201032947 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種鑽針自動研磨方法及其裝置，尤指 一種結合轉盤、滑台及若干機械手臂以自動完成鑽針之^ 磨工作的鑽針自動研磨方法。 【先前技術】 電路板在進行電子元件配置之前，須在其板體上 當位置間隔設有複數個穿孔，以供各電子元件穿設定位之 ❹用，其中，用以在電路板上鑽設穿孔的鑽針，其端部在經 過多次的使用後會逐漸鈍化甚至切削部會斷裂，造成加工 的不便及誤差，此時，加工業者便會將鑽針取下，利用砂 輪研磨其端部，使鑽針端部恢復至可順暢地於電路板上鑽 孔的狀態。 現有技術之鑽針自動研磨方法，如台灣證書號數第 1284074冑「鑽針之研磨全自動化方法」發明專利申請案 所示，其步驟主要係： 藝先以機械手臂將研磨檢測之鑽針由進料區夾持移位至 迴轉盤上，並利用吹針機構進行除屑； 接著迴轉盤定格轉動，先使鑽針移動至刃長及直徑檢 測機構，利用第一影像感側器對其刃長及直徑進行檢測作 業； 迴轉盤再次定格轉動，將鑽針移動至轉換手臂，先以 轉換手臂夾持移位，再換以鐵針失持機構夾持至定位檢測 機構’利用第二影像感測器進行進刀方向及進刀角度之判 定； 3 201032947 再由錢針失持機構將鑽針倒放置於鑽針研 -、第二砂輪及進刀量檢測機構之間，利用第 的第 器控制進刀量進行研磨作業； ν像感測 最後由迴轉盤定格轉動，將鑽針移動至刀 構’利用第四影像感測器進行刀鋒檢測作業若” 由機械手臂爽至出料區，若為不良品則重㈣=品則 業’修正後為良品者即灸至出料區，修正後仍〔正作 即夾至不良區》 民品者 惟上述現有之鑽針自動研磨方法中，因 直徑檢測機構、定位檢測機構、進刀量檢測機構 及 測機構處總共設置有4個影像感測器，來分別對鑽檢 長、直徑、進刀方向、進刀角度、進刀量與刀鋒研磨= 進行檢查，加工步驟繁複’造成用以實施此研磨方法的設 備龐雜，成本居高不下，有其待進—步改進之處。的設 【發明内容】 有鑑於前述現有技術的缺點，本發明提供一種鑽 動研磨方法及其裝置，希藉此設計解決目前現有之鑽針研 磨方法的步驟及用以實施該步驟所需之設備繁複 本的缺點。 曰 為了達成上述的發明目的，本發明所利用的技術手段 係於-中繼裝置的—側設有__送料裝置與—清潔裝置中 繼裝置的另一側設有一夾持定位裝置與一研磨裝置，並使 一鑽針自動研磨方法包括有： 步驟一：待磨鑽針置於送料裝置所設之承載盤上，承 載盤置放於送料裝置所設之置料檯上，受置料檯所設之皮 -201032947 帶輪的驅動而與送料裝置所設的第一機械手臂相對來 機械手臂央取其中一.待磨鑽針，再將鑽針放置 於該凊潔裝置所設之轉盤上取放位置處所設的鑽針座上； 步驟二：轉盤定格轉動，將該待磨鑽針移動至其第一 π潔位置，利用設於該處之清潔組件除去鑽針端部之顆粒 雜物； 步驟三：轉盤定格轉動，將該清潔後的待磨鑽針移動 至其進出料位置，利用中繼裝置所設之第二機械手臂上第 ® 一位置處所設之夾具夾取該鑽針，接著第二機械手臂旋轉 180度，將鑽針移動至其第二位置，並將該鑽針置放於中 繼裝置所設之中繼旋轉座第一位置處所設之鑽針座上； 步驟四：中繼旋轉座旋轉180度，將該待磨鑽針移動 至其第二位置，利用中繼裝置所設之第三機械手臂所設之 夹具夹取該鑽針，並將鑽針放置於夾持定位裝置所設之夾 持組件上； 步驟五：夾持定位裝置所設之滑台帶動夾持組件移 ❿動，先經過研磨裝置所設之研磨檢測器，檢測該待磨鑽針 之長度及其端部之角度，據此調整夾持組件相對於研磨裝 置之磨輪的位置’以進行鐵針研磨量之設定； 步驟六：滑台帶動夹持組件經過研磨裝置所設之磨 輪’利用該二磨輪分別對該待磨鑽針端部研磨出第一切削 角及第二切削角； 步驟七.滑台朝第三機械手臂移動，利用第三機械手 臂之夾具夾取夾持組件上研磨完成之鑽針，並將該鐵針放 置於中繼旋轉座第一位置處之鑽針座，接著中繼旋轉座旋 201032947 轉180度，將該鑽針移動至中繼旋轉座之第一位置，使第 二機械爭臂臬二位置處之，央具夾取鑽針，再旋轉18〇度將 鑽針移動至其第-位置，並放置於轉盤之進出料位置處的 鑽針座上； 步驟八：轉盤定格旋轉，將該研磨完成之鑽針移動至 其第二清潔位置，利用設於該處之清潔組件除去鑽針端部 之顆粒雜物； 步驟九：轉盤定格旋轉，將該研磨完成之鑽針移動至 ® 其取放位置，該第一機械手臂夾取該鑽針，將其放置於承 载盤上。 本發明所利用的另一技術手段係使一鑽針自動研磨裝 置包括有： 一送料裝置，其具有一置料掻及架設於該置料檯上的 一第一機械手臂，該置料檯設有至少一皮帶輪，至少一承 载盤設於該皮帶輪上，受皮帶輪之帶動而與第一機械手臂 分別沿一相互交錯之方向來回移動； 清潔裝置’其具有一轉盤及二清潔組件，該轉盤上 環繞形成有一取放位置、一第一清潔位置、一進出料位置 及一第二清潔位置’並間隔環設有複數個鑽針座，該清潔 組件分別對應設於轉盤之第一、第二清潔位置旁側； 一夾持定位裝置’其具有一滑台及設於該滑台上的一 夾持組件，該滑台沿一方向來回移動，該夾持組件則於滑 台上沿一方向來回移動； 一研磨裝置，其具有一研磨檢測器及二磨輪，其係沿 炎持定位裝置之滑台的移動路線設置，該研磨檢測器可檢 201032947 測鑽針之長度及其端部之鑽尖角，該二磨輪可分別以不同 一—角度對鑽針進行研磨； 一 一中繼裝置’其具有一中繼旋轉座、一第二機械手臂 及一第三機械手臂，該中繼旋轉座上形成有相對180度設 置的一第一位置與一第二位置，並設有二鑽針座，該第二 機械手臂設於清潔裝置之轉盤與中繼旋轉座之間，其上形 成有相對180度設置的一第一位置及一第二位置，並設有 二夾具’該第一位置與清潔裝置之轉盤的進出料位置相對 ® 應，該第二位置與中繼旋轉座之第一位置相對應，該第三 機械手臂設於中繼旋轉座之第二位置與夾持定位裝置之夾 持組件之間’其上設有二失具。 藉由上述步驟加工步驟以及可進行該加工步驟之裝 置’僅須使用一檢測器來檢查研磨前該待磨鑽針之長度及 其端部之角度’並據此自動調整夾持組件相對於研磨裝置 之磨輪的位置，以進行鑽針研磨量之設定，此外，還可在 研磨完成之後，再經過另一檢測器檢査鑽針研磨後之狀 ©·態，以進一步判斷是否符合要求，或是需要重磨或報廢， 最多僅須兩個檢測器，有效簡化加工步驟及用以實施此研 磨方法的設備，逹到降低成本的目的。 【實施方式】 參見第一圖所示，* 一 IB,、丨成4·丄外 為一用以實施本發明之鑽針研磨方 法之鑽針研磨機，, ，、括有一中繼裝置（3〇)、設於該中繼 裝置（30)—侧的一送料验里,μ、& 卄袭置（10)與一清潔裝置（20)、以及設 於該中繼裝置（30)另側沾 ^ 的一夾持定位裝置（40)與一研磨裝 置（50)，其中： 201032947 送料裝置（1〇>具有一備料櫃（13)、一置料檯（14)、複數 ……個承載盤（11)及一第一機械手臂(12)l 一 配合參見第二及三圖所示’該備料櫃（彳3)上設有一框 體（131)、一螺桿（132)及一壓缸（133)，該框體（131)係可垂 直移動地設於該備料櫃（13)中，框體（131)之間間隔層疊設 置有複數個托盤（134)，該螺桿（132)垂直貫穿而樞設於該 框體（131)上’並直接或間接受一馬達（135)之驅動而進行 轉動，進而帶動該框體（131)及各托盤（134)上、下移動， © 該壓缸（133)及該置料檯（14)對應設置於該備料櫃（13)的兩 相對側，且該置料檯（14)上設置有至少一皮帶輪（14彳），該 承載盤（11)上形成有一進料區、一置料區及一報廢區，並 可於該進料區上設置若干待磨鑽針； 各承載盤（11)分別設置於備料櫃（13)之各托盤（134)上 以隨著框體（131)上、下移動，當承載盤（11)移動至位於該 壓缸（133)與該置料檯（14)之間時，便可受到壓缸（133)的 推頂而移動進入該置料檯（14)，進而隨著置料檯句上所 ® 設之皮帶輪（141)移動，此外，設於置料檯（1句之皮帶輪（141) 上的承載盤（11)亦可受皮帶輪（141)之帶動移入備料櫃（13) 内，進而設置於托盤（134)上，該第一機械手臂（12)架設於 置料檯（14)上方，該受皮帶輪（彳41)帶動之承載盤（彳彳）與該 第一機械手臂（12)分別沿一相互交錯之方向來回移動，二 者間藉簡單的單軸相對運動，使該第一機械手臂（12)可移 動至承載盤（11)上任一位置，以夾取承載盤（11)上之鑽針， 或將鑽針放置於承載盤（1彳）上； 凊潔裝置（20)設於送料裝置（1〇)與中繼裝置（3〇)之間， 201032947 其具有一轉盤（21)、二清潔組件（22A)(22B)及—結果檢測 器（23); .... .. 進一步參見第二及四圖所示，該轉盤（21)會朝一方向 定格轉動，其上依序環繞形成有一取放位置（211)、一第一 清潔位置（21 2)、一進出料位置（21 3)、一第二清潔位置（214) 及一檢測位置（215)，並間隔環設有複數個鑽針座，當轉盤 (21)進行定格轉動時，會依序將該鑽針座移動至前述各位 置（211)(212)(213)(214)(215)，其中，當前述送料裝置（1〇) Φ 之第一機械手臂（12>移動至承載盤（11) 一側時，係與該取 放位置（211)相對應； 該二清潔組件（22A)(22B>分別對應設於轉盤（21)之第 一清潔位置（212)與第二清潔位置（214)旁側，其係利用黏 膠除去鐵針端部之顆粒雜物； 該結果檢測器（23)可為一電荷耦合元件檢測器（Charge201032947 VI. Description of the Invention: [Technical Field] The present invention relates to a method and a device for automatically grinding a drill bit, and more particularly to a drill which combines a turntable, a slide table and a plurality of mechanical arms to automatically complete the work of the drill Needle automatic grinding method. [Prior Art] Before the electronic component is configured, the circuit board must be provided with a plurality of perforations on the board body at intervals to allow the electronic components to pass through the set position, wherein the circuit board is used for drilling holes in the circuit board. The burs of the boring needle will gradually passivate after repeated use, and even the cutting part will break, resulting in inconvenience and error in processing. At this time, the processing industry will remove the boring needle and grind the end with a grinding wheel. Return the end of the bur to a state where it can be drilled smoothly on the board. The prior art automatic drilling method for drilling a needle, as shown in the invention patent application of Taiwan Certificate No. 1284074, "Drilling Full Automation Method of Drilling Needle", the main steps are: Art First uses a mechanical arm to grind the drilling needle The feeding zone is clamped and displaced to the rotary disk, and the blower mechanism is used for chip removing; then the rotary disk is fixedly rotated, and the drill bit is first moved to the blade length and diameter detecting mechanism, and the first image sensor is used for the blade Length and diameter for testing operation; returning to the turntable again to rotate, move the bur to the conversion arm, first shift the arm with the shifting arm, and then change to the pinion mechanism to clamp to the positioning detection mechanism' The tester determines the direction of the feed and the angle of the feed; 3 201032947 The needle is placed in the trowel-research, the second grinding wheel and the feed amount detection mechanism, and the first device is used. Control the amount of infeed to perform the grinding operation; ν image sensing is finally rotated by the rotating disc, and the bur is moved to the knife structure 'Using the fourth image sensor for the blade detection operation if the machine arm is cool In the discharge area, if it is a defective product, it is heavy (4) = product is the industry. After the correction, it is the good one, that is, the moxibustion to the discharge area. After the correction, it is still [clamping to the bad area]. In the middle, a total of four image sensors are provided for the diameter detecting mechanism, the positioning detecting mechanism, the feeding amount detecting mechanism and the measuring mechanism to respectively check the length, the diameter, the feeding direction, the feeding angle and the feeding amount. With the blade grinding = inspection, the processing steps are complicated 'causes the equipment used to implement this grinding method is complicated, the cost is high, and there are improvements to be made. [Inventive content] In view of the aforementioned shortcomings of the prior art The present invention provides a drilling and grinding method and a device thereof, which are designed to solve the steps of the conventional drilling method and the disadvantages of the equipment required for implementing the step. 曰 In order to achieve the above object, The technical means utilized by the present invention is that the side of the relay device is provided with a __feeding device and the other side of the cleaning device relay device is provided with a clamping positioning device and a grinding The method for automatically grinding a drill bit includes: Step 1: The drill bit to be ground is placed on a carrier plate provided by the feeding device, and the carrier plate is placed on the loading table provided by the feeding device, and the receiving table is received. The leather-201032947 is driven by a pulley and is opposite to the first robot arm provided by the feeding device. The robot arm takes one of the drill holes, and then places the drill needle on the turntable provided by the cleaning device. Step 2: The turntable is rotated, the drill bit is moved to its first π-clean position, and the cleaning component installed at the place is used to remove the debris at the end of the drill needle. Step 3: The turntable is fixedly rotated, and the cleaned drill bit is moved to its feeding and discharging position, and the drill pin is clamped by the clamp provided at the first position on the second mechanical arm of the relay device. Then, the second mechanical arm is rotated by 180 degrees, the drill needle is moved to the second position thereof, and the drill needle is placed on the drill socket provided at the first position of the relay rotary seat provided by the relay device; : The relay rotating seat rotates 180 degrees, which will be ground The needle is moved to the second position, and the drill is clamped by a clamp provided by the third robot arm provided by the relay device, and the drill needle is placed on the clamp assembly provided by the clamp positioning device; Step 5: The sliding table provided by the clamping and positioning device drives the clamping assembly to move, first passes the grinding detector provided by the grinding device, detects the length of the grinding needle and the angle of the end portion thereof, and accordingly adjusts the clamping component relative to In the position of the grinding wheel of the grinding device, the setting of the grinding amount of the iron needle is performed; Step 6: the sliding table drives the clamping assembly to pass through the grinding wheel provided by the grinding device, and the end of the grinding needle is ground by the two grinding wheels respectively. a cutting angle and a second cutting angle; Step 7. The sliding table moves toward the third robot arm, and the drilled needle on the clamping assembly is gripped by the clamp of the third mechanical arm, and the iron needle is placed in the relay rotation The needle holder at the first position of the seat is then rotated to rotate the rotation of the seat to 201032947 by 180 degrees, and the bur is moved to the first position of the relay rotary seat, so that the second mechanical arm is at the second position, the center device Clamp the drill pin and rotate it Move the drill to its first position at 18 degrees and place it on the drill holder at the feed and discharge position of the turntable; Step 8: The turntable is rotated to move the drilled needle to its second cleaning position. Removing the particle debris at the end of the drill pin by using the cleaning assembly provided there; Step 9: The rotary table is rotated in a fixed manner, and the drilled needle is moved to the position where the first mechanical arm grips the drill pin , place it on the carrier tray. Another technical means utilized by the present invention is to provide a burr automatic grinding apparatus comprising: a feeding device having a loading magazine and a first robot arm mounted on the loading table, the loading station is provided There is at least one pulley, at least one carrier plate is disposed on the pulley, and is driven by the pulley to move back and forth with the first mechanical arm in a mutually staggered direction; the cleaning device has a turntable and two cleaning components on the turntable Forming a pick-and-place position, a first cleaning position, a feeding and discharging position, and a second cleaning position, and the spacer ring is provided with a plurality of drill sockets, the cleaning components respectively corresponding to the first and second cleanings of the turntable a clamping side device; a clamping positioning device having a sliding table and a clamping assembly disposed on the sliding table, the sliding table moving back and forth in a direction, the clamping assembly being back and forth in a direction on the sliding table Moving; a grinding device having a grinding detector and a second grinding wheel disposed along a moving path of the sliding table of the inflammatory holding device, the grinding detector can detect the length of the measuring needle of 201032947 And the end point of the drill point, the two grinding wheels can respectively grind the drill needle at different angles - the relay device has a relay rotary seat, a second mechanical arm and a third mechanical arm The relay rotating base is formed with a first position and a second position disposed opposite to 180 degrees, and is provided with two drill pins, and the second mechanical arm is disposed between the turntable of the cleaning device and the relay rotating seat Forming a first position and a second position disposed opposite to each other by 180 degrees, and providing two clamps 'the first position is opposite to the feeding and discharging position of the turntable of the cleaning device, the second position and the relay Corresponding to the first position of the rotating base, the third mechanical arm is disposed between the second position of the relay rotating seat and the clamping component of the clamping positioning device. By the above-described processing steps and the apparatus capable of performing the processing step, it is only necessary to use a detector to check the length of the to-be-polished needle and the angle of its end before grinding, and to automatically adjust the clamping assembly relative to the grinding The position of the grinding wheel of the device is used to set the amount of drilling of the drill. In addition, after the grinding is completed, another detector can be used to check the state of the drill after grinding to further determine whether it meets the requirements, or Re-grinding or scrapping is required, and only two detectors are required at most, which simplifies the processing steps and the equipment used to implement the grinding method, thereby reducing the cost. [Embodiment] Referring to the first figure, * IB, 丨, 4, 丄 is a burr grinder for carrying out the burr grinding method of the present invention, and includes a relay device (3 〇 Provided in a feeding inspection on the side of the relay device (30), the μ, & attack device (10) and a cleaning device (20), and the other side of the relay device (30) ^ A clamping positioning device (40) and a grinding device (50), wherein: 201032947 feeding device (1〇> has a preparation cabinet (13), a loading platform (14), a plurality of carrier trays (11) and a first mechanical arm (12) l as shown in the second and third figures, 'the preparation cabinet (彳3) is provided with a frame body (131), a screw (132) and a pressure cylinder ( 133), the frame body (131) is vertically movably disposed in the preparation cabinet (13), and a plurality of trays (134) are vertically stacked between the frame bodies (131), and the screw holes (132) are vertically penetrated. Pivoted on the frame (131) and directly or indirectly driven by a motor (135) to rotate, thereby driving the frame (131) and each tray (134) to move up and down, © The pressure cylinder (133) and the loading table (14) are correspondingly disposed on opposite sides of the preparation cabinet (13), and the loading platform (14) is provided with at least one pulley (14彳), the carrier tray (11) forming a feeding zone, a receiving zone and a scrapping zone, and setting a plurality of drill pins to be grounded on the feeding zone; each carrier disk (11) is respectively disposed in each of the preparing cabinets (13) The tray (134) is moved up and down with the frame body (131), and when the carrier disk (11) is moved between the pressure cylinder (133) and the loading table (14), the cylinder can be pressed. (133) is pushed into the loading table (14), and then moved along with the pulley (141) provided in the loading table, and is also disposed at the loading table (a pulley of one sentence (141) The upper carrying tray (11) can also be moved into the preparation cabinet (13) by the pulley (141), and then disposed on the tray (134). The first mechanical arm (12) is mounted above the loading table (14). The carrier disk (彳彳) driven by the pulley (彳41) and the first mechanical arm (12) move back and forth in a mutually staggered direction, and the simple The relative movement of the shaft allows the first robot arm (12) to be moved to any position on the carrier tray (11) to grip the drill needle on the carrier tray (11) or to place the drill needle on the carrier tray (1彳) The cleaning device (20) is disposed between the feeding device (1〇) and the relay device (3〇), 201032947, which has a turntable (21), two cleaning components (22A) (22B) and a result detector (23); .... .. further see the second and fourth figures, the turntable (21) will be fixed in a direction, which is sequentially formed with a pick-and-place position (211), a first cleaning position (21 2), an input and discharge position (21 3), a second cleaning position (214) and a detection position (215), and the spacer ring is provided with a plurality of drill sockets, when the turntable (21) is rotated The needle holder is sequentially moved to the aforementioned positions (211) (212) (213) (214) (215), wherein the first robot arm (12 > moves when the aforementioned feeding device (1〇) Φ When it is to the side of the carrying tray (11), it corresponds to the pick-and-place position (211); the two cleaning components (22A) (22B> respectively correspond to the first clearing of the turntable (21) The cleaning position (212) and the second cleaning position (214) are side by side, which utilizes adhesive to remove particulate debris at the end of the iron needle; the resulting detector (23) can be a charge coupled device detector (Charge)
Coupled Device Camera ’ CCD檢測器），其係對應設於轉 盤（21)之檢測位置（215)旁側，可用以檢測鑽針之長度及其 ❹ 端部之鑽尖角是否合乎所設定之要求； 夾持定位裝置（40)具有一滑台（41)及設於該滑台（41)上 的一夾持組件（42) ’該滑台（41)沿一方向來回移動，配合 參見第三、五及七囷所示，該夾持組件（42)可於滑台（41) 上沿一方向來回移動，其係利用一頂升機構（421)及一萬向 接頭（422)抬升一用以夾持該鑽針的一夾具（423)，並移動 至一置針座（424)上方’再向下樞轉並設於該置針座（424) 之一置針槽（425)内，以避免鑽針碰撞該置針座（424)而造 成斷裂； 201032947 研磨裝置（50)具有一研磨檢測器（51)及二磨輪（52)，其 係石爽持定位裝置（40)之滑台（41)的移動路線設置，該研 磨檢測器（51)可為一 CCD檢測器，其係用以檢測鑽針之長 度及其端部之鑽尖角，該二磨輪（52)可分別以不同角度對 鑽針進行研磨； 配合參見第四及五圖所示，中繼裝置（3〇)具有一中繼 旋轉座（31)、一第二機械手臂（32)及一第三機械手臂（33); 該中繼旋轉座（31〉上形成有相對18〇度設置的一第一 ® 位置（311)與一第二位置（312)，並設有二鑽針座，當此中 繼旋轉座（31)進行180度定格轉動時，會使該二鑽針座分 別於該第一位置（311)與第二位置（312)間來回移動； 該第二機械手臂（32)設於清潔裝置（2〇)之轉盤（21)與中 繼旋轉座（31)之間，其上形成有相對18〇度設置的一第一 位置（321)及一第二位置（322)，並設有二夾具，該第一位 置（32彳）與清潔裝置（20)之轉盤（21)的進出料位置（213)相對 應，該第二位置（322)與中繼旋轉座（31)之第一位置（311) ® 相對應，當此第二機械手臂（32)進行180度定格轉動時， 會使該一夾具於第二機械手臂（32)之第一位置（321)與第二 位置（322)間來回移動，以同時夾取轉盤（21)及中繼旋轉座 (31)之鑽針座上之鑽針，或同時將錢針放置於鑽針座上； 該第三機械手臂（33)設於中繼旋轉座（31)之第二位置 (312)與夾持定位裝置（4〇)之夾持組件（42)之間，其上設有 一夾具，該二夾具上輪流夾持有一鑽針，以同時對中繼旋 轉座（31)第二位置（312)上或夾持組件（42)之夾具（423)上的 鑽針進行更換。 201032947 配合參見第一及六圖所示，本發明之鑽針研磨方法包 括有下列步騍… …& 步驟一：待磨鑽針置於送料裝置（10)之承載盤（11)上 後’再將承載盤（11)置放於備料櫃（13)之托盤（134)上，利 用馬達（135)驅動螺桿（132)轉動，使各承載盤（134)依序移 動至壓缸（133>與置料檯（14)之間，再受壓缸（133)之推頂 而移動至置料檯（14)之皮帶輪（141)上，再受皮帶輪（141) 之媒動而與第一機械手臂（1 2)相對來回移動，使第一機械 ® 手臂（12)夾取其中一待磨鐵針’再將鑽針放置於清潔裝置 (20)之轉盤（21)上取放位置（211)處的鑽針座上； 步驟二：轉盤（21)定格轉動，將該待磨鑽針移動至其 第’耷潔位置（212) ’利用設於該處之清潔組件（22a)除去 鑽針端部之顆粒雜物；Coupled Device Camera 'CCD detector', which is located beside the detection position (215) of the turntable (21), can be used to detect whether the length of the drill needle and the tip angle of the end portion meet the set requirements; The clamping and positioning device (40) has a sliding table (41) and a clamping assembly (42) disposed on the sliding table (41). The sliding table (41) moves back and forth in one direction. As shown in FIGS. 5 and 7, the clamping assembly (42) is movable back and forth in a direction on the slide table (41), and is lifted by a jacking mechanism (421) and a universal joint (422). Holding a clamp (423) of the drill needle and moving it over a needle holder (424) and pivoting downwardly and disposed in a needle groove (425) of the needle holder (424) to avoid the needle Colliding with the needle holder (424) to cause breakage; 201032947 The grinding device (50) has a grinding detector (51) and two grinding wheels (52), and the movement of the sliding table (41) of the zephytic holding device (40) The routing detector, the grinding detector (51) can be a CCD detector for detecting the length of the bur and the tip angle of the end The two grinding wheels (52) can respectively grind the drill needles at different angles; as shown in the fourth and fifth figures, the relay device (3〇) has a relay rotating seat (31) and a second mechanical arm. (32) and a third robot arm (33); the relay rotating base (31) is formed with a first ® position (311) and a second position (312) disposed opposite to each other by 18 degrees. a two-drilled needle holder, when the relay rotating seat (31) performs a 180-degree fixed-frame rotation, the two-drilled needle base is moved back and forth between the first position (311) and the second position (312); The second mechanical arm (32) is disposed between the turntable (21) of the cleaning device (2〇) and the relay rotating seat (31), and is formed with a first position (321) and a first position corresponding to 18 degrees. Two positions (322), and two clamps are provided, the first position (32彳) corresponding to the feeding and discharging position (213) of the turntable (21) of the cleaning device (20), the second position (322) and the middle Corresponding to the first position (311) of the rotating base (31), when the second mechanical arm (32) performs a 180 degree fixed rotation, the fixture will be in the second machine. The first position (321) of the arm (32) moves back and forth between the second position (322) to simultaneously grasp the drill needle (21) and the drill needle on the drill socket of the relay rotary seat (31), or simultaneously The money needle is placed on the drill socket; the third mechanical arm (33) is disposed at the second position (312) of the relay rotating seat (31) and the clamping assembly (42) of the clamping positioning device (4) Between the two, a clamp is arranged thereon, and a drill pin is alternately clamped on the two clamps to simultaneously align the second position (312) of the relay rotary seat (31) or the clamp (423) of the clamp assembly (42). The bur is replaced. 201032947 As shown in the first and sixth figures, the method for grinding a drill of the present invention comprises the following steps: & Step 1: After the drill needle is placed on the carrier (11) of the feeding device (10) Then, the carrier tray (11) is placed on the tray (134) of the preparation cabinet (13), and the screw (132) is driven by the motor (135) to rotate, so that each carrier tray (134) is sequentially moved to the pressure cylinder (133). Between the loading table (14) and the pressure receiving cylinder (133), it is moved to the pulley (141) of the loading table (14), and then the medium is driven by the pulley (141) and the first machine. The arm (12) moves relatively back and forth, causing the first mechanical® arm (12) to grip one of the iron needles to be grounded and then placing the drill needle on the turntable (21) of the cleaning device (20) (211) On the drill head; Step 2: Turn the turntable (21) to move, move the drill to be moved to its 'chasing position (212)' and remove the drill end with the cleaning assembly (22a) located there. Part of the debris;
步驟三：轉盤（21)定格轉動，將該清潔後的待磨鑽針 移動至其進出料位置（213)，利用中繼裝置（3Q)之第二機械 手臂位置（321)處之夾具夾取該鑽針，接著第二 機械手臂（32)旋轉180度，將鑽針移動至其第二位I (322)，並將該鑽針置放於中繼裝置（3〇)之中繼旋轉座0 第一位置（311)處之鑽針座上； 移動中繼旋轉座（31)旋#⑽冑，將該待磨鑽4 取地: 置(312)，利用第三機械手臂(33)之夾具; =上鑽針’並將鑽針放置於夾持定位以（4G)之夾持㈣ 步驟五 (42)移動， .夾持定位裝置（4。)之滑台（41)帶動夾持組件 先經過研磨裝置（5G)之研磨檢測器（Μ)，檢測該 11 .201032947 待磨錢針之長度及其端部之角度，據此調整夹持組件（42) -祖對於研磨裝置（50)之磨輪（52)的位置，以進行研磨量之 設定； 步驟六：滑台（41)帶動夹持組件（42)經過研磨裝置（5〇) 之磨輪（52) ’利用該二磨輪（52)分別對該待磨鑽針端部研 磨出第一切削角及第二切削角； 步驟七：滑台（41)朝第三機械手臂（33)移動，利用第 三機械手臂（33)之夾具夾取夾持組件（42)上研磨完成之鑽 ⑩針，並將該鑽針放置於中繼旋轉座（31)第二位置（312>處之 鑽針座，接著中繼旋轉座（31)旋轉18〇度，將該鑽針移動 至中繼旋轉座（31)之第一位置（311)，使第二機械手臂（32> 第二位置（322)處之夾具夾取鑽針，再旋轉18〇度將鑽針 移動至其第一位置（321 )，並放置於轉盤（21)之進出料位置 (213)處的鑽針座上； 步驟八：轉盤（21)定格旋轉，將該研磨完成之鑽針移 動至其第二清潔位置（214)，利用設於該處之清潔組件（22B) ® 除去鑽針端部之顆粒雜物； 步驟九：轉盤（21)定格旋轉，將該研磨完成之錢針移 動至其檢測位置（21 5 )，利用設於該處之結果檢測器（23)檢 查該鑽針之長度及其端部之鑽尖角是否合乎所設定之要 求； 步驟十：轉盤（21)定格旋轉，將該研磨完成之鑽針移 動至其取放位置（211)，若前述結果檢測器（23)檢測該鑽針 之長度及其端部之鑽尖角符合所設定之要求，則該第一機 械手臂（12)夾取該鑽針，將其放置於承載盤（11)上之置料 12 201032947 區’並由承載盤（11)之進料區夹取另一待磨鑽針放置於轉 • 盤（21)取放位置（21彳）處的鑽針奎土β•卜若，不符合所設定之要 求’則進行判定重磨或報廢，當判定重磨時，第一機械手 臂（12)不夾取該鑽針，也不由承載盤（彳彳）上夾取另一鑽針 至轉盤（21)，使該判定重磨之鑽針重覆步驟二至步驟十之 動作；當判定報廢時，則該第一機械手臂（12)夾取該鑽針， 並將其放置於承載盤（11)上之報廢區； 步驟十一：送料裝置（10)之置料檯〇4)的皮帶輪（141) © 帶動承載盤（11)移動至備料櫃（13)之托盤（134)上，接著備 料櫃（13)之馬達（135)驅動螺桿（132)帶動框體（131)移動， 讓設於另一托盤（134)上的承載盤（11)移動至壓缸（1 33)與 置料檯（14>之間，重覆進行本發明之鑽針自動研磨方法的 各步驟。 本發明之鑽針自動研磨方法配合上述鑽針研磨機，可 使多根鑽針同時於該鑽針研磨機上移動並輪流進行研磨， 具有问研磨效率，且當操作者將多個放有待磨鑽針的承載 ❿盤（彳1)分別置放於各托盤（134)上後，即可使該待磨鑽針自 動依序進行研磨，而該操作者則可著手處理其他事務，經 過一段時間後再來置換該研磨完成之鑽針以及另一批待磨 鐵針’藉此有效提高操作者的工作效率； 此外，因每-鑽針係於研磨前利用一研磨檢測器（51) 對其長度及端部之鑽尖角進行量測’以作為研磨量之依 據，精度高、經費省、時間短’且可有效避免研磨過多或 不足之情況發生，為一具高效率之鑽針研磨方法。 【圖式簡單說明】 13 201032947 第一圖為本發明之上視圖。 第二圖為本發.明之備.料„櫃.之J1體外觀圖。 第三圖為本發明之備料櫃之側視圖。 第四圖為本發明之清潔裝置之上視圖。 第五圖為本發明夾持定位裝置之上視圖。 第六圖為本發明之清潔裝置之立體外觀圖。 第七圖為本發明夾持定位裝置之立體外觀圖。Step 3: The turntable (21) is fixedly rotated, and the cleaned drill bit is moved to its feeding and discharging position (213), and is clamped by the clamp at the second mechanical arm position (321) of the relay device (3Q). The bur, then the second robot arm (32) is rotated 180 degrees, the bur is moved to its second position I (322), and the bur is placed on the relay rotating seat of the relay device (3 〇) 0 On the drill socket at the first position (311); move the relay rotary seat (31) to rotate #(10)胄, take the ground to be ground 4: (312), using the third robot arm (33) Fixture; =Upper drill needle' and place the drill pin in the clamping position with (4G) clamping (4) Step 5 (42) to move, . The sliding table (41) of the clamping and positioning device (4.) drives the clamping assembly First, the grinding detector (5G) of the grinding device (5G) is used to detect the length of the 11.201032947 needle to be ground and the angle of the end thereof, thereby adjusting the clamping assembly (42) - the ancestors for the grinding device (50) The position of the grinding wheel (52) to set the grinding amount; Step 6: The sliding table (41) drives the clamping assembly (42) through the grinding wheel (52) of the grinding device (5) The grinding wheel (52) respectively grinds the first cutting angle and the second cutting angle to the end of the to-be-polished needle; Step 7: The sliding table (41) moves toward the third robot arm (33), using the third mechanical arm (33) The fixture grips the drilled 10-pin drilled on the clamping assembly (42) and places the drill in the second position (312) of the relay rotary seat (31), followed by the relay rotary seat (31) Rotating 18 degrees, moving the bur to the first position (311) of the relay rotating seat (31), so that the second robot arm (32> the second position (322) at the clamp gripping the bur Then, rotate the needle to the first position (321) by rotating it 18 degrees, and place it on the needle holder at the feeding and discharging position (213) of the turntable (21); Step 8: The turntable (21) is rotated in a fixed manner. Moving the ground drill to its second cleaning position (214), using the cleaning assembly (22B) ® disposed there to remove particulate debris from the end of the drill; Step 9: The turntable (21) is rotated, Moving the finished needle to its detection position (21 5 ), and inspecting the drill using the result detector (23) provided there Whether the length and the tip angle of the end meet the set requirements; Step 10: The turntable (21) is rotated in a fixed manner, and the drilled needle is moved to its pick-and-place position (211), if the aforementioned result detector ( 23) detecting that the length of the drill needle and the tip angle of the end portion meet the set requirements, the first robot arm (12) grips the drill needle and places it on the carrier tray (11) 12 201032947 District 'and take another feeding needle to be placed in the feeding area of the carrying tray (11). Place the needle in the transfer plate (21) at the pick-and-place position (21彳). If the requirements are set to 're-grind or scrap, when the re-grinding is judged, the first robot arm (12) does not grip the drill pin, and the other drill pin is not clamped by the carrier disc (彳彳). The turntable (21) causes the determined re-grinding bur to repeat the steps from step 2 to step 10; when it is determined to be scrapped, the first mechanical arm (12) grips the bur and places it on the carrying tray (11) The scrapping area on the top; Step 11: Pulley (141) of the loading table 4) of the feeding device (10) The tray (11) is moved to the tray (134) of the preparation cabinet (13), and then the motor (135) of the preparation cabinet (13) drives the screw (132) to move the frame (131) to be placed on another tray (134). The upper carrying tray (11) is moved between the cylinder (1 33) and the loading table (14), and the steps of the automatic drilling method of the present invention are repeated. The automatic drilling method of the burr of the present invention cooperates with the above-mentioned burr grinding machine, so that a plurality of burs can be simultaneously moved on the burr grinder and rotated in turn, having the grinding efficiency, and when the operator puts a plurality of burrs to be ground After the burrs of the burrs (彳1) are placed on the respective trays (134), the burrs to be ground are automatically and sequentially polished, and the operator can proceed to other affairs after a period of time. Then, the grinding burs and the other batch of iron needles to be grounded are replaced, thereby effectively improving the operator's working efficiency; in addition, each bur is attached to the grinding detector by a grinding detector (51) before grinding. The measurement of the length and the end point of the drill tip is used as the basis for the grinding amount, and the precision is high, the cost is short, and the time is short, and the excessive grinding or insufficient grinding can be effectively avoided, which is a high-efficiency drill grinding method. . [Simple description of the schema] 13 201032947 The first diagram is a top view of the present invention. The second figure is a side view of the J1 body of the cabinet. The third figure is a side view of the preparation cabinet of the present invention. The fourth figure is a top view of the cleaning device of the present invention. Figure 6 is a top view of the cleaning device of the present invention. Figure 7 is a perspective view of the cleaning device of the present invention.
【主要元件符號說明】 (10)送料裝置 (12)第一機械手臂 (131)框體 (1 33)壓缸 (135)馬達 (141)皮帶輪 (21)轉盤 (212)第一清潔位置 (214)第二清潔位置 (22A)(22B)清潔組件 (30)中繼裝置 (311)第一位置 (32)第二機械手臂 (322)第二位置 (40)夾持定位裝置 (42)夾持組件 (422)萬向接頭 (11)承載盤 (13) 備料櫃 (132)螺桿 (134)托盤 (14) 置料檯 (20)清潔裝置 (211)取放位置 (213)進出料位置 (21 5)檢測位置 (23)結果檢測器 (31)中繼旋轉座 (312)第二位置 (321)第一位置 (33)第三機械手臂 (41)滑台 (421)頂升機構 (423)夾具 14 201032947 (424)置針座 （425)置針槽 (5Q)研磨裝.置..·， （51)研磨檢測器 (52)磨輪[Description of main component symbols] (10) Feeding device (12) First robot arm (131) Frame (1 33) Pressure cylinder (135) Motor (141) Pulley (21) Turntable (212) First cleaning position (214) a second cleaning position (22A) (22B) cleaning assembly (30) relay device (311) first position (32) second robot arm (322) second position (40) clamping positioning device (42) clamping Assembly (422) universal joint (11) carrier tray (13) preparation cabinet (132) screw (134) tray (14) loading station (20) cleaning device (211) pick-and-place position (213) feeding and discharging position (21 5) Detection position (23) Result detector (31) Relay rotation seat (312) Second position (321) First position (33) Third robot arm (41) Slide table (421) Jacking mechanism (423) Fixture 14 201032947 (424) Needle holder (425) Needle groove (5Q) grinding device. Set..,, (51) Grinding detector (52) grinding wheel
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