CN117841091A

CN117841091A - Cutter disc replacement line, cutter changing system and cutter disc replacement method of system for PCB processing

Info

Publication number: CN117841091A
Application number: CN202311844639.3A
Authority: CN
Inventors: 任少伟; 孙兵; 季峰
Original assignee: Suzhou Vega Technology Co Ltd
Current assignee: Suzhou Vega Technology Co Ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-04-09

Abstract

The invention discloses a cutter disc replacement line, a cutter replacement system and a cutter disc replacement method for PCB processing. The processing platform is configured to process the PCB plate material and bear a cutter and a cutter disc used for processing; the tool magazine is configured to be provided with tools and cutterheads thereof required by drilling machine processing; the cutter disc replacement mechanism is used for conveying a new cutter disc on the cutter disc replacement mechanism to the processing platform, and the cutter disc replacement mechanism is also used for receiving an old cutter disc conveyed by the processing platform; the circulation assembly is used for conveying the new cutterhead on the circulation assembly to the cutterhead replacing mechanism, and is also used for receiving the old cutterhead conveyed by the cutterhead replacing mechanism; the circulation assembly is used for conveying old cutterheads on the circulation assembly to the tool magazine, and the circulation assembly is also used for receiving new cutterheads on the tool magazine. The cutterhead on the cutterhead conveying mechanism can be replaced by the cutterhead replacing mechanism so as to realize automatic replacement of the cutterhead on the processing platform, thereby being beneficial to improving the working efficiency of the processing platform and reducing the labor cost.

Description

Cutter disc replacement line, cutter changing system and cutter disc replacement method of system for PCB processing

Technical Field

The invention relates to the technical field of PCB processing, in particular to a cutter disc replacement line and a cutter replacement system for PCB processing and a cutter disc replacement method for the system.

Background

At present, full-automatic drilling machines are developing to automation and intellectualization, and further improving the processing efficiency of equipment. In order to realize automatic circulation of a drilling machine cutter head, an AGV (automatic guided vehicle) is adopted to carry the cutter at present, a cutter mounting mode of manually abutting on drilling machine equipment is adopted, the efficiency of the mode is low due to the need of stopping and replacing, and human errors are serious. Or adopt AGV to follow sword room transport blade disc, again with equipment butt joint mode, this mode causes AGV journey time great, and AGV unit utilization ratio is lower, and the sword room and the problem of equipment layering placement appear, have further reduced AGV equipment efficiency. If the cutter head is adopted to transport the AGV and the loading and unloading AGV is designed in a split mode, a stable butt joint structure and an efficient butt joint mode are lacked in the prior art.

However, at the present stage, the following problems exist in full-automatic tool changing:

1. one AGV is simultaneously responsible for the upper cutter disc, the lower cutter disc and the conveying cutter disc, the path time is long, and the efficiency of the cutter changing AGV is greatly reduced;

2. for the layered layout of the drilling room and the equipment, the layout efficiency of the integrated AGV is further lower;

3. at present, a high-efficiency butt joint mode for transporting AGVs and an upper cutter head AGV and a lower cutter head AGV is lacking;

4. when the cutter head replacement efficiency is inconsistent with the cutter room needle outlet efficiency, in order not to reduce the cutter room allocation efficiency, a buffer memory area is arranged to provide redundant efficiency;

5. The loading and unloading AGV lacks an effective overall arrangement, improves blade disc change efficiency.

Disclosure of Invention

The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art. Therefore, a first object of the present invention is to provide a cutterhead replacing line for a machining platform, which can realize automatic replacement of cutterheads on the machining platform.

A second object of the present invention is to provide a tool changing system.

A third object of the present invention is to provide a cutterhead replacing method of a tool changing system.

To achieve the above object, an embodiment of the present invention provides a cutterhead changing line for a processing platform,

the processing platform is configured to process the PCB plate material and bear a cutter for processing and a cutter head thereof;

the tool magazine is configured to be provided with tools and cutterheads required by drilling machine machining;

the cutter disc replacement mechanism is used for conveying a new cutter disc on the cutter disc replacement mechanism to the processing platform and also used for receiving an old cutter disc conveyed by the processing platform;

the circulation assembly is used for conveying a new cutterhead on the circulation assembly to the cutterhead replacing mechanism, and the circulation assembly is also used for receiving an old cutterhead conveyed by the cutterhead replacing mechanism; and/or the circulation assembly is used for conveying the old cutterhead on the circulation assembly to the tool magazine, and the circulation assembly is also used for receiving the new cutterhead on the tool magazine.

According to the cutter disc replacement mechanism, the circulation assembly, the tool magazine and the processing platform provided by the embodiment of the invention; the cutter disc replacement mechanism is responsible for transporting the cutter discs for the new and old discs of the upper cutter and the lower cutter of the processing platform and for replacing the new and old cutter discs of the cutter disc replacement mechanism and the cutter magazine; the problem that the distance between the cutter disc replacement mechanism and the cutter magazine is long is solved, and the efficiency of the cutter changing AGV is greatly improved;

meanwhile, one circulation assembly can be connected with a plurality of cutter disc replacement mechanisms in a butt joint mode, and one tool magazine can be connected with a plurality of circulation assemblies in a butt joint mode; therefore, the layout requirements of a workshop are met more flexibly, the split design is realized, the distance time of a cutter disc replacement mechanism is shortened, and the efficiency is improved.

Meanwhile, when the cutter disc replacement mechanism is used for replacing new and old cutter discs of the processing platform, the new and old cutter discs of the circulation assembly are replaced by the cutter disc replacement mechanism of the next station; or the circulation assembly and the tool magazine are replaced by new and old cutterheads.

Further, the circulation assembly moves along a preset travelling path and is used for conveying a new cutter disc on the cutter magazine to the cutter disc replacement mechanism; and/or receiving an old cutterhead on the cutterhead changing mechanism and conveying the old cutterhead to the cutterhead changing mechanism.

Further, the flow assembly includes: the lifting frame is arranged on the first moving device in a lifting manner, and is provided with a replacing platform which is used for receiving new and old cutterheads on the cutterhead replacing mechanism and/or the tool magazine;

the flow assembly further includes: the first driving assembly is used for driving the lifting frame to lift.

Further, the replacement platform is provided with a plurality of locating members configured to engage locating holes in the bottom of the cutterhead.

Further, the cutterhead replacing mechanism further comprises: the first manipulator is arranged on one side of the supporting seat, is used for grabbing cutters or cutterheads on the processing platform to the supporting seat, and is suitable for grabbing cutters or cutterheads in the supporting seat to the processing platform.

Further, the supporting seat is arranged on the second moving device, a lifting mechanism is arranged on the supporting seat, a cutter disc placing disc is arranged on the lifting mechanism, the lifting mechanism drives the cutter disc placing disc to move along the Z direction, and the cutter disc placing disc is used for placing the cutter disc.

Further, a first displacement mechanism is arranged at the top of the lifting mechanism, the cutter disc placing disc is installed on the first displacement mechanism, and the first displacement mechanism drives the cutter disc placing disc to move along the Y direction.

According to some embodiments of the invention, the cutterhead replacing mechanism has an idle cutterhead position on the supporting seat, and the idle cutterhead has at least one cutterhead temporary storage area.

According to some embodiments of the present invention, the tool magazine further includes a plurality of cutter head buffer frames, each of the cutter head buffer frames is provided with a guide hole, and the guide holes are configured to be in fit connection with guide blocks on the cutter head;

one side of the cutterhead buffer storage frame is provided with an opening, the circulation assembly moves along the opening direction, so that old cutterheads on the circulation assembly can be conveniently transported to the cutterhead buffer storage frame, or the circulation assembly can be conveniently used for transporting new cutterheads on the cutterhead buffer storage frame.

Further, the cutter disc tray is configured to be used for placing the cutter disc, and a plurality of cutter disc placing grooves are formed in the cutter disc tray and are used for installing the cutter disc;

The circulation assembly conveys the cutterhead trays on the circulation assembly to the cutterhead replacing mechanism, and the circulation assembly is further used for receiving the cutterhead trays on the cutterhead replacing mechanism; and/or the circulation assembly conveys the cutterhead trays on the circulation assembly to the tool magazine, and the circulation assembly is further used for receiving the cutterhead trays on the tool magazine.

Further, a positioning hole is formed in the bottom of the cutterhead tray, and the positioning holes are used for being matched and installed with positioning pieces on the circulation assembly respectively.

Further, a gripper is arranged on the first manipulator, a visual mechanism is arranged on one side of the gripper, and the visual mechanism is used for acquiring characteristic point positioning positions on the cutter head and the processing platform.

To achieve the above object, a second aspect of the present invention provides a tool changing system, including: according to the cutter disc replacement line for PCB processing; the processing system comprises a motion module, a control module, a vision module, a tool changing module and a sensor module thereof; the control module is respectively connected with the motion module, the vision module, the tool changing module and the sensor module;

The tool changing module comprises a cutter disc changing mechanism and a circulation assembly; the control module is respectively connected with the cutterhead replacing mechanism and the circulation assembly through electric signals;

the control module controls the cutter disc replacement mechanism and the circulation assembly to perform cutter replacement work.

Further, the vision module is composed of a camera and a camera positioning frame assembly, and the vision module is used for acquiring characteristic point positioning positions on a cutter disc and a processing platform;

the tool changing module comprises a cutter disc changing mechanism, a first manipulator and a circulation assembly, wherein the first manipulator and the circulation assembly are arranged on the cutter disc changing mechanism;

the motion module comprises a first moving device and a second moving device, and the first moving device is used for driving the circulation assembly to move; the second moving device is used for driving the cutter disc replacement mechanism to move;

the sensor module comprises a plurality of sensors, and the sensors are respectively arranged on the tool changing module and the motion module; the sensor module sends the signal to the control module.

Further, the cutterhead replacing mechanism further comprises: the reader-writer is used for reading information of the electronic tag on the cutter head and changing the information of the electronic tag.

The full automation of the tool changing system is realized in the teaching process, and when the cutterhead reaches a preset position, and the process of changing the cutterhead is heavy, the full automatic cutterhead changing can be realized without manual participation;

when the tool changing system is used, the tool changing module on the tool changing system is matched with the vision module in a cooperative manner, so that the positioning accuracy in the tool changing process is ensured, and the unexpected difference generated in the movement positioning process or the tool changing positioning process by the tool changing module or the movement module is effectively reduced.

To achieve the above object, an embodiment of a third aspect of the present invention provides a cutterhead replacing method of a tool changing system, the tool changing system being any one of the tool changing systems, the method comprising:

the processing platform conveys the cutterhead with the old cutter to the cutterhead replacing mechanism, the cutterhead replacing mechanism conveys the cutterhead with the old cutter to the circulation assembly, and the circulation assembly conveys the cutterhead with the old cutter to the tool magazine;

and/or the number of the groups of groups,

according to some embodiments of the invention, the magazine transports cutterheads with new tools mounted thereon to the circulation assembly, which transports cutterheads with new tools mounted thereon to the cutterhead changing mechanism, which transports cutterheads with new tools mounted thereon into the processing platform.

Further, a cutterhead tray configured to house at least one of the cutterheads; the method further comprises the steps of:

the circulating assembly moves between the cutter disc replacement mechanism and the cutter magazine along a preset travelling path, and when the circulating assembly moves to a first preset position of the cutter disc replacement mechanism; the cutter disc replacing mechanism conveys a cutter disc tray on which the old cutter is arranged to the circulation assembly; or the circulation assembly conveys the cutterhead tray with the new cutters mounted thereon to the cutterhead replacing mechanism.

Further, the cutterhead replacing mechanism further comprises a first manipulator and a cutterhead placing disc; the method further comprises the steps of:

the cutter disc replacing mechanism conveys the cutter disc provided with the old cutter on the processing platform to the cutter disc placing disc through the first manipulator;

or the first manipulator conveys the cutterhead provided with the new cutter on the cutterhead placing disc to the processing platform.

Further, the cutterhead replacing mechanism comprises a lifting mechanism and a first displacement mechanism, and the circulation device comprises a lifting frame; the method further comprises the steps of: the transfer assembly stops at a first distance in front of the cutter disc replacing mechanism along a preset travelling path, and the lifting mechanism moves upwards or downwards along the vertical direction so that the cutter disc placing disc of the transfer assembly and the upper end surface of the replacing platform of the lifting frame keep the same horizontal height; the first displacement mechanism moves the old cutterhead to the replacement platform; or so the first displacement mechanism moves the new cutterhead onto the cutterhead receiving tray.

Further, the method further comprises:

the flow component moves to a first position in front of the cutter disc buffer storage rack of the cutter magazine, the lifting frame of the flow component drives the cutter disc to lift in the vertical direction, then moves to a designated position along the opening direction of the cutter disc buffer storage rack, and descends to place the cutter disc on the cutter disc buffer storage rack;

and/or, the number of the groups,

the circulating assembly moves to a first position in front of the cutter disc buffer storage rack of the cutter magazine, the lifting rack of the circulating assembly descends along the vertical direction, and then moving to a designated position along the opening direction of the cutter disc buffer storage rack, and lifting the lifting rack to prop up and fix the cutter disc on the replacing platform.

Through the setting of cutterhead change mechanism to and with cutterhead change mechanism corresponding complex circulation subassembly, can realize new and old cutterhead, new and old cutter and new and old cutter between processing platform and tool magazine automatic change, and when changing cutterhead, cutter and cutter, do not influence processing platform's sheet material processing, with reduction artificial participation, promote production efficiency, reduce down time, realize automated production and management.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic structural view of a cutter head replacement line for PCB processing according to the present invention;

FIG. 2 is a schematic view of a magazine and circulation assembly according to the present invention;

fig. 3 is a schematic view of a cutterhead tray according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a magazine and circulation assembly according to the present invention;

FIG. 5 is a schematic diagram III of a magazine and circulation assembly according to the present invention;

fig. 6 is a structural mating diagram of a cutterhead tray and a cutterhead cache frame according to an embodiment of the present invention;

FIG. 7 is a schematic view of the structure of a grip according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a cutterhead according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a cutterhead changing mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic view of a first transport assembly according to an embodiment of the invention;

FIG. 11 is a schematic view of a lift mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic illustration of a cutterhead change of a flow assembly diverting cutterhead change mechanism in accordance with an embodiment of the invention;

FIG. 13 is a schematic diagram of a plant layout in accordance with an embodiment of the invention;

fig. 14 is a second schematic diagram of a shop layout according to an embodiment of the invention.

Reference numerals:

1. a processing platform;

2. A cutter disc replacement mechanism; 21. a first manipulator; 211. a grip; 212. a vision mechanism; 213. a moving plate; 214. a first mechanical arm; 22. a support base; 23. a second mobile device; 24. a lifting mechanism; 241. a first lifting guide rail; 26. a first displacement mechanism; 261. a first support frame; 262. a first transport assembly; 2621. a guide rail; 2622. a fork ruler; 2623. a first guide; 27. an idle cutter head position;

3. a tool magazine; 31. a cutter disc caching frame; 32. an opening; 33. a second manipulator;

4. a flow component; 41. a first mobile device; 42. a lifting frame; 43. replacing the platform; 44. a first drive assembly; 441. a positioning piece;

5. a cutterhead tray; 52. a guide block;

6. cutter head: 61. the cutter head grabs the groove.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "height," "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The cutterhead changing mechanism 2, the changing system and the cutterhead changing method of the system according to the embodiment of the invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1-14, a cutter head replacement line of a processing platform 1 according to an embodiment of the present invention is used for the processing platform 1, the processing platform 1 is provided with the processing platform 1 for placing the cutter head 6, the processing platform 1 is used for processing a PCB board, the processing platform 1 can drill a hole on the PCB board by using a cutter in the cutter head 6 on the processing platform 1, the cutter head 6 on the processing platform 1 can be arranged on the processing platform 1, and the processing platform 1 can also fix the PCB board to be processed; the cutter head 6 can be internally provided with a cutter and/or a cutter, the cutter can be fixed, the workbench can move in the Y direction between the cutter head 6 and the PCB, the drilling mechanism on the processing platform 1 can move in the Z direction, the drilling mechanism can take the cutter positioned in the cutter head 6 on the conveying mechanism of the cutter head 6 and drill the PCB through the cutter, and the drilling mechanism can be a numerical control CNC mechanism capable of grabbing the cutter.

The X direction may be the left-right direction, the Y direction may be the front-back direction, and the Z direction may be the up-down direction.

The cutterhead changing mechanism 2 is used for conveying cutterhead 6 on the cutterhead changing mechanism 2 to the processing platform 1, the cutterhead changing mechanism 2 is also used for receiving cutterhead 6 of cutterhead 6, it is understood that the cutterhead changing mechanism 2 is used for conveying cutterhead 6 with old cutterhead on the processing platform 1 to the cutterhead changing mechanism 2, the cutterhead changing mechanism 2 can be used for conveying cutterhead 6 with new cutterhead on the cutterhead changing mechanism 2 to the processing platform 1, the cutterhead 6 on the processing platform 1 and the cutterhead changing mechanism 2 can be exchanged, wherein the new cutterhead is a tool which can be used normally, the old cutterhead is a tool which is close to or reaches the service life, the cutterhead 6 with the new cutterhead is simply called new cutterhead 6 for convenience of description, and the cutterhead 6 with the old cutterhead is simply called old cutterhead.

The new cutterhead 6 can be stored in the cutterhead replacing mechanism 2, the cutters in the new cutterhead 6 can be used normally, after the machining platform 1 starts to work, the cutters in the cutterhead 6 on the machining platform 1 are used one by one, when the cutters in the cutterhead 6 are all close to or reach the service life, the cutterhead 6 on the machining platform 1 is an old cutterhead, the machining platform 1 can convey the old cutterhead on the old cutterhead to the cutterhead replacing mechanism 2, the cutterhead replacing mechanism 2 can convey the new cutterhead 6 on the new cutterhead to the machining platform 1, so that automatic replacement of the cutterhead 6 of the machining platform 1 is achieved, and the machining platform 1 and the cutterhead replacing mechanism 2 can be provided with conveying mechanisms such as a belt conveying mechanism and/or a mechanical arm to convey the cutterhead 6.

According to the cutter disc replacement mechanism 2 provided by the embodiment of the invention, the cutter disc replacement mechanism 2 processes the cutter disc 6 on the platform 1 so as to realize automatic replacement of the cutter disc 6 on the processing platform 1, thereby being beneficial to improving the working efficiency of the processing platform 1 and reducing the labor cost.

In some embodiments of the present invention, a cutter disc 6 placement area is provided on the processing platform 1, the cutter disc 6 placement area is provided on one side of the processing platform 1, a new cutter disc 6 can be stored in the cutter disc 6 placement area, the cutters in the new cutter disc 6 can be used normally, after the processing platform 1 starts working, the cutters in the cutter disc 6 placement area are used one by one, when the cutters in the cutter disc 6 are all close to or reach the service life, the cutter disc 6 in the cutter disc 6 placement area is an old cutter disc, the cutter disc 6 placement area can convey the old cutter disc thereon to the cutter disc replacement mechanism 2, the cutter disc replacement mechanism 2 can convey the new cutter disc 6 thereon to the cutter disc 6 placement area to realize automatic replacement of the cutter disc 6 of the processing platform 1, and the cutter disc 6 placement area and the cutter disc replacement mechanism 2 can be provided with a belt type conveying mechanism and/or a mechanical arm and other conveying mechanism to convey the cutter disc 6.

The cutterhead changing mechanism 2 is used for conveying cutterhead 6 on the cutterhead changing mechanism 2 to a cutterhead 6 placement area, the cutterhead changing mechanism 2 is also used for receiving cutterhead 6 of cutterhead 6, it is understood that the cutterhead 6 with old cutters on the cutterhead 6 placement area is conveyed to the cutterhead changing mechanism 2 by the cutterhead changing mechanism 2, the cutterhead 6 with new cutters on the cutterhead changing mechanism 2 can be conveyed to the cutterhead 6 placement area by the cutterhead changing mechanism 2, and the cutterhead 6 placement area and the cutterhead 6 on the cutterhead changing mechanism 2 can be interchanged.

In some embodiments of the invention, the tool magazine 3 and the circulation assembly 4 are further included; the circulation component 4 is used for conveying the new cutterhead 6 on the circulation component 4 to the cutterhead changing mechanism 2, and the circulation component 4 is also used for receiving the old cutterhead conveyed by the cutterhead changing mechanism 2; and/or the circulation assembly 4 is used for conveying old cutterheads on the circulation assembly 4 to the magazine 3, and the circulation assembly 4 is also used for receiving new cutterheads 6 on the magazine 3.

The circulation component 4 is used for conveying the cutterhead 6 on the circulation component 4 to the cutterhead replacing mechanism 2, the circulation component 4 is also used for receiving the cutterhead 6 of the cutterhead replacing mechanism 2, it is understood that the circulation component 4 is used for conveying the cutterhead 6 with an old cutter on the cutterhead replacing mechanism 2 to the circulation component 4, the circulation component 4 can be used for conveying the cutterhead 6 with a new cutter on the circulation component 4 to the cutterhead replacing mechanism 2, and the cutterhead replacing mechanism 2 and the cutterhead 6 on the circulation component 4 can be interchanged;

Meanwhile, the circulation component 4 is used for conveying the cutterhead 6 on the circulation component 4 to the tool magazine 3, the circulation component 4 is also used for receiving the cutterhead 6 of the tool magazine 3, it is understood that the circulation component 4 is used for conveying the cutterhead 6 with new tools on the tool magazine 3 to the circulation component 4, the circulation component 4 can be used for conveying the cutterhead 6 with old tools on the circulation component 4 to the tool magazine 3, and the cutterhead 6 on the tool magazine 3 and the circulation component 4 can be interchanged;

similarly, the cutter disc replacing mechanism 2 conveys the cutter disc 6 on the cutter disc replacing mechanism 2 to the cutter magazine 3 through the circulation assembly 4, the cutter disc replacing mechanism 2 also receives the cutter disc 6 of the cutter magazine 3 through the circulation assembly 4, it is understood that the cutter disc 6 with new cutters on the cutter magazine 3 is conveyed to the cutter disc replacing mechanism 2 through the circulation assembly 4 by the cutter disc replacing mechanism 2, the cutter disc 6 with old cutters is conveyed to the cutter magazine 3 through the circulation assembly 4 by the cutter disc replacing mechanism 2, and the cutter magazine 3 and the cutter disc replacing mechanism 2 can be interchanged through the cutter disc 6 on the circulation device.

Specifically: changing a new knife: the tool magazine 3 conveys a cutter disc 6 provided with a new tool on the tool magazine 3 to the cutter disc replacing mechanism 2 through the circulation assembly 4; the cutter disc changing mechanism 2 can be used for conveying the cutter disc 6 provided with the new cutter on the cutter disc changing mechanism 2 to a cutter disc 6 placement area;

Old knife replacement: the cutter disc replacing mechanism 2 conveys the cutter disc 6 with the old cutter on the placement area of the cutter disc 6 to the cutter disc replacing mechanism 2; the disc replacement mechanism delivers the cutterhead 6 with the old cutter to the magazine 3 via the transfer assembly 4.

In some embodiments, a cutterhead 6 conveying mechanism is arranged on the cutterhead 6 placement area, wherein the cutterhead 6 conveying mechanism is suitable for being matched with the cutterhead replacing mechanism 2 to replace new cutterheads and old cutterheads.

In a specific embodiment, the cutterhead replacing mechanism 2 is used for conveying cutterhead 6 on the cutterhead replacing mechanism 2 to the cutterhead 6 conveying mechanism, and is also used for receiving cutterhead 6 conveyed by the cutterhead 6 conveying mechanism, the cutterhead replacing mechanism 2 can be arranged at the edge of one side of the processing platform 1 and is close to the cutterhead 6 conveying mechanism, new cutterhead 6 and old cutterhead can be stored on the cutterhead replacing mechanism 2, and when the old cutterhead on the cutterhead replacing mechanism 2 is moved out and the new cutterhead 6 is supplemented to the cutterhead replacing mechanism 2, the work of the processing platform 1 is not affected, so that the working time of the processing platform 1 is facilitated to be improved, and the productivity is improved.

In another embodiment, one circulation assembly 4 can replace new and old cutterheads for a plurality of cutterhead replacing mechanisms 2, and meanwhile, one cutterhead replacing mechanism 2 can replace upper cutterheads and lower cutterheads 6 for a plurality of processing platforms 1; one tool magazine 3 can change the cutter disc 6 for a plurality of circulation assemblies 4; the layout requirement of a workshop is met more flexibly, the split design is realized, the 2-path time of the cutter disc replacement mechanism is reduced, and the efficiency is improved.

The processing platform 1 is provided with a cutterhead 6 placement area, wherein the cutterhead 6 placement area and the cutterhead replacing mechanism 2 can be provided with a belt type conveying mechanism and/or a conveying mechanism such as a mechanical arm and the like for conveying the cutterhead 6.

Further, the circulation assembly 4 moves along a preset travelling path, and the circulation assembly 4 is used for conveying the new cutterhead 6 on the tool magazine 3 to the cutterhead replacing mechanism 2; and/or to receive the old cutterhead on the cutterhead changing mechanism 2 and to transport it to the cutterhead changing mechanism 2.

Specific: in some embodiments of the invention. The circulation component 4 can move along a preset travelling path, the circulation component 4 is used for conveying the cutterhead 6 on the circulation component 4 to the processing platform 1 and is also used for receiving the cutterhead 6 conveyed by the processing platform 1, or the circulation component 4 is used for conveying the cutterhead 6 on the circulation component 4 to the cutterhead replacing mechanism 2 and is also used for receiving the cutterhead 6 conveyed by the cutterhead replacing mechanism 2 so as to realize automatic replacement of the cutterhead 6 on the processing platform 1.

In another embodiment of the present invention, the circulation assembly 4 is used for conveying the cutterhead 6 on the circulation assembly 4 to the cutterhead changing mechanism 2 and also used for receiving the cutterhead 6 conveyed by the cutterhead changing mechanism 2, the circulation assembly 4 is a AGV (Automated Guided Vehicle) trolley with a moving chassis, and the AGV trolley can move along a preset travelling path to move between a tool warehouse and the processing platform 1, so that the old cutterhead b is continuously conveyed to the tool warehouse to be scrapped, and a new cutterhead 6a is conveyed to the processing platform 1, and the full-flow automation of production is realized.

In yet another embodiment of the present invention, referring to fig. 4, the circulation assembly 4 includes: the first moving device 41 and a lifting frame 42, wherein the lifting frame 42 is arranged on the first moving device 41 in a lifting manner, a replacement platform 43 is arranged on the lifting frame 42, and the replacement platform 43 is configured to be used for receiving new cutterheads on the cutterhead replacement mechanism 2 and/or the tool magazine 3; the first moving device 41 is used for driving the cutterhead 6 on the circulation assembly 4 to be conveyed to the cutterhead changing mechanism 2, and is also used for receiving the cutterhead 6 conveyed by the cutterhead changing mechanism 2.

The changing platform 43, the changing platform 43 has a plurality of cutterhead 6 accommodation spaces, the cutterhead 6 accommodation space is used for storing the cutterhead 6, the cutterhead 6 accommodation space is used for accommodating the cutterhead 6 with new tools and accommodating the cutterhead 6 with old tools.

When the processing platform 1 is provided with a plurality of drilling mechanisms, the processing platform 1 is correspondingly provided with a plurality of cutterhead 6 placement areas, and the cutterhead replacing mechanism 2 can transfer new cutterheads to one side of the processing platform 1 so as to ensure that the old cutterhead of each cutterhead 6 conveying mechanism can be replaced with a new cutterhead a in time, ensure that the processing platform 1 is not stopped, and enable the cutterhead replacing mechanism 2 to replace the old cutterhead in the cutterhead replacing mechanism 2 with the new cutterhead 6, so that the full-process automation of production is realized.

Referring to fig. 4, 9, and 12, when it is necessary to replace a new cutterhead 6 on the cutterhead replacing mechanism 2, the first moving device 41 moves to a replacement position of the cutterhead replacing mechanism 2, the replacement platform 43 lifted by the lifting frame 42 is lifted to the same Z-directional height as the cutterhead replacing mechanism 2, or the replacement platform 43 lifted by the lifting frame 42 is lifted to a range which can be grasped by the first manipulator 21 with the cutterhead replacing mechanism 2; the cutter disc replacing mechanism 2 conveys the old cutter disc to the replacing platform 43, and then the cutter disc replacing mechanism 2 receives a new cutter disc 6 on the replacing platform 43; the cutter head 6 is replaced.

As can be seen in connection with fig. 12: cutterhead replacement between the circulation assembly 4 and the cutterhead replacement mechanism 2: specifically, when the cutter disc 6 on the circulation assembly 4 needs to be replaced to the disc replacement mechanism 2; the circulation assembly 4 moves to a cutter changing position of the cutter changing mechanism 2 according to a prescribed route; the lifting mechanism 24 of the cutterhead replacing mechanism 2 controls the first moving mechanism 26 to descend or the lifting frame 42 of the circulation assembly 4 to ascend, so that the first conveying assembly 262 is lower than the horizontal plane of the lowest end of the replacing platform of the circulation assembly 4; then the first conveying component controller fork ruler of the first displacement mechanism moves along the direction of the guide rail and moves below the replacing platform 43 of the circulation component 4, at this time, the first guide member 2623 is opposite to the guide hole of the cutterhead 6, then the lifting structure is lifted, the first guide member 2623 is inserted into the guide hole of the cutterhead 6, the cutterhead 6 circulates the component 4, the first conveying component moves backwards, and the cutterhead tray transfer is completed.

When the cutter disc 6 on the cutter disc replacing mechanism 2 needs to be replaced to the circulation assembly 4, the circulation assembly 4 moves to the cutter disc replacing position of the cutter disc replacing mechanism 2 according to a specified route; the lifting mechanism 24 of the cutterhead changing mechanism 2 controls the first moving mechanism 26 to lift or the lifting frame 42 of the circulation assembly 4 to descend so that the first conveying assembly 262 is higher than the uppermost horizontal surface of the changing platform of the circulation assembly 4; then the first conveying component controller fork ruler of the first displacement mechanism moves along the direction of the guide rail and reaches the position above the replacing platform 43 of the circulation component 4, at this time, the positioning piece 441 of the circulation component 4 is opposite to the positioning hole of the cutterhead 6, then the lifting frame 42 lifts or the lifting mechanism descends, the first guide piece 2623 is inserted into the positioning hole of the cutterhead 6, so that the cutterhead 6 circulates the first conveying component 262 of the component 4 and moves back, and the transfer of the cutterhead 6 is completed.

The changing platform 43 is provided with a plurality of positioning members 441, the positioning members 441 being configured to engage positioning holes in the bottom of the cutterhead 6. In order to facilitate the fixation of the cutterhead 6 and the replacement platform 43, the problems of offset and sliding of the cutterhead 6 in the moving process are prevented. The bottom of the cutter head 6 is provided with a relevant positioning hole, the positioning hole is aligned with and fixed to the positioning piece 441 by the cutter head changing mechanism 2, and the cutter head 6 is fixed to the positioning piece 441.

Specifically: the circulation assembly 4 includes: the first moving device 41, the replacing platform 43 and the lifting frame 42, wherein the first moving device 41 can move along a preset travelling path, the first moving device 41 can move between the cutter warehouse and the cutter disc replacing mechanism 2, so that old cutter discs are continuously transported to the cutter warehouse to be scrapped, new cutter discs 6 are transported to the cutter disc replacing mechanism 2, the replacing platform 43 is arranged on the first moving device 41, the replacing platform 43 is provided with a cutter disc 6 temporary storage space, and a plurality of positioning pieces 441 are arranged in the cutter disc 6 temporary storage space.

In some embodiments of the present invention, referring to fig. 4, the circulation assembly 4 further includes: the first driving assembly 44, the first driving assembly 44 is used for driving the lifting frame 42 to lift, the replacement platform 43 may be provided with a lifting guide rail 2621, the lifting frame 42 may be provided with a lifting guide groove slidably matched with the lifting guide rail 2621, and the driving assembly may be an electric cylinder or a hydraulic cylinder for driving the lifting frame 42 to lift.

The first driving assembly 44 is used for driving the lifting frame 42 to lift; the first driving assembly 44 may be a cylinder or a motor, and the structure of the first driving assembly 44 is not limited thereto; the first driving component 44 is used for driving the lifting frame 42 to lift, and the application of the first driving component 44 can be selected according to the actual lifting requirement.

In some embodiments of the present invention, referring to fig. 1-12, a cutterhead changing mechanism 2 includes: the support seat 22, the first manipulator 21 and elevating system 24, the support seat 22 sets up on the second mobile device 23, is provided with elevating system 24 on the support seat 22, is provided with the cutterhead on the elevating system 24 and places the dish, and elevating system 24 drives the cutterhead and places the dish and remove along the Z direction, and the cutterhead is placed the dish and is constructed to be used for placing cutterhead 6. The supporting seat 22 is arranged on the outer side of the processing platform 1 and is close to the processing platform 1, a plurality of cutter disc 6 accommodating areas are arranged on the cutter disc placing disc, and the cutter disc 6 accommodating areas are used for accommodating a plurality of different new and old cutter discs.

Referring to fig. 1 and 9, when an old cutterhead on the processing platform 1 needs to be replaced, the lifting mechanism 24 lifts the cutterhead placing tray to be at the same Z-direction height with the processing platform 1, the first manipulator 21 conveys the old cutterhead to an empty cutterhead placing tray, and then the cutterhead placing tray conveys a new cutterhead 6 on the cutterhead placing tray to the processing platform 1, so that replacement of the cutterhead 6 is achieved.

In some embodiments of the present invention, referring to fig. 9-11, the cutterhead changing mechanism 2 further includes a first displacement mechanism 26 mounted on the lifting mechanism 24, the first displacement mechanism 26 including: first support frame 261, first conveying component 262 and first driving piece, first conveying component 262 locate first support frame 261, and first support frame 261 can support first conveying component 262, and blade disc 6 can be placed on first conveying component 262, and first driving piece is connected with first conveying component 262 transmission, and first driving piece is used for driving first conveying component 262 and carries blade disc 6, and first conveying component 262 includes: the guide rail 2621 and the fork 2622, the guide rail 2621 is arranged on the first supporting frame 261, the fork 2622 is arranged on the guide rail 2621, the output end of the first driving piece is connected with one end of the fork 2622, the first driving piece is used for driving the fork 2622 to slide on the guide rail 2621 along the x direction, and the fork 2622 can drive the cutterhead 6 on the fork 2622 to move, so that the cutterhead 6 is conveyed. Optionally, a fixture is provided on the fork 2622 for lifting stability of the cutterhead 6 for the first displacement mechanism 26.

In other embodiments, the first is that the conveyor assembly may also employ a conveyor belt; specific: the first conveying assembly 262 includes: the first driving wheel, the first driven wheel, the first conveyer belt, first support frame 261 is rotationally located to the first driven wheel, first conveyer belt cover is established in the outside of first driving wheel and first driven wheel, the output shaft and the first driving wheel fixed connection of first driving piece, the output shaft of first driving piece can drive first driving wheel rotation to make first driving wheel drive first driven wheel rotation through first conveyer belt, simultaneously, the cutterhead 6 that first conveyer belt can drive it removes, thereby realize transporting cutterhead 6. Optionally, the first displacement mechanism 26 has a plurality of first conveying assemblies 262 disposed at intervals, and the first driving wheel of each first conveying assembly 262 is fixed with the output shaft of the first driving member, so as to promote the stability of the conveying cutterhead 6 of the first displacement mechanism 26.

In some embodiments of the present invention, referring to fig. 10, the first displacement mechanism 26 further includes: the first guide 2623, the first guide 2623 may be a fork 2622 pin, the first guide 2623 is adapted to be in guiding engagement with a guide hole on the cutterhead 6 to move the cutterhead 6 along the conveying direction, the first guide 2623 may extend along the Z direction, the moving direction of the first conveyor belt may be perpendicular to the extending direction of the first guide 2623, the first guide 2623 may promote stability of the first conveyor assembly 262 when conveying the cutterhead 6 to avoid tilting of the cutterhead 6 when conveying the cutterhead 6, and alternatively, the number of the first guide 2623 may be plural and arranged at intervals along the moving direction of the first conveyor assembly 262.

The first guide member 2623 and the guide hole are configured to limit the cutter 6 in the X direction and the Y direction, so that the relative positions of the cutter 6 and the cutter changing mechanism 2 are fixed, so that the cutter 6 can be stably transported on the first manipulator 21.

In some embodiments of the present invention, the cutterhead placing tray further has a temporary storage space for the cutterhead 6, the temporary storage space for the second cutterhead 6 has a base, the base is movably disposed on the first displacement mechanism 26, the base can move in the Y direction relative to the lifting mechanism 24, the base is used for placing the cutterhead 6, and a spare cutter can be placed in the cutterhead 6, when the machining platform 1 generates a broken cutter or a defective cutter inspection generates an abnormal cutter, the supporting platform cutterhead 6 can provide the spare cutter for the drilling mechanism, so as to avoid the influence of the broken cutter on the distribution sequence of the subsequent cutterhead 6 and the cutter, thereby being beneficial to improving the stability and reliability of the operation of the cutter changing system.

The circulation assembly 4 moves to the bottom of the placement layer according to a set route, then the lifting frame 42 is lifted upwards along the z direction until the guide hole of the placement layer is disengaged from the guide block 52 on the cutterhead 6, the lifting frame 42 continues to lift until the cutterhead 6 is disengaged from the cutterhead replacing mechanism 2, and then the circulation assembly 4 is driven out of the moving channel; the transfer of the cutter disc 6 and the circulation assembly 4 on the cutter disc replacing mechanism 2 is completed. When the cutter head 6 on the circulation assembly 4 needs to be changed to the cutter head changing mechanism 2; lifting the lifting frame 42 upwards along the Z direction to enable the cutterhead 6 to be higher than the top of the placement layer in the Z direction, then the circulation assembly 4 moves to the position above the placement layer according to a set route, the lifting frame 42 descends downwards along the Z direction, the lifting frame 42 descends continuously until a guide hole of the placement layer is matched and fixed with a guide block 52 on the cutterhead 6, finally the lifting frame 42 descends continuously until the replacement platform 43 is completely separated from the cutterhead replacement mechanism 2, and then the circulation assembly 4 exits a moving channel; and the transfer of the cutter on the circulation assembly 4 and the cutter 6 of the cutter disc replacement mechanism 2 is completed.

In some embodiments of the present invention, a reader-writer is disposed in the temporary storage space of the cutterhead 6, the reader-writer is used for reading information of an electronic tag on the cutterhead 6 on the supporting table and information for changing the electronic tag, the reader-writer can read information of the electronic tag on the cutterhead 6, so as to obtain information such as model, position and service life of a cutter in the cutterhead 6 when the cutterhead 6 or the cutter is replaced, the reader-writer can change information of the electronic tag on the cutterhead 6, and can write position information of a broken cutter when the broken cutter is placed in the cutterhead 6.

In some embodiments of the present invention, the lifting mechanism 24 is provided with a cutter head 6 in-place sensor, the cutter head 6 in-place sensor can identify a temporary storage space of the cutter head 6 and a position of the cutter head 6 on the supporting table, when a new cutter head 6 is added to the temporary storage space of the cutter head 6, the cutter head 6 in-place sensor is used for detecting whether the cutter head 6 reaches a predetermined position, and if the cutter head 6 does not reach the predetermined position, the temporary storage space of the cutter head 6 can further adjust the position of the cutter head 6 so as to avoid the cutter head 6 on the temporary storage space of the cutter head 6 from dropping or being repeatedly installed at the same position as the cutter head 6. When the support seat 22 moves, the cutter head 6 in-place sensor is used for detecting whether the cutter head 6 reaches a preset position, and if the cutter head 6 does not reach the preset position, the manipulator can further adjust the position of the support table so as to avoid interference between the support table and the support seat 22 when the support table is lifted. Alternatively, the cutterhead 6 in-place sensor may be a grating sensor.

In some embodiments of the present invention, referring to fig. 11, the cutterhead replacing mechanism 2 further includes: the first driving assembly 44, the first driving assembly 44 is used for driving the lifting mechanism 24 to lift, so as to realize the replacement of the cutterhead 6 when the cutterhead placing tray falls to the same Z-direction height with the processing platform 1.

In some embodiments of the present invention, referring to fig. 11, a first lifting rail 241 may be provided on the support base 22, a first lifting guide groove slidably engaged with the first lifting rail 241 may be provided on the lifting mechanism 24, the first driving component 44 may be an electric cylinder or a hydraulic cylinder for driving the lifting mechanism 24 to lift, and a limiting mechanism may be further provided on the support base 22, where the limiting mechanism may limit and/or lock the lifting height of the lifting mechanism 24, and the limiting mechanism may be configured as a locking pin.

In some embodiments of the present invention, referring to fig. 9 to 12, the cutterhead replacing mechanism 2 further includes: the first manipulator 21 is arranged on the supporting seat 22, the first manipulator 21 is used for grabbing a cutter on the processing platform 1 into the cutter disc 6 in the temporary storage space of the cutter disc 6 and is suitable for grabbing the cutter in the cutter disc 6 in the temporary storage space of the cutter disc 6 into the cutter disc 6 on the processing platform 1, and the first manipulator 21 can grab and place the cutter between the processing platform 1 and the temporary storage space of the cutter disc 6;

Or the first manipulator 21 is used for grabbing the cutterhead on the processing platform 1 into the temporary storage space of the cutterhead 6, and is suitable for grabbing the cutterhead in the temporary storage space of the cutterhead 6 onto the processing platform 1, and the first manipulator 21 can grab and place the cutterhead 6 between the processing platform 1 and the temporary storage space of the cutterhead 6;

the cutter breaking or unqualified abnormal cutters on the cutter detection device on the PCB or the processing platform 1 are conveyed into the cutter disc 6 in the temporary storage space of the cutter disc 6, and then the cutter disc 6 in the temporary storage space of the cutter disc 6 is conveyed into the cutter disc 6 on the processing platform 1 by the cutter disc 6 with qualified types, so that the replacement of single cutters can be realized, the influence of the cutter breaking and the abnormal cutters on the distribution sequence of the follow-up cutter disc 6 is avoided, and optionally, the qualified cutters, the cutter breaking and the abnormal cutters in the cutter disc 6 in the temporary storage space of the cutter disc 6 are respectively put into different cutters to facilitate centralized processing.

In some embodiments of the present invention, referring to fig. 9 and 7, the first manipulator 21 is movably disposed on the supporting seat 22 to lift the moving range of the first manipulator 21, so as to ensure that the first manipulator 21 can access the tools or cutterheads 6 on the PCB board at any position, and when the processing platform 1 has a plurality of processing platforms 1 and the lifting mechanism 24 has a plurality of second cutterheads 6 temporary storage spaces corresponding to the number of processing platforms 1, the first manipulator 21 can be moved to replace the tools between any processing platform 1 and the second cutterheads 6 temporary storage spaces.

As shown with reference to figures 9 and 7,

the first manipulator 21 includes a moving plate 213, a first mechanical arm 214, and a gripper 211, where the moving plate 213 is slidably disposed on the support base 22, one end of the first mechanical arm 214 is connected to the moving plate 213, and the other end of the first mechanical arm 214 is connected to the gripper 211. The robot arm is fixed to the support base 22.

In another embodiment, the first manipulator 21 includes a moving plate 213, a first mechanical arm 214, a gripper 211, a moving motor and a moving gear, the moving plate 213 is slidably disposed on the supporting seat 22, one end of the first mechanical arm 214 is connected to the moving plate 213, and the other end of the first mechanical arm 214 is connected to the gripper 211. The moving motor is connected with the moving plate 213, the moving gear is meshed with the rack on the supporting seat 22, and the moving motor can drive the moving gear to rotate so as to realize the movement of the first manipulator 21 relative to the supporting seat 22

Referring to fig. 7, the grip 211 includes a vision mechanism 212 (CCD), the grip 211, and the vision mechanism 212 is used to precisely position the grip 211 and the tool to improve the accuracy with which the grip 211 grips the tool.

When the tool and/or the tool in the processing platform 1 needs to be replaced, the second moving device 23 of the tool head replacing mechanism 2 can drive the supporting platform to move along a preset direction so that the supporting platform stretches to be close to the processing platform 1, so that the first manipulator 21 can grasp the tool and the tool on the processing platform 1, at this time, the gripper 211 can grasp and move the tool head of the old tool on the supporting platform to the supporting seat 22, then move the new tool grasping the supporting seat 22 to the processing platform 1, in addition, in order to improve efficiency, the gripper 211 can grasp and move the tool with the old tool on the supporting platform to the placing platform, and then move the tool with the new tool grasping the placing platform to the supporting platform.

The cutterhead changing mechanism 2 has an idling cutterhead position 27, the idling cutterhead position 27 is arranged on the supporting seat 22, and the idling cutterhead 6 has at least one cutterhead temporary storage area. The idle cutter head position 27 is arranged on the supporting seat 22, and the idle cutter head position 27 is arranged on one side close to the first manipulator 21; the idle cutter disc position 27 is provided with at least one cutter disc 6 placement position, the cutter disc 6 placement position is used for placing a spare cutter disc 6, the idle cutter disc position 27 is mainly used for conveying an old cutter disc on the processing platform 1 to the idle cutter disc position 27 by a manipulator when the processing platform 1 and the cutter disc 6 on the cutter disc placement disc are fully filled and the old cutter disc needs to be replaced, the cutter changing AGV designs the empty position of the cutter disc 6 to provide a temporary storage position for the old cutter disc, the first old cutter disc is placed at the position, the manipulator grabs a new cutter disc 6 and places the new cutter disc on the processing platform 1 for replacement, the design of the empty position of the cutter disc 6 greatly meets various processing and cutter changing requirements of the processing platform 1, and the diversity of cutter changing procedures is realized.

Referring to fig. 6, the magazine 3 further includes a plurality of cutter changing mechanisms 2, each cutter changing mechanism 2 is provided with a guide hole, and the guide holes are configured to be in fit connection with the guide blocks 52 on the cutter 6; the cutter disc replacing mechanism 2 is suitable for placing new and old cutter discs; the tool magazine 3 can be provided with a plurality of cutter disc replacing mechanisms 2 according to requirements, and each cutter disc replacing mechanism 2 is provided with a single new cutter disc 6 or an old cutter disc; the circulation assembly 4 moves to the old cutterhead changing mechanism 2 according to the set route and transfers the old cutterhead to the old cutterhead changing mechanism 2; then moving to a new cutterhead 6 cutterhead replacing mechanism 2 according to a set route, and conveying the new cutterhead 6 to a circulation assembly 4 to complete replacement of the new cutterhead and the old cutterhead; one magazine 3 includes a plurality of new cutterhead 6 cutterhead changing mechanisms 2 and a plurality of old cutterhead changing mechanisms 2; a tool changing demand for interfacing a plurality of circulation subassembly 4 satisfies workshop pcb processing equipment

One side of the cutterhead changing mechanism 2 is provided with an opening 32, and the circulation assembly 4 moves along the direction of the opening 32, so that old cutterheads on the circulation assembly 4 can be conveniently transported to the cutterhead changing mechanism 2, or the circulation assembly 4 can be conveniently used for carrying new cutterheads 6 on the cutterhead changing mechanism 2. An opening 32 is formed in one side of the cutterhead replacing mechanism 2, the opening 32 is inwards recessed to form a moving channel, and the circulation assembly 4 moves in the moving channel; at least one placement layer is arranged on the top of the cutterhead replacing mechanism 2.

When the cutter disc 6 on the cutter disc replacing mechanism 2 needs to be replaced to the circulation assembly 4; the circulation assembly 4 moves to the bottom of the placement layer according to a set route, then the lifting frame 42 is lifted upwards along the z direction until the cutterhead 6 is fixed on the replacing platform 43, the lifting frame 42 continues to lift until the cutterhead 6 is separated from the cutterhead replacing mechanism 2, and then the circulation assembly 4 drives out of the moving channel; the transfer of the cutter disc 6 and the circulation assembly 4 on the cutter disc replacing mechanism 2 is completed.

When the cutter head 6 on the circulation assembly 4 needs to be changed to the cutter head changing mechanism 2; lifting the lifting frame 42 upwards along the Z direction, so that the cutterhead 6 is higher than the top of the placement layer in the Z direction, then the circulation assembly 4 moves to the position above the placement layer according to a set route, the lifting frame 42 descends downwards along the Z direction, the lifting frame 42 descends continuously until the cutterhead 6 fixes the cutterhead changing mechanism 2, finally the lifting frame 42 descends continuously until the changing platform 43 is completely separated from the cutterhead changing mechanism 2, and then the circulation assembly 4 exits from the moving channel; and the transfer of the cutter on the circulation assembly 4 and the cutter 6 of the cutter disc replacement mechanism 2 is completed.

Wherein each cutter head replacing mechanism 2 is provided with a guide hole which is configured to be matched and connected with a guide block 52 on the cutter head 6; specifically, each placement layer is provided with a guide hole.

Specifically, when the cutter disc 6 on the cutter disc replacing mechanism 2 needs to be replaced to the circulation assembly 4; the circulation assembly 4 moves to the bottom of the placement layer according to a set route, then the lifting frame 42 is lifted upwards along the z direction until the guide hole of the placement layer is disengaged from the guide block 52 on the cutterhead 6, the lifting frame 42 continues to lift until the cutterhead 6 is disengaged from the cutterhead replacing mechanism 2, and then the circulation assembly 4 is driven out of the moving channel; the transfer of the cutter disc 6 and the circulation assembly 4 on the cutter disc replacing mechanism 2 is completed. When the cutter head 6 on the circulation assembly 4 needs to be changed to the cutter head changing mechanism 2; lifting the lifting frame 42 upwards along the Z direction to enable the cutterhead 6 to be higher than the top of the placement layer in the Z direction, then the circulation assembly 4 moves to the position above the placement layer according to a set route, the lifting frame 42 descends downwards along the Z direction, the lifting frame 42 descends continuously until a guide hole of the placement layer is matched and fixed with a guide block 52 on the cutterhead 6, finally the lifting frame 42 descends continuously until the replacement platform 43 is completely separated from the cutterhead replacement mechanism 2, and then the circulation assembly 4 exits a moving channel; and the transfer of the cutter on the circulation assembly 4 and the cutter 6 of the cutter disc replacement mechanism 2 is completed.

In other embodiments, one cutterhead changing mechanism 2 comprises multiple layers of placement, when it is desired to change the cutterhead 6 on the cutterhead changing mechanism 2 to the circulation assembly 4; the circulation assembly 4 is required to transport the cutterhead 6 of the cutterhead changing mechanism 2 from the bottom to the top in sequence along the Z-axis direction of the cutterhead changing mechanism 2. When the cutter head 6 on the circulation assembly 4 needs to be changed to the cutter head changing mechanism 2; the circulation assembly 4 is required to place the cutterhead 6 on the cutterhead changing mechanism 2 in order from top to bottom along the Z-axis direction of the cutterhead changing mechanism 2.

Referring to fig. 2, the magazine 3 is provided with a second manipulator 33, the second manipulator 33 is disposed on the cutterhead replacing mechanism 2, the cutterhead 6 for placing the cutterhead on the cutterhead replacing mechanism 2 is suitable for grabbing the cutterhead 6, and the old cutterhead replacing process of the old cutterhead with the old cutterhead on the cutterhead replacing mechanism 2 is as follows: the second manipulator 33 grabs the old cutterhead on the cutterhead replacing mechanism 2 and moves to the first waste area of the tool warehouse, the second manipulator 33 grabs the new tool in the tool warehouse and moves to the cutterhead replacing mechanism 2, and the cutterhead replacing mechanism 2 can be provided with a reader-writer which is used for reading information of electronic tags on corresponding cutterheads 6 and changing information of the electronic tags.

In some embodiments, in order to enable the cutter to be replaced for a plurality of pcb processing devices, the device further comprises a cutter tray 5, wherein the cutter tray 5 is configured to be used for placing the cutter 6, a plurality of cutter 6 placing grooves are formed in the cutter tray 5, and the cutter 6 placing grooves are used for installing the cutter 6; the new cutterhead and the old cutterhead are both arranged in a placement groove of the cutterhead 6;

in other embodiments, the cutter disc 6 placement slot has a limiting member, which cooperates with the cutter disc 6 to stably fix the cutter disc 6 in the cutter disc 6 placement slot, and the limiting member can promote the stability of the circulation assembly 4 and the cutter disc replacement mechanism 2 when transporting the cutter disc 6, so as to avoid the cutter disc 6 from tilting during transportation, and optionally, the number of limiting members may be plural.

The bottom of blade disc tray 5 is provided with the locating hole, and the locating hole is used for cooperating the setting element 441 on the circulation subassembly 4, and when setting element 441 and locating hole fixed fit, blade disc tray 5 realizes fixed fit with circulation subassembly 4.

The bottom periphery of blade disc tray 5 is provided with guide block 52, and guide block 52 is provided for carrying out with the equal guiding hole of blade disc change mechanism 2, carries out the cooperation with guide block 52 through the guiding hole and is connected for blade disc tray 5 is fixed on blade disc change mechanism 2.

When the cutter disc tray 6 on the circulation assembly 4 needs to be replaced to the cutter disc replacing mechanism 2; the circulation assembly 4 moves to a cutter changing position of the cutter changing mechanism 2 according to a prescribed route; the lifting mechanism 24 of the cutterhead replacing mechanism 2 controls the first moving mechanism 26 to descend or the lifting frame 42 of the circulation assembly 4 to ascend, so that the first conveying assembly 262 is lower than the horizontal plane of the lowest end of the replacing platform of the circulation assembly 4; then the first conveying component controller fork ruler of the first displacement mechanism moves along the direction of the guide rail and moves below the replacing platform 43 of the circulation component 4, at this time, the first guide member 2623 is opposite to the guide hole of the cutterhead tray 6, then the lifting structure is lifted, the first guide member 2623 is inserted into the guide hole of the cutterhead tray 6, the cutterhead tray 6 circulates the component 4, and the first conveying component moves backwards, so that cutterhead tray transfer is completed.

When the cutter disc tray 6 on the cutter disc replacing mechanism 2 needs to be replaced to the circulation assembly 4, the circulation assembly 4 moves to the cutter disc replacing position of the cutter disc replacing mechanism 2 according to a specified route; the lifting mechanism 24 of the cutterhead changing mechanism 2 controls the first moving mechanism 26 to lift or the lifting frame 42 of the circulation assembly 4 to descend so that the first conveying assembly 262 is higher than the uppermost horizontal surface of the changing platform of the circulation assembly 4; then the first conveying component controller fork ruler of the first displacement mechanism moves along the direction of the guide rail and reaches the position above the replacing platform 43 of the circulation component 4, at this time, the positioning piece 441 of the circulation component 4 is opposite to the positioning hole of the cutterhead tray 6, then the lifting frame 42 lifts or the lifting mechanism descends, the first guide piece 2623 is inserted into the positioning hole of the cutterhead tray 6, the first conveying component 262 of the circulation component 4 of the cutterhead tray 6 moves back, and the transfer of the cutterhead tray 6 is completed.

In some embodiments, referring to fig. 13, the shop layout is a same-layer layout, and a plurality of rows of PCB processing devices are arranged on the same layer, each row of PCB processing devices is at least provided with a cutter head replacing mechanism 2, and the cutter head replacing mechanism 2 performs cutter head replacement for the processing platform 1 of the PCB processing device in the row; each cutter head replacing mechanism 2 is matched with at least one circulation assembly 4, and the circulation assemblies 4 are used for replacing the cutter heads of the cutter head replacing mechanisms 2; a tool magazine 3 is arranged in a same-layer workshop; the cutter disc of the pcb processing workshop is replaced fully automatically by the layout mode, and the cutter disc of the cutter disc replacing mechanism 2 and the cutter magazine 3 is replaced through the arrangement of the circulation assembly 4, so that the cutter replacing efficiency is greatly improved.

Referring to fig. 14, the workshop layout is a split layout, a plurality of rows of PCB processing equipment are arranged on the same layer, each row of PCB processing equipment is at least provided with a cutter head replacing mechanism 2, and the cutter head replacing mechanism 2 performs cutter head replacement for the processing platform 1 of the row of PCB processing equipment; each cutter head replacing mechanism 2 is matched with at least one circulation assembly 4, and the circulation assemblies 4 are used for replacing the cutter heads of the cutter head replacing mechanisms 2; a tool magazine 3 is arranged in one workshop among the multiple layers of workshops, and an elevator is arranged between each layer of workshops to facilitate the cutter disc replacement between each layer of rotating assembly 4 and the tool magazine 3. The layout mode enables the layout of the pcb processing workshop to be more free, the limitation of workshop sites is solved, the cutter disc of the cutter disc replacement mechanism 2 and the cutter magazine 3 is replaced through the arrangement of the circulation assembly 4, the cutter replacement efficiency is greatly improved, and the problems that the cutter replacement speed of the multi-layer workshop is low and the like are solved.

Referring to fig. 1-12, a tool changing system according to an embodiment of the second aspect of the present invention includes: a machining platform 1 and a cutterhead changing mechanism 2 of the above embodiment, wherein the machining platform 1 is provided with the machining platform 1 for placing and transporting cutterhead 6.

According to the tool changing system provided by the embodiment of the invention, the cutter disc 6 on the processing platform 1 can be replaced by the cutter disc replacing mechanism 2 so as to realize automatic replacement of the cutter disc 6 on the processing platform 1, thereby being beneficial to improving the working efficiency of the processing platform 1 and reducing the labor cost.

Referring to fig. 1-12, the tool changing system includes a motion module, a control module, a vision module, a tool changing module, and a sensor module thereof; the control module is respectively connected with the motion module, the vision module, the tool changing module and the sensor module; the tool changing module comprises a cutter disc changing mechanism 2 and a circulation assembly 4; the control module is respectively connected with the cutterhead replacing mechanism 2 and the circulation assembly 4 through electric signals; the control module controls the cutter disc replacement mechanism 2 and the circulation assembly 4 to perform cutter replacement work.

Specific: the tool changing system is applied to the field of PCB processing, and the tool changing regulation and control of a workshop is realized through the regulation and control of the tool changing system; realize the full-automatic tool changing of workshop.

The tool changing system further comprises a machining module, wherein the machining module comprises a machining platform 1, a movable workbench arranged on the machining platform 1 and a main shaft for machining a PCB (printed circuit board) on the workbench; the main shaft is used for processing the PCB plate.

The tool changing module includes: the tool comprises a main shaft, a cutter disc replacing mechanism 2, a circulation assembly 4 and a tool magazine 3;

the main shaft is used for placing an old cutter on a cutter disc 6 of the old cutter and grabbing a new cutter on the cutter disc 6 of the new cutter for plate processing.

Cutter head replacement mechanism 2: the cutterhead changing mechanism 2 is used for conveying cutterhead 6 on the cutterhead changing mechanism 2 to the processing platform 1, the cutterhead changing mechanism 2 is also used for receiving cutterhead 6 of cutterhead 6, it is understood that the cutterhead changing mechanism 2 is used for conveying cutterhead 6 with old cutters on the processing platform 1 to the cutterhead changing mechanism 2, the cutterhead changing mechanism 2 can be used for conveying cutterhead 6 with new cutters on the cutterhead changing mechanism 2 to the processing platform 1, and the cutterhead 6 on the processing platform 1 and the cutterhead changing mechanism 2 can be interchanged.

Tool magazine 3: for storing a cutterhead 6 provided with an old cutter and a cutterhead 6 provided with a new cutter; the cutter disc replacing mechanism 2 conveys the cutter disc 6 on the cutter disc replacing mechanism 2 to the cutter magazine 3 through the circulation assembly 4, the cutter disc replacing mechanism 2 also receives the cutter disc 6 of the cutter magazine 3 through the circulation assembly 4, it is understood that the cutter disc replacing mechanism 2 conveys the cutter disc 6 provided with the new cutter on the cutter magazine 3 to the cutter disc replacing mechanism 2 through the circulation assembly 4, the cutter disc 6 provided with the old cutter is conveyed to the cutter magazine 3 through the circulation assembly 4 by the cutter disc replacing mechanism 2, and the cutter magazine 3 and the cutter disc replacing mechanism 2 can be interchanged through the cutter disc 6 on the circulation device.

And a motion module: a first moving device 41 comprising a circulation assembly 4 and a second moving device 23 of the cutterhead changing mechanism 2; the circulation assembly 4 moves along a preset travelling path through the first moving device 41, and the cutterhead replacing mechanism 2 moves along the preset travelling path through the second moving device 23; through the motion module, the motion of circulation subassembly 4 and blade disc change mechanism 2 between processing platform 1 and tool magazine 3 is realized, and then makes its processing platform 1 and tool magazine 3's tool change motion.

And a vision module: a vision mechanism 212 (CCD) vision camera is included for precisely positioning the position of the grip 211 and the tool to improve the accuracy with which the grip 211 grips the tool.

The sensor module and the sensor module respectively comprise various sensors arranged on the circulation assembly 4, the processing platform 1, the tool magazine 3 and the cutter disc replacing mechanism 2, and the accuracy of work among the modules is ensured through the sensors.

The control module comprises a computer which is respectively connected with the motion module, the control module, the vision module, the tool changing module and the sensor module thereof by electric signals, so as to realize full-automatic tool changing in the pcb workshop.

The vision module and the sensor module send detection information to the computer through electric signals, and the computer controls the motion module and the tool changing module to change tools after analyzing the information.

In some embodiments of the present invention, referring to fig. 7-8, the cutterhead 6 has cutterhead gripping grooves adapted to cooperate with the grippers 211 of the grippers 211 to facilitate the movement of the cutterhead 6, the cutterhead gripping grooves extend inward from the outer circumference of the cutterhead 6, the gripping direction of the grippers 211 may be the same as the extending direction of the cutterhead gripping grooves, the cutterhead gripping grooves may promote stability of the first manipulator 21 when transporting the cutterhead 6, avoid tilting of the cutterhead 6 during transportation, and alternatively, the number of cutterhead gripping grooves may be plural and may be arranged at intervals along the outer circumference of the cutterhead 6.

In some embodiments of the present invention, referring to fig. 10 and 9, the top of the cutterhead replacing mechanism 2 is provided with a positioning hole, a guide block 52 on the cutterhead 6 is suitable for being inserted into the positioning hole, the positioning hole can limit the guide column in the X direction and the Y direction, so that the relative position of the cutterhead 6 and the cutterhead replacing mechanism 2 is fixed, the stable transportation of the cutterhead 6 on the circulation assembly 4 is facilitated, when the circulation assembly 4 needs to transport the cutterhead 6, the lifting frame 42 can lift the cutterhead 6, the guide block 52 is separated from the positioning hole, and the guide column block slides in the guide hole.

In some embodiments of the present invention, the cutterhead changing mechanism 2 further comprises: the reader-writer is used for reading information of the electronic tag on the cutterhead 6 and changing information of the electronic tag, tool information in the cutterhead 6 can be recorded in the electronic tag, the tool information can comprise a model, a position and service life of a tool, the reader-writer can be in communication connection with a display screen for controlling the sun, so that specific conditions of the tool on the cutterhead 6 are displayed on the display screen in real time and updated in real time, and tool information in the electronic tag in the cutterhead 6 can be updated in real time through the reader-writer when the tool at any position on the cutterhead 6 is changed, and the reader-writer can be an RFID reader-writer. When the cutterhead is replaced, the reader-writer can read information of the electronic tag on the cutterhead 6, so that the processing platform 1 can acquire cutter information in the cutterhead 6, a drilling mechanism can conveniently and accurately grasp a required cutter in the cutterhead 6, when the drilling mechanism on the processing platform 1 picks and places the cutter each time, the reader-writer can change the information of the electronic tag on the cutterhead 6, so that the cutter information in the cutterhead 6 is updated in real time, the situation that the drilling mechanism picks up the cutter with the service life in the cutterhead 6 is avoided, when all the cutters in the cutterhead 6 reach the service life, the cutterhead 6 conveying mechanism can convey the old cutterhead on the cutterhead to the cutterhead replacing mechanism 2, and the cutterhead replacing mechanism 2 can convey the new cutterhead 6 on the cutterhead 6 to the cutterhead 6 conveying mechanism.

According to a cutterhead changing method of a tool changing system according to an embodiment of a third aspect of the present invention, the tool changing system is the tool changing system of the above embodiment, and the cutterhead changing mechanism 2 includes: the first replacing device and the cutter disc replacing method of the cutter changing system comprise the following steps:

the processing platform 1 conveys the cutterhead 6 with the old cutter on the cutterhead replacing mechanism 2, the cutterhead replacing mechanism 2 conveys the cutterhead 6 with the old cutter on the cutterhead to the circulation assembly 4, and the circulation assembly 4 conveys the cutterhead 6 with the old cutter on the cutterhead to the tool magazine 3;

and/or the number of the groups of groups,

the tool magazine 3 conveys the cutterhead 6 with the new tool mounted thereon to the circulation assembly 4, the circulation assembly 4 conveys the cutterhead 6 with the new tool mounted thereon to the cutterhead changing mechanism 2, and the cutterhead changing mechanism 2 conveys the cutterhead 6 with the new tool mounted thereon into the processing platform 1.

According to the cutter head replacing method of the cutter changing system, the cutter head replacing mechanism 2 can replace the cutter head 6 on the processing platform 1, the circulation assembly 4 can replace the cutter head 6 on the cutter magazine 3 and the cutter head replacing mechanism 2 to replace the cutter head with the old cutter on the processing platform 1 with the cutter head 6 with the new cutter, and the automatic replacement of the cutter on the processing platform 1 is realized by replacing the cutter head 6, so that the working efficiency of the processing platform 1 is improved, and the labor cost is reduced.

In some embodiments of the present invention, further comprising a cutterhead tray 5, the cutterhead tray 5 being configured for housing at least one cutterhead 6; the method further comprises the steps of:

the circulation assembly 4 moves between the cutter head replacing mechanism 2 and the cutter magazine 3 along a preset travelling path, and when the circulation assembly 4 moves to a first preset position of the cutter head replacing mechanism 2; the cutterhead changing mechanism 2 conveys a cutterhead tray 5 with old cutters mounted thereon to the circulation assembly 4; or the circulation assembly 4 conveys the cutterhead tray 5 with the new cutter mounted thereon to the cutterhead changing mechanism 2.

Wherein, the circulation subassembly 4 can be the AGV dolly that has the removal chassis, when cutterhead changing mechanism 2 moved to first default position, circulation subassembly 4 can be located cutterhead changing mechanism 2 and keep away from the one side of processing platform 1, and cutterhead changing mechanism 2 is suitable for receiving cutterhead 6 that is equipped with old cutter on cutterhead changing mechanism 2 to transport cutterhead 6 that is equipped with new cutter on cutterhead changing mechanism 2 to cutterhead changing mechanism 2.

In some embodiments of the present invention, the cutterhead replacement method of the tool changing system further includes: the cutterhead replacing mechanism 2 further comprises a first manipulator 21 and a cutterhead placing disc; the method further comprises the steps of:

the cutter disc replacing mechanism 2 conveys the cutter disc 6 provided with the old cutter on the processing platform 1 to a cutter disc placing disc through a first manipulator 21;

Or the first manipulator 21 conveys the cutterhead 6 with the new cutter on the cutterhead placing tray to the processing platform 1.

The cutterhead 6 conveying mechanism, the cutterhead replacing mechanism 2 and the cutterhead replacing mechanism 2 read or change information of electronic tags on the cutterhead 6 before conveying the cutterhead 6 and after receiving the cutterhead 6, wherein the electronic tags can record cutter information in the cutterhead 6, and the cutter information can comprise the type, the position and the service life of a cutter.

When the old cutterhead on the processing platform 1 needs to be replaced, the lifting mechanism 24 lifts the cutterhead placing tray to be at the same Z-direction height with the processing platform 1, the first manipulator 21 conveys the old cutterhead to the empty cutterhead placing tray, and then the cutterhead placing tray conveys the new cutterhead 6 on the cutterhead placing tray to the processing platform 1 so as to replace the cutterhead 6.

The cutter head replacing mechanism 2 is provided with a reader-writer for reading or changing the information of the electronic tag, and after the cutter head replacing mechanism 2 and the cutter head replacing mechanism 2 receive the cutter head 6, the corresponding reader-writer can read the information of the electronic tag on the cutter head 6 to acquire the cutter information of the cutter head 6. Before the cutterhead 6 is conveyed by the cutterhead 6 conveying mechanism and the cutterhead replacing mechanism 2, the information of the electronic tag on the cutterhead 6 can be correspondingly changed, so that when the information of the model, the position, the service life and the like of the cutter in the cutterhead 6 is changed, new cutter information is written into the electronic tag.

In some embodiments of the present invention, the cutterhead replacement method of the tool changing system further includes: the cutterhead changing mechanism 2 comprises a lifting mechanism 24 and a first displacement mechanism 26, and the circulation device comprises a lifting frame 42; the method further comprises the steps of: the circulation assembly 4 stops at a first distance in front of the cutterhead replacing mechanism 2 along a preset travelling path, and the lifting mechanism 24 moves upwards or downwards along the vertical direction so that the cutterhead placing plate of the circulation assembly 4 and the upper end surface of the replacing platform 43 of the lifting frame 42 keep the same horizontal height; the first displacement mechanism 26 moves the old cutterhead to the exchange platform 43; or so the first displacement mechanism 26 carries the new cutterhead 6 to the cutterhead receiving tray.

Wherein the first distance is the feeding level of the circulation assembly 4 and the cutterhead changing mechanism 2, and is one side of the cutterhead changing mechanism 2 away from the processing platform 1. The first distance may be set according to actual requirements and the operable distance of the first robot 21.

In some embodiments of the present invention, the circulation assembly 4 moves to the first position in front of the cutterhead replacing mechanism 2 of the tool magazine 3, the lifting frame 42 of the circulation assembly 4 drives the cutterhead 6 to lift in the vertical direction, then moves to a designated position along the direction of the opening 32 of the cutterhead replacing mechanism 2, the lifting frame 42 descends, and the cutterhead 6 is placed on the cutterhead replacing mechanism 2;

And/or, the number of the groups,

the circulation assembly 4 moves to the first position in front of the cutterhead replacing mechanism 2 of the tool magazine 3, the lifting frame 42 of the circulation assembly 4 descends along the vertical direction, then moves to the designated position along the opening 32 direction of the cutterhead replacing mechanism 2, and the lifting frame 42 ascends to prop up and fix the cutterhead 6 on the replacing platform 43.

In some embodiments of the present invention, the cutterhead changing mechanism 2 includes: the cutter head replacing mechanism 2 is provided with an AGV trolley of a movable chassis, the cutter head replacing mechanism 2 can move between a cutter warehouse and the first replacing device, and the cutter warehouse 3 is provided with a new cutter head 6 and a spare new cutter.

After the transfer assembly 4 is moved to the tool magazine, the replacement process of the old cutterhead on the transfer assembly 4 is as follows, as indicated by the solid arrow in fig. 12: the circulation assembly 4 moves to the bottom of the placement layer according to a set route, then the lifting frame 42 is lifted upwards along the z direction until the guide hole of the placement layer is disengaged from the guide block 52 on the cutterhead 6, the lifting frame 42 continues to lift until the cutterhead 6 is disengaged from the cutterhead replacing mechanism 2, and then the circulation assembly 4 is driven out of the moving channel; the transfer of the cutter disc 6 and the circulation assembly 4 on the cutter disc replacing mechanism 2 is completed.

In some embodiments, as can be seen in particular in connection with fig. 12: cutterhead replacement between the circulation assembly 4 and the cutterhead replacement mechanism 2: specifically, when the cutter disc 6 on the circulation assembly 4 needs to be replaced to the disc replacement mechanism 2; the circulation assembly 4 moves to a cutter changing position of the cutter changing mechanism 2 according to a prescribed route; the lifting mechanism 24 of the cutterhead replacing mechanism 2 controls the first moving mechanism 26 to descend or the lifting frame 42 of the circulation assembly 4 to ascend, so that the first conveying assembly 262 is lower than the horizontal plane of the lowest end of the replacing platform of the circulation assembly 4; then the first conveying component controller fork ruler of the first displacement mechanism moves along the direction of the guide rail and moves below the replacing platform 43 of the circulation component 4, at this time, the first guide member 2623 is opposite to the guide hole of the cutterhead 6, then the lifting structure is lifted, the first guide member 2623 is inserted into the guide hole of the cutterhead 6, the cutterhead 6 circulates the component 4, the first conveying component moves backwards, and the cutterhead tray transfer is completed.

When the cutter head 6 on the circulation assembly 4 needs to be changed to the cutter head changing mechanism 2; referring to the dashed arrow corresponding to the placement table in fig. 12, the lifting frame 42 is lifted up along the Z direction, so that the cutterhead 6 is higher than the top of the placement layer in the Z direction, then the circulation assembly 4 moves to the position above the placement layer according to the set route, the lifting frame 42 descends downward along the Z direction, the lifting frame 42 descends until the guide hole of the placement layer is matched and fixed with the guide block 52 on the cutterhead 6, finally the lifting frame 42 descends until the replacement platform 43 is completely separated from the cutterhead replacement mechanism 2, and then the circulation assembly 4 exits the moving channel; and the transfer of the cutter on the circulation assembly 4 and the cutter 6 of the cutter disc replacement mechanism 2 is completed.

In another embodiment, referring to fig. 2, the tool magazine 3 is provided with a second manipulator 33, the second manipulator 33 is disposed on the tool head replacing mechanism 2, the tool head 6 is used for placing the tool on the tool head replacing mechanism 2, the second manipulator 33 is suitable for grabbing the tool head 6, and the old tool head replacing process of the old tool head with the old tool on the tool head replacing mechanism 2 is as follows: the second manipulator 33 grabs the old cutterhead on the cutterhead replacing mechanism 2 and moves to the first waste area of the tool warehouse, the second manipulator 33 grabs the new tool in the tool warehouse and moves to the cutterhead replacing mechanism 2, and the cutterhead replacing mechanism 2 can be provided with a reader-writer which is used for reading information of electronic tags on corresponding cutterheads 6 and changing information of the electronic tags.

According to the PCB tool changing method provided by the embodiment of the invention, through the arrangement of the cutter disc changing mechanism 2 and the circulation assembly 4 on the processing platform 1, which is correspondingly matched with the cutter disc changing mechanism 2, the automatic changing of the cutters between the processing platform 1 and the cutter magazine 3 can be realized, and the plate material processing of the processing platform 1 is not influenced when the cutter disc 6, the cutters and the cutters are changed, so that the participation of manpower is reduced, the production efficiency is improved, the downtime is reduced, the automatic production and management are realized, the information of the electronic tags on the cutter disc 6 can be read and written through a reader-writer, the information of the cutters at each position on each cutter disc 6 can be recorded and updated in real time, and the visual automation and the information management can be realized. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A cutter disc replacement line for PCB processing is characterized in that,

2. A cutter head replacement line for PCB processing as set forth in claim 1, wherein,

the circulating assembly moves along a preset travelling path and is used for conveying a new cutter disc on the cutter magazine to the cutter disc replacement mechanism; and/or receiving an old cutterhead on the cutterhead changing mechanism and conveying the old cutterhead to the cutterhead changing mechanism.

3. The cutterhead replacement wire for PCB processing of claim 2 wherein the flow assembly comprises: the lifting frame is arranged on the first moving device in a lifting manner, and is provided with a replacing platform which is used for receiving new and old cutterheads on the cutterhead replacing mechanism and/or the tool magazine;

4. A cutter head changing line for PCB processing according to claim 3, wherein the changing platform is provided with a plurality of positioning members configured to fit in positioning holes of the bottom of the cutter head.

5. The cutterhead replacement wire of claim 1 wherein the cutterhead replacement mechanism further comprises: the first manipulator is arranged on one side of the supporting seat, is used for grabbing cutters or cutterheads on the processing platform to the supporting seat, and is suitable for grabbing cutters or cutterheads in the supporting seat to the processing platform.

6. The cutterhead replacing line for PCB processing of claim 5, wherein the supporting seat is provided on the second moving device, a lifting mechanism is provided on the supporting seat, a cutterhead placing tray is provided on the lifting mechanism, the lifting mechanism drives the cutterhead placing tray to move along the Z direction, and the cutterhead placing tray is configured for placing cutterhead.

7. The cutterhead replacing line for PCB machining according to claim 6, wherein a first displacement mechanism is arranged at the top of the lifting mechanism, the cutterhead placing disc is installed on the first displacement mechanism, and the first displacement mechanism drives the cutterhead placing disc to move along the Y direction.

8. The cutterhead replacing line for PCB machining according to claim 5, wherein the cutterhead replacing mechanism has an idle cutterhead position, the idle cutterhead position is arranged on the supporting seat, and the idle cutterhead has at least one cutterhead temporary storage area.

9. The cutter head replacement line for PCB processing of claim 1, wherein the magazine further comprises a plurality of cutter head buffer frames, each cutter head buffer frame being provided with a guide hole configured for mating connection with a guide block on a cutter head;

10. The cutterhead changing line for PCB processing of claim 1, further comprising a cutterhead tray configured to house the cutterhead, the cutterhead tray having a plurality of cutterhead slots provided thereon for mounting the cutterhead;

11. The cutterhead replacing line for PCB processing of claim 10, wherein positioning holes are formed in the bottom of the cutterhead tray and are used for being matched with positioning pieces on the circulation assembly respectively.

12. The cutterhead replacing line for PCB machining according to claim 5, wherein a gripper is arranged on the first manipulator, a visual mechanism is mounted on one side of the gripper, and the visual mechanism is configured to obtain feature point positioning positions on the cutterhead and the machining platform.

13. A tool changing system, comprising: a cutterhead replacement wire for PCB processing according to any one of claims 1-12; the processing system comprises a motion module, a control module, a vision module, a tool changing module and a sensor module thereof; the control module is respectively connected with the motion module, the vision module, the tool changing module and the sensor module;

14. The tool changing system of claim 13, wherein the vision module is comprised of a camera and camera positioning frame assembly, the vision module being configured to obtain feature point positioning locations on a cutterhead and a machining platform;

15. The tool changing system of claim 13, wherein the cutterhead changing mechanism further comprises: the reader-writer is used for reading information of the electronic tag on the cutter head and changing the information of the electronic tag.

16. A cutterhead replacement method of a tool changing system, characterized in that the cutterhead replacement method is applied to a tool changing system according to any one of claims 13-15, the method comprising:

And/or the number of the groups of groups,

the tool magazine conveys the cutterhead with the new tool to the circulation assembly, the circulation assembly conveys the cutterhead with the new tool to the cutterhead replacing mechanism, and the cutterhead replacing mechanism conveys the cutterhead with the new tool to the processing platform.

17. The cutterhead replacement method of a tool changer system of claim 15 further comprising a cutterhead tray configured to house at least one of the cutterheads; the method further comprises the steps of:

18. The cutterhead replacement method of a tool changer system of claim 15 wherein the cutterhead replacement mechanism further comprises a first manipulator and a cutterhead placement tray; the method further comprises the steps of:

19. The cutterhead replacement method of a tool changer system of claim 16 wherein the cutterhead replacement mechanism comprises a lift mechanism and a first displacement mechanism, the flow device comprises a lift frame; the method further comprises the steps of: the transfer assembly stops at a first distance in front of the cutter disc replacing mechanism along a preset travelling path, and the lifting mechanism moves upwards or downwards along the vertical direction so that the cutter disc placing disc of the transfer assembly and the upper end surface of the replacing platform of the lifting frame keep the same horizontal height; the first displacement mechanism moves the old cutterhead to the replacement platform; or so the first displacement mechanism moves the new cutterhead onto the cutterhead receiving tray.

20. The cutterhead replacement method of a tool changer system of claim 15, wherein the method further comprises:

And/or, the number of the groups,