead feed box to the self-moving tool changing equipment. After receiving the work task information of changing the new cutter head feed box, a certain self-moving cutter changing device controls the self-moving cutter changing device to move to a corresponding work station of the warehouse management system and loads the new cutter head feed box, so that the loading of the new cutter head feed box is completed. After the self-moving tool changing device bears the new cutter head feed box, the upper computer control system controls the self-moving tool changing device to move towards the target circuit board processing device.
It should be noted that the bin on the self-moving tool changing device may be replaced integrally at the workstation end of the warehouse management system, and the replacing method includes, but is not limited to, mechanical arm, roller conveying, belt conveying, etc. If the feed box is loaded on the self-moving tool changing equipment for receiving the work task information, the new and old feed boxes are replaced at the work station end; if no feed box exists on the self-moving tool changing device for receiving the work task of changing the cutterhead, the loading of the feed box of the new cutterhead is only needed to be completed at the workstation end.
In this embodiment, the upper computer control system controls the self-moving tool changing device to move to the target circuit board processing device until the self-moving tool changing device approaches to a certain processing station of the target circuit board processing device, and a buffer device is correspondingly arranged on the outer side of a front baffle of the processing station. Under the control instruction of the upper computer control system, the self-moving tool changing device self-moves to approach and align the buffer storage device so as to prepare to change the cutterhead at a preset position point. The installation position of the circuit board processing equipment is fixed, the position of a work station of the warehouse management system is also fixed, the self-moving tool changing equipment moves from the position of the docking work station to the position of the docking buffer device, two preset positions are determined in the equipment debugging stage, the optimal position points obtained by multiple tests are recorded in the upper computer control system or the self-moving tool changing equipment, and the upper computer control system controls the self-moving tool changing equipment to bear a new cutter head box, automatically move from one preset position to the other preset position and align with the buffer device of the circuit board processing equipment.
The self-moving tool changing device 100 includes a moving part 11 and an executing part 12, and the self-moving tool changing device aligns with a buffer device, specifically, the executing part 12 aligns with a buffer frame 230 of the buffer device, so as to ensure that the old cutterhead of the buffer frame 230 can flow into a groove 121 of the executing part 12.
S20, controlling the execution part to align and load the old cutterhead on the caching device.
After the self-moving tool changing device 100 moves to the alignment buffer device 200, the self-moving tool changing device 100 and the circuit board processing device 300 wirelessly communicate, send confirmation information, and after the self-moving tool changing device 100 confirms that the self-moving tool changing device and the circuit board processing device are in place and receives the in-place information, the circuit board processing device 300 prepares to unload the old cutterhead, and the specific unloading process of the old cutterhead is as follows:
optionally, the control spindle assembly unloads the old tool. Before changing a cutterhead, it is necessary to confirm the replacement of all old cutters within the cutterhead. However, the spindle assembly may also hold the old tool, and therefore, the circuit board processing apparatus must first confirm and control the spindle assembly to unload the old tool, and after the old tool on the spindle assembly is unloaded into the cutterhead, start the task of changing the cutterhead.
S210, as shown in fig. 4A, the control table 310 carries the cutterhead to move toward the buffer device. During the process of changing the cutterhead, the circuit board processing apparatus 300 controls the workbench 310 to bear the movement of the old cutterhead towards the direction of the caching device until the cutterhead 320 moves above the caching device 200.
As shown in fig. 4B, the lifting assembly 220 of the buffer device 200 is controlled to lift the cutterhead.
As shown in fig. 2, the caching apparatus 200 includes: the chassis 210, the lifting assembly 220 and the buffer frame 230, the chassis 210 and the buffer frame 230 are fixedly arranged on the front baffle 330; the lifting assembly 220 extends from the bottom frame 210 to the buffer frame 230 and performs a lifting motion through the buffer frame 230; when the lifting assembly 220 is lifted, the cutter head 320 is lifted above the buffer frame 230 by passing through the buffer frame 230; when the lifting assembly 220 lifts the cutterhead 320, the cutterhead 320 follows to descend until the cache frame 230 lifts the cutterhead 320.
The buffer device 200 is disposed on a front baffle 330 of a circuit board processing device, and comprises a base 210, a lifting assembly 220 and a buffer frame 230, the buffer device 200 is fixedly disposed on the front baffle 330 through the base 210, the lifting assembly 220 penetrates through the buffer frame 230 to ascend or descend, and the buffer frame 230 is used for buffering cutterheads transmitted from the workbench 310 or the executing part 12. In the process of unloading the old cutterhead, the lifting assembly 220 ascends through the buffer frame 230 until the upper end part of the lifting assembly 220 abuts against the bottom of the old cutterhead 320, the lifting assembly 220 continues to ascend to lift the old cutterhead 320, and the old cutterhead 320 is lifted by the lifting assembly 220 to be separated from the table surface of the workbench 310, so that the workbench 310 unloads the old cutterhead 320, and the old cutterhead 320 is transferred from the workbench 310 to the lifting assembly 220 of the buffer device.
S214, as shown in FIG. 4C, the control workbench moves in a direction away from the buffer device. When the old cutterhead 320 is lifted by the lifting assembly 220 and separated from the work 310, the control workbench 310 moves in a direction away from the buffer device and resets to the lower part of the spindle assembly. At this time, the old cutterhead 320 is located at the lifting assembly 220, and the circuit board processing apparatus unloads the old cutterhead 320 to the caching device 200, thereby completing the process of unloading the old cutterhead.
S216, as shown in FIG. 4D, the lifting assembly 220 is controlled to descend so that the cutterhead falls onto the cache frame 230. The cutter head 320 descends along with the lifting assembly 220, the cutter head 320 is blocked by the buffer frame 230 during the descending process of the lifting assembly 220, the lifting assembly 220 continues to descend, and the cutter head 320 is transferred from the lifting assembly 220 to the buffer frame 230. Both the buffer frame 230 and the chassis 210 are fixedly arranged on the front baffle, and the buffer frame 230 can maintain the consistency of the positions of the cutterhead 320. The cutterhead 320 is stored on the buffer rack 230 and waits for being picked up by the self-moving tool changing device at a fixed position, so that the positioning precision requirement of the executing part 12 is reduced, and the cutterhead can be more stably and reliably picked up by the executing part 12.
The self-moving tool changing device comprises a moving part 11 and an executing part 12, and after the executing part 12 is aligned with the buffer frame 230 of the buffer device 200, the transfer of the cutterhead from the buffer device to the self-moving tool changing device can be completed. The control executing unit 12 aligns and loads the old cutterhead on the caching device 200, and specifically includes:
S22: the recess 121 of the control performing part 12 is aligned with the cache shelf of the cache device 200. The self-moving tool changing device comprises a moving part 11 and an executing part 12, wherein the moving part 12 controls the executing part 12 to move in three directions, so that accurate alignment of the executing part 12 is realized. Specifically, the executing portion 12 includes a groove 121 and an executing member 122, and the moving portion 11 drives the groove 121 and the executing member 122 to move to a predetermined position ready to receive the cutterhead on the cache frame 230 of the cache device.
And S24, controlling the actuator 122 to be inserted into the bottom of the cutterhead on the cache frame 230 and lifting the cutterhead so as to enable the cutterhead to be separated from the cache frame 230. When the groove 121 is aligned with the buffer frame, the moving part 11 controls the executing part 12 to move towards the buffer frame, the executing part 122 is inserted into the bottom of the cutter disc on the buffer frame 230, the moving part 11 controls the executing part 12 to lift the cutter disc 230 to a preset height wholly, at this time, the cutter disc 320 is separated from the buffer frame 230, and the cutter disc 320 is transferred from the buffer frame 230 to the executing part 122 of the executing part 12.
S26: the control conveyor 1222 drives the cutterhead into the recess 121. After the cutterhead 320 is lifted by the actuator 122, the conveyor drive drives the conveyor 1222 into the recess 121 to move the cutterhead 320 from the opening 123 of the recess into the recess 121. In this embodiment, the conveyor 1222 is a belt and the conveyor drive is a motor that controls the movement of the belt, which translates the cutterhead 320 into the recess 121 via the guide 124 and the stop 125. Until the sensor 126 senses that the cutterhead 320 is positioned within the recess 121.
S30, controlling the executing part to bear the old cutterhead to move to an aligned storage position, and unloading the old cutterhead;
in the self-moving tool changing device, the moving part 11 drives the executing part 12 to move from the direction of the buffer device to the direction of the feed box so as to finish the transfer of the cutterhead. Specifically, when the recess 121 of the actuator 12 has an old cutterhead, the moving part 11 drives the actuator 12 and the cutterhead 320 carried by the actuator to move integrally from a position aligned with the buffer device 200 to a position close to the bin 20. To transfer cutterhead 320 into a bin. This movement of the moving part 11 is achieved in particular by a three-dimensional movement of the support 111, the support 1110 being shared by the rails, the cross beam 1111 and the uprights 1112 to achieve displacement in three directions.
The movement part 11 drives the execution part 12 to move from the direction of the buffer device to the direction approaching the bin, and also comprises the rotation movement of the execution part 12 and a cutter disc carried by the execution part. The rotation motion specifically includes that the opening direction of the groove 121 of the executing portion 12 faces the buffer device 200, and then the opening direction of the groove 121 faces the feed box 20, specifically, the executing portion 12 and the cutterhead carried by the executing portion rotate from the second direction to the first direction, and the first direction is perpendicular to the second direction. In the rotating process, the executing part 12 and the cutterhead 320 carried by the executing part rotate by 90 degrees integrally, and the steering of the cutterhead 320 is realized in a limited space.
After the actuator 12 and its carried cutterhead are rotated to align with the magazine 20, the actuator 12 is moved up and down in a predetermined sequence to align with a level of empty storage locations, and the cutterhead 320 in the recess 121 is transferred to the storage location 21 of the magazine 20 by the actuator 122. Specifically, the old cutterhead in the recess 121 is transferred to a certain layer of storage locations 21 of the magazine 20 by the reciprocating movement of the conveyor. The transfer of the cutterhead from the mobile tool changing apparatus 100 to the magazine 20 is achieved.
S40, controlling the executing part to move to align with another storage position, and loading a new cutterhead;
after unloading the old cutterhead from the mobile tool changer 100, a new cutterhead needs to be loaded into the circuit board processing device 300. The new cutterhead is carried to the table 310 of the circuit board processing equipment by the execution unit 12 and the buffer unit 200 in the reverse direction of the process of unloading the old cutterhead. The method specifically comprises the following steps:
s42, the movement part 11 controls the executing part 12 to move up and down so as to align the storage position 21 of the new cutterhead. The magazine 20 has a plurality of storage locations 21, including storage locations aligned in the second direction and storage locations stacked in the third direction, each storage location 21 storing one cutterhead 320, but having at least one empty storage location for replacement of old cutterheads. When the executing part 12 stores the old cutterhead in the empty storage position, the moving part 11 continues to drive the executing part 12 to move up and down so as to align with a storage position for storing the new cutterhead and prepare for loading the new cutterhead.
S44, the executing piece 122 is controlled to extend into the storage position 21, the moving part 11 drives the executing part 12 to wholly lift, and the executing piece 122 lifts the new cutterhead. In this process, after the execution part 12 is aligned with a certain layer of storage position 21, the movement part 11 drives the execution part 12 to move towards the direction close to the storage position, and the execution part 122 of the execution part 12 stretches into the storage position 21, and at this time, the execution part 122 is located at the bottom of a new cutterhead of a certain layer.
And S46, the movement part 11 continues to control the lifting movement of the execution part 12, the execution part 122 is lifted up, and the new cutterhead is lifted from the bottom, so that the new cutterhead is separated from the support of the storage position. This operation completes the transfer of the new cutterhead from the stocker to the execution unit 12. The control conveying member 1222 moves into the groove 121, and the actuator 122 drives the new cutterhead 320 carried by the actuator to move into the groove 121. The executing section 12 performs the task of loading and picking up a new cutterhead.
S48, controlling the executing part 12 and the cutter head carried by the executing part to rotate from the direction of the feed box to the direction of the buffer device, namely from the first direction to the second direction, wherein the second direction is perpendicular to the first direction. Specifically, the opening direction of the groove 121 of the actuator 12 is toward the bin 20, and then the opening direction of the groove 121 is toward the buffer device 200. In the rotating process, the executing part 12 and the cutterhead 320 carried by the executing part rotate by 90 degrees integrally, and the steering of the cutterhead 320 is realized in a limited space.
After the executing part 12 carries the new cutterhead to finish turning, the moving part 11 drives the executing part 12 and the cutterhead 320 carried by the executing part to move towards the caching device together so as to prepare for transferring the cutterhead to the caching device. In this process, the moving part 11 performs a precise movement of the position by the support 111. Specifically, the support includes rails 1111, beams 1112, and columns 1113 through which movement in the first, second, and third directions is achieved, respectively, to precisely reach and align the buffer device 200. Wherein the first direction, the second direction and the third direction are perpendicular to each other.
S50, controlling the executing part to bear the new cutterhead to move to the alignment buffer device, and unloading the new cutterhead.
The control movement part 11 drives the executing part 12 and the new cutterhead 320 to move to a preset position, and after the executing part 12 is controlled to bear the old cutterhead 320 to rotate towards the caching device 200, the new cutterhead is unloaded from the executing part 12 to the caching device 200. The executing part 12 carries the new cutterhead to align with the buffer device 200, unloads the new cutterhead onto the buffer device, and completes the transfer of the new cutterhead from the mobile tool changing device to the buffer device. The specific process comprises the following steps:
the moving part 11 drives the executing part 12 to ascend so that the position of the new cutterhead is higher than the height of the cache rack of the cache device. Inside the actuator 12, the actuator 122 drives the new cutterhead to move outwards from the recess 121, so that the new cutterhead is lifted on the actuator 122. The moving unit 11 continues to drive the actuator 12 to move in the direction of the buffer 200 so that the new cutterhead reaches above the buffer frame 230 of the buffer. The driving part 11 drives the executing part 12 and the new cutterhead 320 carried by the executing part to move downwards until the new cutterhead 320 is lifted by the buffer frame 230 right below the new cutterhead. After that, the actuator 12 moves backward after continuing to descend, and moves in a direction away from the buffer device 200. The new cutterhead is lifted on the cache frame 230 as shown in fig. 4D. And the transfer of the new cutterhead from the self-moving tool changing device to the caching device is completed.
After the cutterhead 320 is transferred to the buffer frame 230 of the buffer device 200, the lifting assembly 220 of the buffer device 200 is controlled to ascend, the bottom of the new cutterhead 320 is abutted through the buffer frame 230, the lifting assembly is continuously lifted by the upper end of the lifting assembly 220, and the new cutterhead 320 is separated from the buffer frame 230. As shown in fig. 4C.
The control system of the circuit board processing apparatus controls the table to move toward the direction 310 of the buffer device 200 until the cutterhead 320 on the lifting assembly 220 is positioned above the table 310. The lifting assembly 220 of the control buffer device is lowered, and the new cutterhead 320 is lowered until the new cutterhead 320 is lowered onto the table 310, as shown in fig. 4B. The table 310 carries the new cutterhead 320 for reset and movement away from the caching device, as shown in fig. 4A, completing the transfer of cutterheads from the caching device 200 to the table 310. Therefore, the automatic cutter head replacement is realized through the buffer device in the self-moving cutter changing setting.
The self-moving tool changing device of the embodiment has the following technical effects: (1) The full-automatic cutter head replacement is realized, the machine is not stopped, and the processing efficiency of the circuit board processing equipment is improved; (2) The cost is lower, the position and the angle of the cutter disc can be changed through the executing part and the moving part, and the cutter disc is replaced at the lowest cost; (3) The efficiency is improved, the cutterhead can be replaced at two sides, and the cutterhead for replacing the circuit board processing equipment at two sides can be realized without turning around the self-moving tool changing equipment for the workshop of the circuit board processing equipment which is arranged face to face.
Example two
In this embodiment, a two-axis circuit board processing apparatus is taken as an example, and the structure of the self-moving tool changing apparatus and the process of changing the cutterhead from the self-moving tool changing apparatus are described in detail.
The structure of the self-moving tool changing device in this embodiment is slightly different from that in the first embodiment, and the circuit board processing device and the buffer device thereof are the same as those in the first embodiment, and the upper computer control system and the warehouse management system are the same as those in the first embodiment.
The construction of the self-moving tool changing apparatus of this embodiment differs somewhat from the implementation in that only two symmetrical and identical handling devices 10 and bins 20 are provided on one motion chassis 30. The first embodiment is that the carrier device 10 sequentially exchanges cutterheads with each buffer device 200 of the circuit board processing apparatus, and the second embodiment is that two carrier devices 10 exchange cutterheads with two buffer devices 200 of the circuit board processing apparatus at the same time.
As shown in fig. 5, the self-moving tool changing apparatus includes: a moving chassis 30, wherein adjacent first, second and third regions 31, 32, 33 are sequentially arranged on the moving chassis 30; the two bins 20 are arranged opposite to the first area 31, and each bin 31 comprises a plurality of storage positions 21 for storing cutterheads; the two carrying devices 10 are respectively arranged in a second area 32 and a third area 33 at two sides of the first area 31, each carrying device 10 corresponds to one material box 20, each carrying device 10 comprises a moving part 11 and an executing part 12 arranged on the moving part, the executing part 11 drives a carried cutterhead 320 to rotate, and the moving part 11 drives the executing part 12 to move between the buffer device 200 and the material box 20.
In a second embodiment of the present invention, as shown in fig. 6, the self-moving tool changing apparatus is provided with two sets of carrying devices 10 and a magazine 20, and two actuators 12 can simultaneously change cutterheads of adjacent spindle assemblies on the circuit board processing apparatus. For the two-axis circuit board processing equipment, two spindle assemblies are configured, each spindle assembly corresponds to one processing station, each processing station is provided with two cutterheads, and each cutterhead is configured with a corresponding buffer device. The self-moving tool changing device is provided with two carrying devices 10, each carrying device 10 is used for replacing a cutter disc of one spindle assembly independently, specifically, the executing part 12 of one carrying device 10 is used for replacing a cutter disc corresponding to one buffer device, the executing part 12 of the other carrying device 10 is used for simultaneously replacing a cutter disc corresponding to the other buffer device, and the other buffer devices are distributed to belong to different spindle assemblies, for example, the self-moving tool changing device is used for simultaneously replacing cutter discs of 1 # buffer device and 3 # buffer device and then simultaneously replacing cutter discs of 2 # buffer device and 4 # buffer device, the first spindle assembly is used for corresponding to 1 # buffer device and 2 # buffer device, and the adjacent second spindle assembly is used for corresponding to 3 # buffer device and 4 # buffer device. The structure and the method for simultaneously replacing the two cutterheads improve the efficiency of automatic cutterhead replacement.
The detailed structure of the self-moving tool changing apparatus of this embodiment is the same as that of the embodiment, the control method of the first embodiment is used for the tool changing control method, and fine differences are adjusted as appropriate, and are not described here again.
Example III
In this embodiment, a two-axis circuit board processing apparatus is taken as an example, and the structure of the self-moving tool changing apparatus and the process of changing the cutterhead from the self-moving tool changing apparatus are described in detail.
The structure of the self-moving tool changing device in this embodiment is different from that in the first embodiment, and the circuit board processing device and the buffer device thereof are the same as those in the first embodiment, and the upper computer control system and the warehouse management system are the same as those in the first embodiment.
As shown in fig. 8, the self-moving tool changing apparatus of the present embodiment includes: the motion chassis 30, the motion chassis 30 is provided with a feed box 20 and a motion part 11, and the motion part 11 is used for driving the feed box 20 to move up and down; the bin 20 comprises a plurality of storage positions 21, and each storage position 21 is used for storing a cutterhead 320; each storage position 21 is internally provided with an executing part 12, and the executing part 12 is used for driving the cutterhead 320 to linearly reciprocate in the storage position 21 towards the direction of the buffer device so as to send the cutterhead 320 into the storage position 21 or send the cutterhead 320 out of the storage position 21.
In this embodiment, the moving part 11 drives the bin 20 to rise or fall, so that the storage position 21 of each layer is aligned with the buffer frame 230 of the buffer device, and direct transfer of the cutterhead 320 between the buffer device 200 and the storage position 21 is realized. As shown in fig. 8, an executing part 12 is disposed in each layer of storage position, and the executing part 12 drives a cutterhead 320 to enter and exit the storage position 21. When the old cutterhead is loaded, the executing part 12 drives the old cutterhead into a storage position through an executing piece (not shown); when unloading the new cutterhead, the executing part 12 drives the new cutterhead to move out of the warehouse through the executing part. In this embodiment, the actuator may include a belt and a motor.
In the tool changing control method of the present embodiment, the moving part 11 drives the feed box 20 to lift and lower to align with the buffer frame 230, instead of lifting and lowering the executing part 12 in the first embodiment. The transfer cutterhead between the buffer frame 230 and the circuit board processing device 300 is substantially the same as that of the first embodiment, and will not be described again here.
In this embodiment, the bin 21 directly aligns the buffer device 200, eliminating a complicated handling device, so that not only the space of the self-moving tool changing device but also the cost can be saved. Another tool changing apparatus structure and method are provided.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (19)

1. A self-moving tool changing apparatus, comprising:
the motion chassis is provided with a first area and a second area which are adjacent to each other;
the feed box is arranged in the first area and comprises a plurality of storage positions for storing cutterheads;
the carrying device is arranged in the second area and comprises a moving part and an executing part, the executing part carries the cutterhead to rotate, and the moving part drives the executing part to move between the caching device and the storage position.
2. The self-moving tool changing apparatus according to claim 1, wherein the actuator is provided to the moving portion, the actuator carrying the rotary movement of the cutterhead between the buffer direction and the bin direction.
3. The self-moving tool changing apparatus according to claim 2, wherein the actuating portion includes a recess and an actuating member disposed in the recess, the actuating member extending in an opening direction of the recess, the conveying driving member driving the actuating member to send the cutterhead into the recess or to send the cutterhead out of the recess.
4. A self-moving tool changing apparatus according to claim 3, wherein the actuating member comprises at least two parallel bodies and a conveying member provided on each body, and the conveying driving member synchronously drives each conveying member to drive the cutterhead to move along the opening direction of the groove.
5. A self-moving tool changing apparatus according to claim 3, wherein guide members are provided on both sides of the recess, the guide members guiding the cutterhead into and out of the recess; a limiting piece is arranged on the opposite side of the opening of the groove, and the limiting piece prevents the cutterhead from being positioned in the groove; the side where the limiting piece is located is provided with an inductor, and the inductor is used for detecting whether the cutterhead in the groove is in place.
6. The self-moving tool changing apparatus according to claim 2, wherein the moving portion includes a supporting member and a moving driving member, the actuating portion is provided to the supporting member, and the moving driving member drives the actuating portion to move in three mutually perpendicular directions of the supporting member.
7. The self-moving tool changing apparatus according to claim 6, wherein the support member comprises a rail, a beam, and a column, the moving drive member drives the actuator to move along a first direction of the rail, along a second direction of the beam, and along a third direction of the column, the first direction, the second direction, and the third direction being perpendicular to each other.
8. The self-moving tool changing device according to any one of claims 1 to 7, wherein a lifting platform is provided between the magazine and the moving chassis, an insertion opening is provided at the bottom of the magazine, and the self-moving tool changing device replaces the magazine through the lifting platform and the insertion opening.
9. A self-moving tool changing apparatus, comprising:
the motion chassis is provided with a first area, a second area and a third area which are adjacent in sequence;
the two feed boxes are arranged in the first area in a back-to-back mode, and each feed box comprises a plurality of storage positions for storing cutterheads;
the two carrying devices are respectively arranged in a second area and a third area on two sides of the first area, each carrying device corresponds to one feed box, each carrying device comprises a moving part and an executing part arranged on the moving part, the executing part drives a bearing cutter disc to rotate, and the moving part drives the executing part to move between the buffer storage device and the feed box.
10. A self-moving tool changing apparatus, comprising:
the motion chassis is provided with a feed box and a motion part, and the motion part is used for driving the feed box to move up and down;
the feed box comprises a plurality of storage positions, and each storage position is used for storing a cutter head; each storage position is internally provided with an executing part, and the executing part is used for driving the cutterhead to linearly reciprocate in the storage position towards the direction of the buffer device so as to send the cutterhead into the storage position or send the cutterhead out of the storage position.
11. The tool changing control method is characterized by comprising the following steps of:
s10, controlling the self-moving tool changing equipment to approach and align with the buffer device;
s20, controlling an executing part to load an old cutterhead on the caching device;
s30, controlling an executing part to bear the old cutterhead to move to a storage position of an alignment bin, and unloading the old cutterhead;
s40, controlling the executing part to move to another storage position aligned with the feed box, and loading a new cutter disc;
s50, controlling the executing part to bear the new cutterhead to move to the alignment caching device, and unloading the new cutterhead to the caching device.
12. The tool changing control method according to claim 11, wherein the step S30 includes: and the control movement part drives the execution part and the cutterhead to move to a preset position, and controls the execution part to bear the old cutterhead to rotate towards the feed box, so that the old cutterhead is unloaded from the execution part to the storage position.
13. The tool changing control method according to claim 11, wherein the step S50 includes: and the control movement part drives the execution part and the new cutterhead to move to a preset position, and controls the execution part to bear the old cutterhead to rotate towards the caching device, so that the new cutterhead is unloaded from the execution part to the caching device.
14. The tool changing control method according to any one of claims 11 to 13, wherein the self-moving tool changing apparatus includes two sets of carrying devices and a magazine, each set of carrying devices corresponding to one set of the magazine and one of the buffer devices, and both sets of carrying devices simultaneously replace cutterheads with both of the buffer devices.
15. The tool changing control method is characterized by being applied to circuit board processing equipment and comprising the following steps of:
s210, controlling a workbench bearing cutter disc to move towards a caching device;
s212, controlling a lifting assembly of the caching device to ascend until the cutterhead is lifted;
s214, controlling the workbench to move in a direction deviating from the buffer device;
and S216, controlling the lifting assembly to descend so as to enable the cutterhead to descend to a cache frame of the cache device.
16. The tool changing control method according to claim 15, wherein the step S210 includes: and controlling the workbench to move until the cutterhead is positioned above the caching device.
17. The tool changing control method according to claim 15, wherein the step S212 includes: and controlling the lifting assembly to penetrate through the buffer storage frame to ascend until the upper end part of the lifting assembly abuts against the bottom of the cutterhead, and controlling the lifting assembly to continuously ascend so as to lift the cutterhead.
18. The tool changing control method according to any one of claims 15 to 17, characterized in that the tool changing control method further comprises:
after the cutterhead is transferred to a cache frame of the cache device from the self-moving tool changing device, controlling the lifting assembly to ascend;
controlling the workbench to move towards the direction of the buffer device;
and controlling the lifting assembly to descend until the cutterhead descends to the workbench.
19. A circuit board processing apparatus, comprising:
the workbench is provided with a cutter head;
the buffer memory device, set up in on the front bezel in the workstation outside, the buffer memory device includes:
the device comprises a bottom frame, a lifting assembly and a buffer frame, wherein the bottom frame and the buffer frame are fixedly arranged on the front baffle; the lifting component extends from the underframe to the buffer frame and moves up and down through the buffer frame;
when the lifting assembly ascends, the cutter head passes through the cache frame and is lifted above the cache frame; and when the lifting assembly descends, the cutterhead descends along with the lifting assembly until the caching frame lifts the cutterhead.
CN202311338385.8A 2023-10-16 2023-10-16 Self-moving tool changing device, tool changing control method and circuit board processing device Pending CN117359363A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311338385.8A CN117359363A (en) 2023-10-16 2023-10-16 Self-moving tool changing device, tool changing control method and circuit board processing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311338385.8A CN117359363A (en) 2023-10-16 2023-10-16 Self-moving tool changing device, tool changing control method and circuit board processing device

Publications (1)

Publication Number Publication Date
CN117359363A true CN117359363A (en) 2024-01-09

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Family Applications (1)

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