CN211576091U - PCB bores sword detection device and PCB drilling equipment - Google Patents
PCB bores sword detection device and PCB drilling equipment Download PDFInfo
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- CN211576091U CN211576091U CN202020265139.XU CN202020265139U CN211576091U CN 211576091 U CN211576091 U CN 211576091U CN 202020265139 U CN202020265139 U CN 202020265139U CN 211576091 U CN211576091 U CN 211576091U
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Abstract
The utility model discloses a PCB bores sword detection device and PCB drilling equipment. The PCB drill detection device comprises: the device comprises a light source, a main lens, a linear array CCD and a main control unit; the main lens and the linear array CCD are sequentially arranged on a light path of parallel light emitted by the light source; the main control unit is electrically connected with the linear array CCD and an external PCB drill control module and is used for receiving and processing image signals output by the linear array CCD; and the PCB drill bit to be detected is arranged between the light source and the main lens along the light emergent direction of the light source. The embodiment of the utility model provides a technical scheme can be through the convenient accurate length, diameter and the beat that acquire the PCB brill sword of linear array CCD, and then has improved the detection precision of PCB brill sword.
Description
Technical Field
The embodiment of the utility model provides a PCB processing field especially relates to a PCB bores sword detection device and PCB drilling equipment.
Background
With the continuous improvement of the integration level of components, the requirement of a common circuit board on the diameter of a drilled hole is more than 0.1mm, the requirement on the drilling diameter of a high-end circuit board is usually less than 0.1mm, the requirement on the drilling precision is higher, and the diameter, the length and the deflection of the drill directly influence the formation of the connecting hole, so that the measurement of the parameters of the drill is particularly important. In the prior art, the measurement precision of the drill measuring device for the small-size drill is not enough, and a PCB drill detecting device with higher detection precision is urgently needed to be provided.
SUMMERY OF THE UTILITY MODEL
The utility model provides a PCB bores sword detection device and PCB drilling equipment to improve PCB and bore sword and detect the precision.
In a first aspect, an embodiment of the present invention provides a PCB drill detection device, include:
the device comprises a light source, a main lens, a linear array CCD and a main control unit;
the main lens and the linear array CCD are sequentially arranged on a light path of parallel light emitted by the light source;
the main control unit is electrically connected with the linear array CCD and an external PCB drill control module and is used for receiving and processing image signals output by the linear array CCD;
and the PCB drill bit to be detected is arranged between the light source and the main lens along the light emergent direction of the light source.
In a second aspect, an embodiment of the present invention further provides a PCB drilling apparatus, including the above first aspect, the PCB drill detection device.
The third aspect, the embodiment of the present invention further provides a PCB drill detection method, which is implemented by the PCB drill detection device of the first aspect, and the PCB drill detection method includes:
when the linear array CCD detects that the PCB drill bit starts to enter the viewing surface of the PCB drill bit, the main control unit is informed to record the first position of the PCB drill bit;
the main control unit acquires a reference position of the PCB drill cutter and a standard length of the PCB drill cutter, and calculates the length of the PCB drill cutter according to the reference position, the standard length of the PCB drill cutter and the first position;
the linear array CCD shoots a first image of the PCB drill bit in a static state;
the main control unit calculates the diameter of the PCB drill bit according to the first image;
the linear array CCD shoots a second image of the PCB drill bit in a rotating state;
the main control unit determines the deflection of the PCB drill according to the second image and the diameter;
the arrangement direction of the first position and the reference position is perpendicular to the light emitting direction of the light source.
The embodiment of the utility model provides a PCB boring cutter detection device includes the light source, main lens, linear array CCD and main control unit, wherein, main lens and linear array CCD arrange in the light path of the parallel light of light source outgoing in proper order, main control unit is connected with linear array CCD and outside PCB boring cutter control module electricity, an image signal for receiving and handling linear array CCD output, along the light-emitting direction of light source, it sets up between light source and main lens to detect the PCB boring cutter, make can be through the convenient accurate length of acquireing the PCB boring cutter of linear array CCD, diameter and beat, and then the detection precision of PCB boring cutter has been improved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It should be clear that the described figures are only drawings of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of a PCB drill detection device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the PCB drill detecting device of FIG. 1 when measuring the diameter of the PCB drill;
fig. 3 is a schematic structural diagram of a linear array CCD provided in an embodiment of the present invention;
FIG. 4 is an image of the output signal of the linear CCD array of FIG. 3 without detecting the PCB drill bit;
FIG. 5 is an image of the output signal of the linear array CCD of FIG. 3 during the detection of the PCB drill;
fig. 6 is a schematic structural diagram of a PCB drilling apparatus according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a PCB drill detection method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a PCB drill detecting device according to an embodiment of the present invention when measuring the length of a PCB drill;
fig. 9 is a partial enlarged view in a broken line frame K in fig. 8;
fig. 10 is a flow chart illustrating a detection process of a PCB drill according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the objectives of the present invention, the following detailed description will be made in conjunction with the accompanying drawings and preferred embodiments for the specific embodiments, structures, features and effects of the PCB drill detecting device and the PCB drilling apparatus according to the present invention.
The embodiment of the utility model provides a PCB bores sword detection device, include:
the device comprises a light source, a main lens, a linear array CCD and a main control unit;
the main lens and the linear array CCD are sequentially arranged on a light path of parallel light emitted by the light source;
the main control unit is electrically connected with the linear array CCD and an external PCB drill control module and is used for receiving and processing image signals output by the linear array CCD;
and the PCB drill bit to be detected is arranged between the light source and the main lens along the light emergent direction of the light source.
The embodiment of the utility model provides a PCB boring cutter detection device includes the light source, main lens, linear array CCD and main control unit, wherein, main lens and linear array CCD arrange in the light path of the parallel light of light source outgoing in proper order, main control unit is connected with linear array CCD and outside PCB boring cutter control module electricity, an image signal for receiving and handling linear array CCD output, along the light-emitting direction of light source, it sets up between light source and main lens to detect the PCB boring cutter, make can be through the convenient accurate length of acquireing the PCB boring cutter of linear array CCD, diameter and beat, and then the detection precision of PCB boring cutter has been improved.
The above is the core idea of the present application, and the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, under the premise that creative work is not done by ordinary skilled in the art, all other embodiments obtained all belong to the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other embodiments that depart from the specific details disclosed herein, and one skilled in the art may readily devise many other varied embodiments that are not limited to the specific details disclosed herein.
Next, the present invention will be described in detail with reference to the schematic drawings, and in the detailed description of the embodiments of the present invention, for convenience of explanation, the schematic drawings showing the structure of the device are not partially enlarged according to the general scale, and the schematic drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and height should be included in the actual fabrication.
Fig. 1 is a schematic structural diagram of a PCB drill detection device provided by an embodiment of the present invention. Fig. 2 is a schematic structural view of the PCB drill detecting apparatus of fig. 1 when measuring a diameter of the PCB drill. As shown in fig. 1 and 2, the PCB drill detecting apparatus includes a light source 100, a main lens 200, a line CCD300, and a main control unit 400. The main lens 200 and the line CCD300 are sequentially arranged on the light path of the parallel light emitted from the light source 100, the main control unit 400 is electrically connected to the line CCD300 and the external PCB drill control module, and is configured to receive and process the image output by the line CCD300, and along the light emitting direction X of the light source 100, as shown in fig. 2, the PCB drill 500 to be detected is arranged between the light source 100 and the main lens 200.
It should be noted that the PCB drill detection device provided in this embodiment can detect the length, diameter and deflection of the PCB drill to be detected, and is suitable for the small-sized PCB drill which is difficult to accurately detect in the prior art.
The specific structure of the light source 100 is not limited in this embodiment, and all light sources capable of emitting parallel light beams are within the protection scope of this embodiment.
The CCD converts the optical signal into an electric signal through a photosensitive element, and outputs a video signal through storage, transmission and detection, thereby presenting an image visible to human eyes. Specifically, the CCD is divided into an area CCD and a line CCD300, wherein the line CCD300 has a simple structure and a low cost, and can store one line of television signals at the same time, and since the number of the single-row photosensitive elements can be increased, the measurement range can be increased on the premise of the same measurement accuracy. In addition, the linear array CCD300 can transmit photoelectric conversion signals in real time, has a high self-scanning speed and a high frequency response, can realize dynamic measurement, and can operate under low illumination. Based on the above advantages, the linear array CCD300 is often applied to the technical field of high-precision and high-speed detection. Therefore, the linear array CCD300 is adopted in the embodiment to measure the length, the diameter and the deflection of the PCB drill bit, so as to improve the detection precision.
For example, the line CCD adopted in the present embodiment may be the TCD1304AP, and the sensitivity of the line CCD is high and the dark current is low. Fig. 3 is a schematic structural diagram of a linear array CCD provided in an embodiment of the present invention. Specifically, fig. 3 corresponds to TCD1304 AP. As shown in fig. 3, the line CCD includes 3648 pixels 701, each pixel 701 having a size of 8 × 20 μm and having 22 pins 702.
The function of TCD1304AP is described below using diameter measurements as an example. Fig. 4 is an image of an output signal of the line CCD in fig. 3 when the PCB drill bit is not detected. Fig. 5 is an output signal image of the linear array CCD in fig. 3 when detecting a PCB drill. As shown in fig. 4 and 5, the TCD1304AP outputs different signals according to the intensity of the light, and when the PCB drill blocks part of the light, the intensity of the output signal of the blocked part is reduced, that is, the interval H in fig. 5 corresponds to the diameter of the PCB drill.
The PCB drill detection device provided by this embodiment includes a light source 100, a main lens 200, a linear array CCD300 and a main control unit 400, wherein the main lens 100 and the linear array CCD300 are sequentially arranged on a light path of parallel light emitted from the light source 100, and the main control unit 400 is electrically connected to the linear array CCD300 and an external PCB drill control module, and is configured to receive and process an image output by the linear array CCD300, and a PCB drill to be detected is disposed between the light source 100 and the main lens 200 along a light emitting direction X of the light source 100, so that the length, diameter and deflection of the PCB drill can be conveniently and accurately obtained through the linear array CCD300, and further the detection accuracy of the PCB drill is improved.
For example, with continued reference to fig. 2, the light source 100 may include a point light source 110 and a light source lens 120 located on a side of the point light source 110 close to the main lens 200, wherein the light source lens 120 is used for adjusting light emitted from the point light source 110 into a parallel light beam.
It should be noted that the point light source 110 has a simple structure and low cost, and the light source 100 shown in fig. 2 is adopted to reduce the cost of the PCB drill detection device.
In other embodiments of the present embodiment, the light source 100 may also be a laser light source emitting a laser beam with a predetermined diameter.
Wherein, predetermine the diameter laser beam for having the laser beam of predetermineeing the diameter, the designer can rationally set up according to actual need to the concrete numerical value of the above-mentioned diameter of predetermineeing.
It should be noted that the laser light source may directly emit parallel light beams, and the light source 100 only includes this one component, so that the occupied space of the light source 100 is reduced.
With reference to fig. 2, the PCB drill detecting apparatus may further include an optical path adjusting portion 600, the optical path adjusting portion 600 is configured to adjust an optical path of the parallel light emitted from the light source 100, an arrangement direction Y of the main lens 200 and the line CCD300 is perpendicular to the light emitting direction X of the light source, and the main lens 200, the optical path adjusting portion 600, and the line CCD300 are sequentially arranged on the optical path of the parallel light emitted from the light source 100.
It should be noted that, such an arrangement mode can reduce the length of the PCB drill detection device in the light outgoing direction X of the light source 100, so that components in the PCB drill detection device are more intensively arranged, and the PCB drill detection device is convenient to mount in the PCB drilling equipment.
Illustratively, with continued reference to fig. 2, the optical path adjusting part 600 includes a first reflecting mirror 610 and a second reflecting mirror 620, and the main lens 200, the first reflecting mirror 610, the second reflecting mirror 620, and the line CCD300 are sequentially arranged on the optical path of the parallel light emitted from the light source 100.
It should be noted that, on the basis of being able to implement the corresponding optical path adjusting function, the optical path adjusting portion 600 has a simple structure and low cost of the adopted components, which is beneficial to simplifying the structure of the PCB drill detecting device and reducing the cost of the PCB drill detecting device.
In other embodiments of this embodiment, the optical path adjusting part 600 may have other structures, and any structure capable of realizing the corresponding optical path adjusting function is within the scope of this embodiment.
Fig. 6 is a schematic structural diagram of a PCB drilling apparatus according to an embodiment of the present invention. As shown in fig. 6, the PCB drilling apparatus 10 includes a PCB drill detecting device 11 according to any embodiment of the present invention. Because the PCB drilling equipment 10 that this embodiment provided includes like the utility model provides an arbitrary PCB brill sword detection device 11, it has the same or corresponding beneficial effect of PCB brill sword detection device 11 that it includes, and the no longer repeated description here.
Fig. 7 is a schematic flow chart of a PCB drill detection method according to an embodiment of the present invention. This PCB bores sword detection method to adopt the utility model discloses the PCB bores sword detection device that arbitrary embodiment provided implements. As shown in fig. 7, the PCB drill detection method specifically includes the following steps:
step 1, when the linear array CCD detects that the PCB drill bit starts to enter the viewing surface of the PCB drill bit, the main control unit is informed to record the first position of the PCB drill bit.
And 2, the main control unit acquires the reference position of the PCB drill and the standard length of the PCB drill, and calculates the length of the PCB drill according to the reference position, the standard length of the PCB drill and the first position, wherein the arrangement direction of the first position and the reference position is perpendicular to the light emitting direction of the light source.
And 3, shooting a first image of the PCB drill cutter in a static state by the linear array CCD.
And 4, calculating the diameter of the PCB drill bit by the main control unit according to the first image.
And 5, shooting a second image of the PCB drill bit in the rotating state by the linear array CCD.
And 6, determining the deflection of the PCB drill bit by the main control unit according to the second image and the diameter.
It should be noted that, the measurement sequence of the PCB drill detection method provided by this embodiment is as follows: the length of the PCB drill, the diameter of the PCB drill and the deflection of the PCB drill.
The measurement principle of each parameter is briefly described as follows:
for the length measurement of the PCB drill, the distance of the PCB drill with the standard length and the distance of the PCB drill to be measured moving from the same preset position to the same appointed position are compared, the length difference between the PCB drill to be measured and the PCB drill with the standard length is determined, and then the length of the PCB drill to be measured is obtained based on the length calculation of the PCB drill with the known length and the standard length.
For diameter measurement of the PCB drill, a linear array CCD is adopted to obtain an image of the PCB drill to be measured in a static state, and the diameter of the PCB drill to be measured is calculated and obtained based on the image and a related imaging formula of a main lens.
For the deflection measurement of the PCB drill, the linear array CCD is adopted to obtain an image of the PCB drill to be measured in a rotating state, the virtual diameter of the PCB drill to be measured in the rotating state is calculated and obtained based on the image and a related imaging formula of the main lens, and the deflection of the PCB drill to be measured is calculated and obtained based on the virtual diameter and the determined real diameter of the PCB drill to be measured.
In the technical scheme provided by the embodiment, when the linear array CCD detects that the PCB drill bit starts to enter the viewing surface of the PCB drill bit, informing the main control unit to record the first position of the PCB drill cutter, acquiring the reference position of the PCB drill cutter and the standard length of the PCB drill cutter by the main control unit, and calculating the length of the PCB drill according to the reference position, the standard length of the PCB drill and the first position, wherein the arrangement direction of the first position and the reference position is vertical to the light emitting direction of the light source, the linear array CCD shoots a first image of the PCB drill bit in a static state, the main control unit calculates the diameter of the PCB drill bit according to the first image, the linear array CCD shoots a second image of the PCB drill bit in a rotating state, the main control unit determines the deflection of the PCB drill bit according to the second image and the diameter, the length, the diameter and the deflection of the PCB drill bit can be conveniently and accurately acquired through the linear array CCD, and the detection precision of the PCB drill bit is further improved.
Specifically, calculating the length of the PCB drill according to the reference position, the standard length of the PCB drill, and the first position may include: calculating the distance A between the reference position and the first position, and obtaining the distance B between the reference position and the signal trigger points of the linear array CCD, wherein the arrangement directions of the first position, the reference position and the signal trigger points of the linear array CCD are vertical to the light emitting direction of the light source, so that the standard length C of the PCB drill bit is obtained, and the actual length D of the PCB drill bit is B-A + C.
Exemplarily, fig. 8 is a schematic structural diagram of a PCB drill detecting device for measuring a length of a PCB drill according to an embodiment of the present invention. Fig. 9 is a partially enlarged view of a dotted frame K in fig. 8. As shown in fig. 8 and 9, after the test is started, the PCB drill is first adjusted to a reference position J (the PCB drill position indicated by the dotted line in fig. 8 and 9), and then the PCB drill is controlled to move downward along the vertical direction Y of the light emitting direction X of the light source 100 until the detection signal of the linear array CCD changes, that is, until the PCB drill moves to a first position Q (the PCB drill position indicated by the solid line in fig. 8), which all aim at the actual PCB drill. It should be noted that the signal trigger point of the linear array CCD is the position of the PCB drill with the standard length when the detection signal of the linear array CCD changes. Illustratively, the actual length of the PCB drill in fig. 8 and 9 is less than the standard length, and fig. 8 and 9 illustrate the position R of the standard length PCB drill at the signal trigger point of the line CCD in a hatched filling manner. The positions are all positions of the PCB drill knife at a point which is n lengths away from the knife edge. For example, when n is 0, the most common measurement method is to use the blade edge position as the measurement position. With continued reference to fig. 8 and 9, the distance a between the reference position J and the first position Q, and the distance B between the reference position P and the signal trigger point R of the linear array CCD, then the actual length D of the PCB drill is equal to B-a + C when the PCB drill is the standard length C. The more popular understanding is as follows: when the PCB drill cutter with the standard length moves downwards for a distance B from a reference position J, a signal trigger point R of the linear array CCD is reached, and the actual PCB drill cutter moves downwards for a distance A which is longer than the distance B to trigger a detection signal of the linear array CCD to change, so that the actual length of the PCB drill cutter is smaller than the standard length of the PCB drill cutter, and is specifically smaller than the standard length by A-B, and a calculation formula of the PCB drill cutter is obtained. It should be noted that the above calculation formula of the actual length of the PCB drill is still true when the actual length of the PCB drill is greater than the standard length thereof, and the specific principle is the same as that of the case when the actual length of the PCB drill is less than the standard length thereof, and the details are not repeated herein.
Optionally, the calculating, by the main control unit, the diameter of the PCB drill according to the first image may include: the main control unit determines the number m of pixels with brightness lower than reference brightness in the first image, and substitutes the number m of pixels into a calculation formula of the diameter D of the PCB drill: and D is ump/f to obtain the diameter of the PCB drill, wherein u is the object distance of the main lens, p is the pixel width of the linear CCD, and f is the focal length of the main lens.
It should be noted that, referring to fig. 2, the total width of pixels with luminance lower than the reference luminance in the first image captured by the line CCD300 is equivalent to the image of the PCB drill diameter relative to the main lens 200, based on the lens imaging formula:
and imaging formula of linear array CCD
Wherein u is the object distance of the main lens, a + b is the image distance of the main lens, α is the magnification of the main lens, m is the number of pixels, p is the image distance, f is the focal length of the main lens, and D is the diameter of the PCB drill. From the above two formulas:
when u is>>f, the former formula can be simplified to
So far, a calculation formula of the diameter of the PCB drill bit is obtained. And u, p and f are known parameters, so that after the number m of pixels with brightness lower than the reference brightness is extracted from the first image, the actual diameter of the PCB drill can be calculated according to the diameter calculation formula of the PCB drill.
In this embodiment, the determining, by the main control unit according to the second image and the diameter, the deflection of the PCB drill may include: acquiring the diameter D1 of the PCB drill bit in a static state, determining the number n of pixels with brightness lower than reference brightness in the second image by the main control unit, and substituting the number n of pixels into a calculation formula of the diameter D of the PCB drill bit: d ═ unp/f, to obtain diameter D2 of the PCB drill under the rotation state, where u is the object distance of the main lens, p is the pixel width of the linear array CCD, f is the focal length of the main lens, the diameter D1 and the diameter D2 are substituted into the calculation formula of the PCB drill runout T: t ═ D2-D1)/2, to obtain PCB drill runout.
It should be noted that the diameter D1 of the PCB drill at rest is the actual diameter of the PCB drill calculated in the previous step. It can be understood that the main structure of the PCB drill is actually a cylinder, but after the deviation occurs, the outer contour of the PCB drill during the high-speed rotation process forms a cone, and the diameter of the cone at the same position is larger than the actual diameter of the PCB drill. The PCB drill can be set to rotate, and then the diameter of the cone corresponding to the PCB drill at the moment, namely D2, is obtained by adopting a method for obtaining the diameter of the PCB drill in a static state. And then through a calculation formula of the PCB drill bit deflection T: and T is (D2-D1)/2, and the PCB drill bit deflection T is obtained.
It should be noted that, due to the existence of errors in the process and operation, the detection tolerance of each parameter is set, when the detected length, diameter and deflection of the PCB drill are within the corresponding tolerance range, the detection result is considered to be correct, otherwise, the measurement is restarted, and the specific process of the measurement method of the corresponding PCB drill is as shown in fig. 10.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (6)
1. A PCB drill detection device, comprising:
the device comprises a light source, a main lens, a linear array CCD and a main control unit;
the main lens and the linear array CCD are sequentially arranged on a light path of parallel light emitted by the light source;
the main control unit is electrically connected with the linear array CCD and an external PCB drill control module and is used for receiving and processing image signals output by the linear array CCD;
and the PCB drill bit to be detected is arranged between the light source and the main lens along the light emergent direction of the light source.
2. The PCB drill detection device of claim 1, wherein the light source comprises a point light source and a light source lens positioned on one side of the point light source close to the main lens, and the light source lens is used for adjusting light rays emitted by the point light source into parallel light beams.
3. The PCB drill detection device of claim 1, wherein the light source is a laser light source emitting a laser beam of a predetermined diameter.
4. The PCB drill detection device of claim 1, further comprising a light path adjusting part for adjusting a light path of the parallel light emitted by the light source;
the arrangement direction of the main lens and the linear array CCD is perpendicular to the light emitting direction of the light source; the main lens, the light path adjusting part and the linear array CCD are sequentially arranged on the light path of the parallel light emitted by the light source.
5. The PCB drill detecting device of claim 4, wherein the optical path adjusting part comprises a first reflecting mirror and a second reflecting mirror, and the main lens, the first reflecting mirror, the second reflecting mirror and the line CCD are sequentially arranged on the optical path of the parallel light emitted from the light source.
6. A PCB drilling device, characterized by comprising the PCB drill detection device of any one of the claims 1-5.
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| CN202020265139.XU CN211576091U (en) | 2020-03-06 | 2020-03-06 | PCB bores sword detection device and PCB drilling equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021174886A1 (en) * | 2020-03-06 | 2021-09-10 | 维嘉数控科技（苏州）有限公司 | Drill detection apparatus and method, and drilling device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021174886A1 (en) * | 2020-03-06 | 2021-09-10 | 维嘉数控科技（苏州）有限公司 | Drill detection apparatus and method, and drilling device |
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