201136704 發明專利說明^ ※申請nar…動，※記一填寫） ※申請日·· Μ、4·4※咖分類：（2006.01) 一、 發明名稱：（中文/英文） 1^^^0(^006.01) PCB全自動化鐵針研磨之方法 二、 中文發明摘要·· 料區給Γ 動化鑽針研磨之方法，尤特指稱未研磨檢測的鑽針由入 〇 置進行騎除屑作業’再由自動取至手臂模組將續 料夾持模、，_續針旋轉夾座，_刀長、鐵徑、角度補正及進刀 L ΐ«；；ί 磨續針旋轉炎座水平倒立至ν型槽上，利用鎮針研 置，、由S拾:輪進行研磨作業，接著再將續針旋轉央座倒立回特定位 ^由刀面檢測模組的第二影像感測器咖2)將研磨絲的鎮針 檢測作業，良品由自動取至手臂模組人姐ρ 作業，重新研麼後你Ζΐ 不良品則重覆執行研磨 ”重新研磨後仍為不良品者則夾至不良區 的罐針盒由排料區排出。 騎人科^成研磨檢測 〇 三、英文發明摘要： 四、指定代表圖： (一) 本案指定代表圖為：第（二十一）圖 (二) 本代表圖之元件符號簡單說明： 五、 本案若有化學式時，示最_稀_徵的化學式 六、 發明說明： 201136704 【發明所屬之技術領域】 本發明PCB全自動化鑽針研磨之方法，包含：可輸入、輸出鑽針盒的 入料區與排料區、進行鑽針除屑的毛刷裝置、擺放不良鑽針的不良區、輸 入未研磨檢測鑽針及輸出已研磨檢測鑕針或不良鑽針的自動取至手臂模 組、擺放鑽針的鑕針夾持模組、對應於鑕針夾持模組的刃長、鑽徑、角度 補正及進刀量檢測模組、刃面檢測模組及鑕針研磨模組；利用刀長、鑽徑、 角度補正及進刀量檢測模組的第一影像感測器（CCD1)與刃面檢測模組的第 二影像感測器（CCD2)檢測鑽針刃面的長度、直徑、角度及外觀，，並由電腦 程式所設定的標準值進行分析，以判別該鑽針屬於良品或不良品。 【先前技術】 本發明中所指的PCB全自動化鑽針研磨之方法，即透過影像感測器及. 砂輪，完成鑕針研磨檢測的動作。按’坊間的自動化鑽針研磨設備，係由 四個影像感測器，分別進行鑕針的刃長與直徑檢測、定位檢測、進刀量檢 測及刀鋒檢測；並在入排料區、研磨區及檢測區之間，分別由機械手臂及 轉換手臂交替傳遞鑽針。 惟上述自動化鑽針研磨設備，在鑽針入料後，需先纟旱過機械手臂傳遞 鑽針至檢測區，由第一影像感測器進行刀長與直徑檢測，再藉由轉換手臂. • 傳遞鑽針至研磨區，由第二影像感測器及砂輪進行定位及研磨，再由轉換: 手臂將嶺針傳遞回檢測區，由第三及第四影像感測器進行進刀量檢測及刀 鋒檢測，完成後再由機械手臂將鑽針輸出，此方法耗費過多時間於傳遞鑽 針上，且需使用到四個影像感測器，增加設備成本丨為其既存須 失及問題。 【發明内容】 是以’本發明人針對上述的缺失，以其專門從事鐵針設備多年之設叶 及製造經驗，細心地反覆構思，遂研創出本發明的_ pCB全自動化鑽針研 磨之方法’陳如以下之内容： ， 、毛刷裝置及不良區，該機台另 該機台一侧配置鑽針入料區、排料區 201136704 -側配置麟鱗模組’同_騎續模_聽設有叫 度補正及進刀量檢測模組、刀面檢峨組及鑕針研磨模組，另外在 與續針爽持模組之間配置自動取至手臂模組；操作時，由 ^ 針的鎮針盒輸入’由毛刷裝置進行鑽針除屑作業，再由自二= 的取續夾將鑽針夾持至鑽針夾持模組的鑽針旋轉夹座，由刀長=、自 度補正及進刀量檢測模組的第一影像感測器⑽ 徑、角度補正及進刀量，再將續針旋轉夹座水平倒立於v型=2 ^ 旋轉夾座於鑕針研磨模組的左、右砂輪間水平橫移對該鑽 ^針 夾= 寺定傾斜角度位置，由 ，感·(CCD2)進订已元成研磨鑽針的檢測，判別刃面是否符合 定，的鑽針若為良品，由自動取至手臂模_卸鑽錢持至人料^， $良品，則重覆進行修正作業，修正後的鑽針若為良品，由臂 上述卿全自動化鑽針研磨之方法除了可_執行 持模組處，省去傳遞續針所耗費的時間，成功 率愈經 此外毛刷可_上_植，_針_==益 【實施方式】 ，V;'… 及所==技裝_« 全自動_:磨:====': 9〇. ^ 1〇〇 8〇' ^201136704 Description of invention patents ^ ※Application nar...moving, ※Note one is filled in) ※Application date··Μ,4·4※Caf: (2006.01) I. Name of invention: (Chinese/English) 1^^^0(^ 006.01) PCB Fully Automatic Iron Needle Grinding Method II. Abstract of Chinese Invention··Material Area Γ The method of grinding the burr, Ute refers to the burr that is not ground and tested by the smashing machine. Automatically take the arm module to reload the clamping die, _ continuation of the needle rotation holder, _ knife length, iron diameter, angle correction and feed L ΐ «;; ί grinding needle rotation seat horizontally inverted to type ν On the groove, the needle is used for grinding, and the S-pick: wheel is used for the grinding operation, and then the stylus is rotated to the specific position. The second image sensor is used by the knife-side detection module. Silk needle inspection operation, the good product is automatically taken to the arm module 姐 作业 homework, after re-grinding, you 重 defective products are repeated to perform the grinding process. If the product is still bad after re-grinding, it will be pinned to the defective area. Discharged from the discharge area. Riders ^ into the grinding test 〇 three, English invention summary: Fourth, The representative map: (1) The representative representative of the case is: (21) Figure (2) The symbol of the symbol of the representative figure is simple: 5. If there is a chemical formula in this case, the chemical formula of the most _ _ _ sign [Description of the invention] 201136704 [Technical field of invention] The method for fully automatic drilling of a PCB of the present invention comprises: inputting and outputting a feeding area and a discharge area of a drill box, and a brush device for performing dandruff removal, A defective area for placing a defective drill needle, an input of an unground inspection drill needle, and an automatic extraction of an abrasive detection needle or a bad drill needle to an arm module, a needle clamping module for placing a drill needle, corresponding to a needle Blade length, drill diameter, angle correction and feed amount detection module, blade surface detection module and boring head grinding module for clamping module; using cutter length, drill diameter, angle correction and feed amount detection module The first image sensor (CCD1) and the second image sensor (CCD2) of the blade face detection module detect the length, diameter, angle and appearance of the blade face, and are performed by standard values set by the computer program. Analysis to determine whether the drill is good or not [Prior Art] The method for fully automating the drilling of the PCB in the present invention, that is, through the image sensor and the grinding wheel, completes the operation of the boring and grinding detection. According to the 'automatic burr grinding equipment of the workshop, The four image sensors respectively perform the blade length and diameter detection, positioning detection, feed amount detection and blade detection of the needle; and between the discharge zone, the grinding zone and the detection zone, respectively, by the robot arm and The conversion arm alternately transmits the drill needle. However, the above-mentioned automatic drill grinding device needs to pass the drill needle to the detection area after the drill needle is fed, and the cutter length and diameter are detected by the first image sensor. Then by changing the arm. • Transfer the drill to the grinding area, position and grind by the second image sensor and grinding wheel, and then convert: the arm sends the ridge needle back to the detection area, and the third and fourth images are sensed. The tool performs the infeed detection and the blade detection. After the completion, the robot sends the drill pin. This method takes too much time to transfer the drill pin, and four image sensors are needed to increase the equipment cost. And it shall lose its existing problems. SUMMARY OF THE INVENTION In view of the above-mentioned shortcomings, the inventors have carefully studied the invention of the iron needle device for many years, and carefully developed the _pCB fully automated drill grinding method of the present invention. 'Chen Ru's following contents: , , brush device and defective area, the machine is equipped with a drill pin feeding area and a discharge area 201136704 on the side of the machine - side configuration of the lining scale module '同同骑模模_ Listening is provided with the correction and the infeed detection module, the knife surface inspection group and the needle grinding module, and the automatic extraction to the arm module is arranged between the refilling and holding module; during operation, by ^ The needle of the needle is input into the needle cutting operation of the needle by the brush device, and then the needle is clamped to the rotary needle holder of the needle clamping module by the retaining clip of the two =, by the length of the knife = , the first image sensor (10) of the self-correction and the feed amount detection module, the diameter, the angle correction and the feed amount, and then the horizontal rotation of the needle-changing holder is inverted at the v-type = 2 ^ rotating clamp on the 研磨 needle grinding The horizontal and horizontal movement of the left and right grinding wheels of the module is the position of the drill pin and the angle of the temple. (CCD2) The inspection of the drilled burr has been carried out, and it is judged whether the blade surface is in conformity. If the bur is a good product, it is automatically taken to the arm _ _ unloading the money to the person ^, $ good, then repeat Correction operation, if the corrected drill needle is a good product, the method of grinding the above-mentioned fully automated drill needle by the arm can save the time required to transfer the needle after the execution of the module, and the success rate can be further improved by the brush. _上_植,_针_==益[Embodiment], V; '... and ==Technical equipment_« Fully automatic _: Mill:====': 9〇. ^ 1〇〇8〇' ^
=送元成研飾I齡品_ u排料，該毛概 H 201136704 二所示，該不良區50與入料區20、排料區3〇相同，係直向設置於機台對 應入料區20、排料區30的同側位置處，可放置完成研磨檢測的不良品鑽針 12 ;如圖四所示，該自動取至手臂模組6〇係設置於入料區2〇與鑽針夾持 模組70之間，可由取鑕夾61將入料區2〇的未研磨檢測鑽針1〇夾持移動 至鑽針夾持模組70的鑕針旋轉夾座71上，及可由卸鑽夾62將完成研磨檢 測的良品鑽針11或不良品鑽針12從鑽針旋轉夾座71夾持移動至入料區2〇 或不良區50 ;如圖五所示，該鑽針夾持模組7〇係設置於機台另一侧，其鑽 針夾持模組70的鑽針旋轉夾座71用以放置未研磨檢測鑕針1〇，且可垂直、=Yuanyuancheng, the first grade _ u discharge, the Mao H is indicated by the 201136704, the bad zone 50 is the same as the feeding zone 20 and the discharge zone 3〇, and is placed directly on the machine. At the same side position of the area 20 and the discharge area 30, the defective product drill 12 for performing the grinding detection can be placed; as shown in FIG. 4, the automatic take-up arm module 6 is disposed in the feeding area 2 and drilled. Between the needle clamping modules 70, the ungrinding detecting needles 1〇 of the feeding area 2〇 can be clamped and moved to the needle rotating clamping seat 71 of the drilling needle clamping module 70 by the picking clip 61, and The unloading clip 62 moves the good drilling needle 11 or the defective product drilling needle 12 that has completed the grinding detection from the broach rotating clamping seat 71 to the feeding area 2 不良 or the defective area 50; as shown in FIG. 5, the burr holder The holding module 7 is disposed on the other side of the machine, and the burr holder 71 of the brotting clamp module 70 is used for placing the unground detection 〇 pin 1 〇, and can be vertical,
水平倒立及橫移以進行鑕針研磨及檢測作業，該設:置於鑕舒旋轉夾座/71，前 方的V型槽72 ’可讓未研磨檢測鑽針1〇其刃身承靠，以進行研磨作業，該 刃長、鑽徑、角度補正及進刀量定位檢測模組8〇係在對應於鑕針夾持模組 70位置處没有第-影像感測器(CCD1)8卜由第兑影像感測器(CCD1),81:進n 行未研磨檢測鑽針10的刃長、鑽徑、角度補正及進刀量定位檢測，其中刃 長檢測即欺闕針1G觸針或空針，雜檢測㈣定該綱仙是否混μ : 針，疋位檢測即續針10拍攝影像’依像數點配合軟體公式換算判定刃面 所需補正肖度及研麵刀行程；如圖六所示，闕料磨歡耗在對應 於鑽針夾持敝7G位置處設有左、右砂輪91及92，闕針旋触座71於 左、右砂輪91及92之間水平橫移’進行該鑽針1〇，的研磨作業,；如圖七所 不’該刃面檢測模組1〇〇係在對應於鑽針失持模組7〇位置處設 感測器(ccD2)m，可判定該鑽針10的刀面檢測作業: 1 藉由上述，便足以在PCB全自動化研磨設備上實施本發明鑽針研磨 3法斑上：敬請參閱第八圖至第二十圖所示_發明動態示^ 所示：係本發_動作流程示意圖。操紳，'包括下 m」驟.[1_]由入料區20將載放未研磨檢測讚針1。的鎮針盒輸人(‘如.“ 圖二十—所示）；[2]由毛刷裝置歸_針1G進行_作業(如.圖九、‘ =二所不” [3]由自動取至手臂模組6。的取續夾61將該 : 動至_夺模組70的續針旋轉夾座71位置處(如圖十、，十一、二: 示）’ [4]由刃長、鑽徑、角度補正及進刀量定位 綠^ =，該節◦進行刃長、鑽徑、角度補正及進二=:: 業(如圖忙、二十所你[5]若邱㈣歸合標料_針旋私㈣: 201136704 將該嶺針ίο刃面轉正，水平倒立平放於v型槽72上， 於鑕針研雜組9〇社、树輪91及92間水平娜對觸針1〇進行 刀刃研磨作業’若77長及雜Μ合標準_自練、 夾62將該不良_針12夹持移動靖(區5Q(如圖十三 十-所示）；[6]由鎖針旋轉夹座71將該_ 1()倒回 丁 由第二影像感測器⑽2)1G1對簡針1G進行刃面__=度十五置二 十-所不），其中在上述步驟4至步驟6的_，該自 二由取，夹持未研磨檢測鑽針1〇至鑽針旋轉爽錢 ’、一 所不），[7]檢測後若為良:品的鑕針、l'U則由卸/ ,; 嶺央62將該鑕針η夾起，並由取鑽夾β1絲研磨檢_針1〇插入，再' =3=6〇將該_11移動至入料區20，檢測後若為不良品 的嶺針丨2,則再重覆步驟4至步驟6的動作(如圖相、权r十四、十五〜 十七、十八、二十-所示）；[8]經過第二次研磨及檢測後若為良品的嶺 ^1，則由卸鎖夾62將該鑽針n夾起，並由取鐄_將未研磨檢測鑽針丨. 番入’再由自動取至手龍組6Q將_針u移動至人料區I，若仍為 不良品_針12則由卸鑽夹62將該鑽針12夹起，並由取· 61將未研 磨檢別鑽針10插人’再由自動取至手臂模組60將該鑽針.〇乡動至不良區 50 (如圖十七十八、十九、二十、二十一所示);[9]將新插入未研磨檢| 測續針10重複執行步驟4至轉8的動作，以完賴數絲研磨檢賴針 10的研磨作業。 綜合上述所陳之本發明，係成功的將續針研磨及檢測作業集中於鑽針, 夾持，組上’解決了傳遞鎮針耗費過多時間的問題，此外也成功的將影像，, 感測器的功效提升，降低了設備所需的成本卜，：旧: m 5 201136704 【圖式簡單說明】 圖一 |£) 一 園^一 121 一 園二 圖四 圖五 圖六 圖七 圖八 圖九 係本發明的一俯視架構示意圖。 係本發明的入、排料區及毛刷裝置立體示意圖。 係本發明的不良料區立體示意圖。 係本發明的自動取至手臂模組立體示意圖。 係本發明的鑕針夾持模組、刃長、鑽徑角 組立體示意®。 肖度叙及進刀量檢測模 係本發明的刃面檢測模組立體示意圖。 係本發明的鑽針研磨模組立體示意圖⑷七..，Horizontally inverted and traversed for boring and grinding operations. This device is placed on the squeezing clamp/71, and the front V-groove 72' allows the unground inspection burr to bear its blade. For the grinding operation, the blade length, the drill diameter, the angle correction, and the feed amount positioning detecting module 8 are not corresponding to the position of the 夹持 pin clamping module 70, and there is no first image sensor (CCD1) 8 Image sensor (CCD1), 81: Into the n-line ungrinded test pin 10 blade length, drill diameter, angle correction and feed amount positioning detection, wherein the blade length detection is the bully needle 1G stylus or empty needle , Miscellaneous detection (4) Whether the class is mixed or not μ: Needle, the position detection is the continuous needle 10 shooting image 'Recording the number of points according to the software formula to determine the correction of the blade surface and the grinding knife stroke; Figure 6 It is shown that the boring wear is provided with left and right grinding wheels 91 and 92 corresponding to the position of the boring pin 敝 7G, and the 旋 pin rotating seat 71 is horizontally traversed between the left and right grinding wheels 91 and 92. Grinding operation of the burr 1 〇,; as shown in Figure VII, the blade surface detection module 1 is configured to sense the position corresponding to the boring pin missing module 7 〇 (ccD2)m, the knife face detection operation of the drill pin 10 can be determined: 1 By the above, it is sufficient to implement the drill bit grinding method of the present invention on the PCB fully automated grinding device: please refer to the eighth figure to the first Twenty-fifth figure _ invention dynamics show ^: is the schematic diagram of the action _ action flow. Operation, 'including m'. [1_] The unfilled inspection pin 1 will be placed by the feeding zone 20. The needle box of the town is entered (', as shown in Figure XX); [2] is carried out by the brush device _ pin 1G _ homework (such as Figure 9, IX = two no) [3] by automatic The retracting clip 61 of the arm module 6 is moved to the position of the continuation pin rotation holder 71 of the _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Length, drill diameter, angle correction and feed amount positioning green ^ =, the section is used for blade length, drill diameter, angle correction and advance ==: Industry (Figure busy, twenty you [5] Ruo Qiu (four) According to the standard material _ needle spin private (four): 201136704 The ridge needle ίο face is turned positive, horizontally placed upside down on the v-shaped groove 72, in the 锧 needle research group 9 〇 、, tree wheel 91 and 92 horizontal Na pair The stylus 1 〇 performs the blade grinding operation 'If the 77 length and the mashing standard _ self-training, the clip 62 clamps the _ needle 12 to move the jing (zone 5Q (as shown in Figure 30) - [6] Reversing the _ 1 () by the lock pin rotation holder 71 from the second image sensor (10) 2) 1G1 to the simple needle 1G face __ = degree fifteen twenty - no), wherein Step 4 to step 6 of _, the take-up from the second, holding the ungrinding detection burr 1 〇 to the burring rotation cool money', No), [7] If it is good after the test: the needle of the product, the l'U is removed by /,; the yang yang 62 clamps the needle η, and the drill is taken by the drill clamp β1 wire _ needle 1 〇Insert, then '=3=6〇, move the _11 to the feeding area 20, and if it is the ridge needle 丨2 of the defective product after the detection, repeat the actions of steps 4 to 6 (as shown in the figure, right R14, fifteen~17,18,20-shown); [8] If after the second grinding and inspection, if it is a good ridge, the bur is removed by the unloading clip 62 Pinch up, and take the 鐄 _ will not grind the test pin 丨. Fan into ' and then automatically take the hand dragon group 6Q will _ pin u move to the human area I, if it is still defective _ pin 12 is unloaded The drill clip 62 clamps the drill pin 12, and inserts the unground inspection drill pin 10 by the take-up 61 and then automatically takes it to the arm module 60 to move the drill pin to the defective zone 50 (eg Figure 17:18, 19, 20, 21); [9] will be inserted into the unground inspection | continuation needle 10 repeat the steps 4 to 8 to complete the number of wire polishing Grinding operation of the needle 10 . In combination with the above-mentioned invention, the successful continuation of the needle grinding and testing operations on the burs, clamping, and groupings solves the problem of excessive time spent transmitting the needles, and also successfully images, and senses. The efficiency of the device is improved, and the cost required for the device is reduced.: Old: m 5 201136704 [Simple description of the figure] Figure 1|£) One garden ^ one 121 One garden two map four figure five figure six figure seven figure eight figure A schematic diagram of a top view of the present invention. It is a schematic view of the inlet and discharge areas and the brush device of the present invention. A schematic perspective view of a defective material zone of the present invention. It is a three-dimensional schematic diagram of the automatic take-to-arm module of the present invention. The invention relates to a boring pin clamping module, a blade length, and a drill angle group stereoscopic representation®. The schematic diagram of the blade face detection module of the present invention. A perspective view of a drill grinding module of the present invention (4) seven..,
係本發明的-動態示意圖，說明該鎖針盒由二區輸=^ ^ =發_另—動態示意圖，說明該料進行毛刷除屬作業。 =丄係2明的再一動態示意圖’說明該取續夹爽持鑽針* 、" 又—動態示意圖’ 針插置鑽針旋轉夾座上。 圖十一.係本發日月的另一動態示意圖’說明該續針進行刃長、譜徑、角度 補正及進刀量定位檢測作業。 圖十三：係本發_再—_示意圖，該_水平倒立承靠於m 上0 圖十四1本發_又-纏示意圖，制針進行研磨作^The dynamic schematic diagram of the present invention shows that the lock needle box is driven by the second zone = ^ ^ = hair _ another - dynamic diagram, indicating that the material is subjected to the brush removal operation. = another dynamic diagram of the 2 system 2 ′′ indicates that the continuation clip holds the drill needle*, "and-dynamic diagram' the needle is inserted into the burr holder. Figure 11. Another dynamic diagram of the date and month of the release. This illustrates the continuation of the blade length, spectral path, angle correction and feed amount positioning detection. Figure 13: This is the _ re-_ schematic diagram of the hair _, the _ horizontal inverted bearing on the m on the 0 Figure 14 1 this hair _ again - entanglement diagram, needle making for grinding ^
圖十五：係本發_另—祕示意0，綱闕針進行刃面檢卿業I 圖十六：係本發明的再一動態示意圖，說明該取鑽爽夹持鑽針至鑽針旋轉 夾座上方。 ，: 圖十七：係本發明的又一動態示意圖，說明該取、夹馳品鐵針及播 置鑽針。 .：，， 圖十八··係本發_另_祕示意圖，說明該卸做麟料至人料區。 圖十九.係本發明的再—動態示意圖，說明該取、卸夾央持不良品鎖針及 插置續針。 圖二十：穌發明的又—動態示意圖，說明該_夾爽持續針至不良區。. 圖二十一：係本發明的動作流程示意圖。 ；.. IS1 6 ·' · * ' · 1 201136704 【主要元件符號說明】 ίο 未研磨檢測鑕針 11 良品的嶺針 12 不良品的鑌針 20 入料區 30 排料區 40 毛刷裝置 50 不良區 60 自動取至手臂模組 丨 i-/114, ΐ 61 取鑽夾Figure 15: This is the hair of the hair _ another - secrets 0, the outline of the needle to carry out the edge inspection of the industry I Figure 16: Another dynamic diagram of the present invention, indicating that the take-up of the drill pin to the bur Above the holder. Fig. 17 is a further dynamic schematic view of the present invention, illustrating the picking, pinching, and positioning of the drill. .:,, Figure 18················································· Fig. XIX. is a re-dynamic diagram of the present invention, illustrating that the pinch and the unloading pin hold the needle of the defective product and insert the needle. Figure 20: The inventive-dynamic diagram of the invention, indicating that the _ clips continue to the needle to the bad area. Figure 21 is a schematic diagram of the action flow of the present invention. ;.. IS1 6 ·' · * ' · 1 201136704 [Explanation of main component symbols] ίο Unpolished detection needle 11 Good ridge needle 12 Defective needle 20 Feeding zone 30 Discharge zone 40 Brush unit 50 Bad Area 60 is automatically taken to the arm module 丨i-/114, ΐ 61 to take the drill clip
62 卸鑕夾 70 鑕針夾持模組 V;) 71 鑽針旋轉夾座 72 V 型槽 :， ν -1 ί;： 80 刃長、鑽徑、角度補正及進刀量定位檢測模組:； 81 第一影像感測器 ：丨 90 鑕針研磨模組 〇 91 左砂輪 η cr;:; 92 右砂輪 ^ r : 100 刃面檢測模組 *小·! 101 第二影像感測器62 锧 锧 70 70 锧 夹持 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; 81 First Image Sensor: 丨90 锧Needle Grinding Module〇91 Left Grinding Wheel η cr;:; 92 Right Grinding Wheel^ r : 100 Blade Face Detection Module*Small!! 101 Second Image Sensor