201236810 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種以有效率之流程來進行鑽頭之研磨 工作的錯頭自動研磨方法。 【先前技術】 在電路板配置電子元件之前，需利用鑽頭在該電路板 上的適當位置處間隔設置複數個穿孔，以供各電子元件之 接腳穿没定位之用，其中，該鑽頭之鑽針部在經過多次鑽 孔作業後會逐漸鈍化甚至斷裂，造成加工時的不順暢及誤 差，此時，加工業者會將該鑽頭取下，利用砂輪研磨其鑽 針部，使該鑽針部恢復至可順暢且準確地於電路板上鑽孔 的狀態。 現有技術之鑽頭自動研磨方法，如台灣申請號數第 _106616號「鑽針自動研磨方法及其裝置」所*，其在 進打研磨步驟時，係利用一機械手臂先取下-夾持定位裝 置上研磨完成之鑽頭，再將另一待磨鑽頭設於該夹持定位 =，接著驅動該該夾持定位裝置移動至-研磨裝置的 。又處’以令該研磨裝置對該待磨鑽頭進行研磨加工。 f發明内容】 由於取下研磨完成之鑽頭、設置待磨鑽頭以及 =寺磨鑽頭進行研磨加工這三項動作係依序進行，必須 ::磨動作完成後才能進行取、放鑽頭的動 研磨加卫的動作流程無法有效率的進行，有 鑽頭 有鐘於現有技術所存在㈣題，本發明提供一種 201236810 之鑽頭自動研磨 自動研磨方法’希藉此設計解決現有技術 方法之動作流程效率低的缺點。 為了達到上述的發明目的’本發明所利用的技術手段 係以一鑽頭研磨設備來實施自動研磨方法，該鑽頭 :磨設備包括一中繼裝置，”繼裝置的一側設有一承載 裝置與一清潔裝置’該中繼裝置的另一側設有一夾持定位 裝置與一研磨裝置，該清潔裝置位於該中繼裝置與承載裝 置之間該夾持定位裝置位於該中繼裝置與研磨裝置之 間’該夾持定位裝置具有一旋轉台以及二夹持組件，該旋 轉台的兩相對側分別為一取放料位置與一研磨位置，該二 夾持組件設於該旋轉台± ’且分別朝反方向設置並可分 別移動至位於該旋轉台之取放料位置與研磨位置處，該研 磨裝置設於一驅動台上，該驅動台可帶動該研磨裝置左、 右側向移動，又，該鑽頭自動研磨方法包括： 取料步驟，其係利用該承載裝置所設之一第一機械 手臂夹取該承載裝置所設之承載盤中的其中一待磨鑽頭， 將該待磨鑽頭&置於該清潔裝置所設之轉盤上的取放位置 處， 一前清潔步驟，其係令該清潔裝置之轉盤定格轉動， 將該待磨鑽頭轉動至該轉盤之第一清潔位置處，利用該處 所設置之一第一清潔組件除去鑽頭端部之顆粒雜物； 一前夾取步驟，其係令該清潔裝置所設之轉盤定格轉 動’將該待磨鑽頭轉動至該轉盤之進出料位置處，接著令 該中繼裝置夾取該待磨鑽頭，並將該待磨鑽頭帶動至設置 在該夾持定位裝置之旋轉台的取放料位置處的夹持組件 201236810201236810 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to an erroneous automatic grinding method for performing a grinding operation of a drill bit in an efficient process. [Prior Art] Before the electronic components are arranged on the circuit board, a plurality of perforations are arranged at appropriate positions on the circuit board by the drill bit, so that the pins of the electronic components are not positioned, wherein the drill bit is drilled. After the needle drilling process, the needle part will gradually passivate or even break, resulting in unsmoothness and error during processing. At this time, the processing industry will remove the drill bit and grind the drill needle portion with a grinding wheel to make the drill needle portion Restore to a state where holes can be drilled smoothly and accurately on the board. The prior art automatic grinding method for the drill bit, such as the Taiwan Application No. _106616 "Drilling Needle Automatic Grinding Method and Apparatus"*, which uses a mechanical arm to first remove the - clamping positioning device during the grinding step The grinding bit is finished, and another bit to be ground is set to the clamping position==, and then the clamping positioning device is driven to move to the grinding device. Further, the grinding device is used to grind the bit to be ground. fInventive content] Since the three operations of grinding the drill bit, setting the drill bit to be ground and the grinding wheel to grind the workpiece are carried out in sequence, it is necessary to:: After the grinding action is completed, the dynamic grinding of the drill bit can be taken. Wei's action flow can't be carried out efficiently. There are drill bits and clocks in the prior art. (4) The present invention provides a bit grinding automatic grinding automatic grinding method of 201236810, which is designed to solve the shortcomings of the prior art method. . In order to achieve the above object, the technical means utilized by the present invention implements an automatic grinding method by a drill grinding apparatus comprising a relay device, "a carrier device and a cleaning device are provided on one side of the device." The device 'the other side of the relay device is provided with a clamping positioning device and a grinding device, the cleaning device is located between the relay device and the carrying device, and the clamping positioning device is located between the relay device and the grinding device. The clamping positioning device has a rotating table and two clamping assemblies. The opposite sides of the rotating table are respectively a take-out position and a grinding position, and the two clamping assemblies are disposed on the rotating table ± 'and respectively opposite The direction is set and can be separately moved to the take-out position and the grinding position of the rotating table, the grinding device is disposed on a driving platform, the driving table can drive the grinding device to move left and right, and the drill automatically The grinding method comprises: a reclaiming step, wherein one of the carrying trays provided by the carrying device is clamped by one of the first mechanical arms provided by the carrying device a drill bit, which is placed at a pick-and-place position on a turntable provided by the cleaning device, a front cleaning step for causing the turntable of the cleaning device to rotate in a fixed position, and rotating the drill bit to be rotated to the turntable At the first cleaning position, the first cleaning assembly provided by the space is used to remove the particulate matter at the end of the drill bit; a front clamping step is to rotate the rotary disk provided by the cleaning device to the drill bit to be ground Rotating to the feeding and discharging position of the turntable, and then causing the relay device to grip the drill bit to be ground, and driving the bit to be ground to the clamping position of the rotating table of the clamping positioning device Component 201236810
一研磨步驟，其係令該夾持定位裝置之旋轉台定格轉 動，將設有待磨鑽頭之夾持組件轉動至該旋轉台之研磨位 置處，接著令該驅動台帶動該研磨裝置移動，並對該待磨 鑽頭進行研磨； 一後夾取步驟，其係令該夾持定位裝置之旋轉台定格 轉動，將設有研磨完成之鑽頭的夾持組件轉動至該旋轉台 之取放料位置處，令該中繼裝置先由該夾持組件上取下研 磨完成之鑽頭，再將該研磨完成之鑽頭放置於該清潔裝置 之轉盤上的進出料位置處； 一後清潔步驟’其係令該清潔裝置之轉盤定格轉動， 將該研磨完成之鑽頭移動至該轉盤之第二清潔位置處，利 用該處所設置之第二清潔組件除去鑽頭端部之顆粒雜物； 一放料步驟中，其係令該清潔裝置之轉盤定格轉動， 將該研磨完成之鑽頭轉動至其取放位置，在令該第一機械 手臂夾取該研磨完成之鑽頭’將該研磨完成之鑽頭放置於 承載盤上。 上述鑽頭可具有一夾持部，爽持部的一端轴向延伸成 塑有-鑽針部，該待磨鑽頭係以夾持部在下、鑽針部向上 延伸的型態設於該承載盤之進料區，當該研磨完成之錯頭 經結果檢測器㈣該_之鑽針部的長度及端部之鑽尖角 _符合所設定之要求時，該第—機械手Μ將該鑽頭以上、 1方位的180度翻轉’再將該研磨完成之鑽頭以夾持部在 上、鑽針部向下延伸的型態設於該承誠之置料區中。 在上述後清潔步驟與放料步驟之間可進一步包括一檢 201236810 測步驟，在該檢測步驟中，係令該清潔裝置之轉盤定 動’將該研磨完成之鑽頭轉動至該轉盤之檢測位置，利用 設於該處之結果檢㈣檢查㈣頭之料部的長度及 的鑽尖角是否符合所設定之要求’接著在該放料：驟中： 若前述結果檢測器判斷該鑽頭之鑽針部的長度其端部之 尖角符合所設定之要求’則該第一機械手臂失取該研磨完 成之鑽頭，並將其放置於該承載盤之一置料區中，若不符 合所設定之要求，則判定該鑽頭報廢’第一機械手臂夾二 該鑽頭，並將其放置於該承載盤之一報廢區中。 在上述放料步驟中，當結果檢測器判斷該鑽頭之鑽針 部的長度其端部之鑽尖角不符合所設定之要求時，可進行 判定重磨或報廢’當判定㈣頭需重料，第—機械手臂 不夾取該鐵頭’使該判定重磨之鑽頭重復前述前清潔步 驟、前夹取步驟、研磨步驟、後夾取步驟'後清潔步驟、 檢測步驟及放料步驟，當判定該鑽頭需報廢時該第一機 械手臂夾取該鑽頭，並將其放置於該承載盤上之報廢區。 上述中繼裝置可包含一第二機械手臂、一中繼交換座 與一第三機械手臂，該第二機械手臂設於該清潔裝置與中 繼交換座之間，該第三機械手臂設於該中繼交換座與夾持 定位裝置之間，該第二機械手臂上設有二相互間隔設置的 二夾具，該第三機械手臂上設有一取針夾爪與一放針夾爪； 在上述前夾取步驟中，該中繼裝置以該第二機械手臂 上之其中一失具夾取該轉盤之進出料位置處的待磨鑽頭， 接著該第二機械手臂旋轉，將該待磨鑽頭置放於中繼裝置 所設之中繼交換座上，接著中繼交換座朝該第三機械手臂 201236810 轉動’利用該第三機械手臂之取針夾爪來夾取該待磨鑽 頭’再將該放針夾爪上所夾取的研磨完成之鑽頭放置於該 中繼交換座上； 在上述後夾取步驟中，先以該放針夾爪夾取該旋轉台 之取放料位置處的夹持組件上放置的研磨完成之鑽頭，再 將該取針爽爪上的待磨鑽頭放置於該取放料位置處的夾持 組件上》 上述研磨裝置可具有一研磨檢測器及二磨輪，在前述 研磨步驟中’先利用該研磨裝置之研磨檢測器檢測該待磨 鑽頭之鑽針部的長度及端部之角度，接著再令該驅動台進 一步帶動該研磨裝置，根據前述研磨檢測器之檢測結果來 调整該研磨裝置之磨輪與該夾持組件之相對位置，利用該 磨輪來對該待磨鑽頭之鑽針部進行研磨。 上述清潔裝置之轉盤上的進出料位置處可包含一出料 位置與進料位置，該進料位置位於該出料位置與該第二 清潔位置之間’該中繼裝置之第：機械手f先將研磨完成 〜鑽頭放置在該進料位置處，再移至該出料位置處夹取下 一待磨鑽頭。 上述清潔裝置之轉盤上的取放位置處可包含一取料 置與-放料位置，該該取料位置位於該放料位置與該檢 位置H承載裝置之第—機械手臂由該取料位置處 該研磨完成之鑽職取至承㈣上放置，並從該承載盤 夾取另一待磨鑽頭至該放料位置處放置。 後夾取步驟以及研磨步 以對設置於其中一夾持 本發明的優點在於，在該前、 驟之間，可在該研磨裝置側向移動 201236810 組件上之待磨鑽頭進行研磨加工的同時，令該第三機械手 臂先將另一夾持組件上研磨完成的鑽頭取下，並放上下一 待磨鑽頭，使該夾持定位裝置上研磨以及取、放鑽頭的動 作同時進#，可有效達到提高整體研磨加卫之動作流程的 工作效率的目的。 【實施方式】 以下配合圖式及本發明之較佳實施例，進一步闡述本 發明為達成預定發明目的所採取的技術手段。 參見圖2所示之一用以實施本發明之鑽頭自動研磨方 法之鑽頭研磨設備，其包括一中繼裝置3〇,該中繼裝置 的一側設有一承載裝置10與一清潔裝置2〇,該中繼裝置 30的另一側設有一夾持定位裝置4〇與一研磨裝置5〇，該 清潔裝置20位於該中繼裝置30與承載裝置1〇之間該夾 持定位裝置40位於該中繼裝置30與研磨裝置5〇之間，其 中該π潔裝置20的具體構造係如台灣證書號數第 Μ332000號「鑽頭研磨機之清潔裝置」所示； 配合參見圖6所示，上述夾持定位裝置4〇具有一旋轉 •台41以及二夾持組件42，該旋轉台41的兩相對側分別為 一取放料位置411與一研磨位置412，該夾持組件42的具 體構造係如台灣證書號數第Μ332553號「鑽頭研磨機之爽 持定位裝置」所示，該二夾持組件42設於該旋轉台41上， 且分別朝反方向設置，並可分別移動至位於該旋轉台之 取放料位置411與研磨位置412處，每一夾持組件42係利 用一頂升機構421及一萬向接頭422來控制一用以夾持鑽 頭之夾具423的位置； 201236810 配合參見圖7所示，該研磨裝置50具有一研磨檢測5| 51及二磨輪52，該研磨檢測器51可為一 CCD檢測器 (Charge Coupled Device Camera，CCD 檢測器），用以檢 測鑽頭之鑽針部的長度及端部的鑽尖角，該二磨輪52可分 別以不同角度對該待磨鑽頭進行研磨，又，該研磨裝置52 係設於一驅動台53上，該驅動台53可帶動該研磨裝置5〇 左、右側向移動。 進一步參見圖1所示，本發明之鑽頭自動研磨方法包 括一取料步驟61、一前清潔步驟62、一前夾取步驟63、 一研磨步驟64 ' —後夾取步驟65、一後清潔步驟66、一 檢測步驟67及一放料步驟68 ; 在取料步驟61中，利用該承載裝置1〇所設之一第一 機械手臂11夾取該承載裝置1Q所設之一承㈣ 中-待磨鑽頭，將該待磨_放置於該清潔裝置2()所蚊 轉盤21上的取放位置處，其中，該承載盤上可區分為 麻：料&、一置料區及一報廢區’該進料區處設有若干待 磨錯頭，該鑽頭具右—水 、失持。卩，夾持部的一端軸向延伸成 鑽針部，該待磨鑽頭係以失持部在下、鑽針部向上 延伸的型態設於該承載盤12之進料區； 在：清潔步驟62中，令該清潔裝置2〇之轉盤a定格 轉動，將該待磨鑽頭轉動至 處’利用該處所設置之—第Π之第一清潔位請 顆粒雜物； 帛-清潔組件22除去鑽頭端部之 2〇所設之轉盤21 21之進出料位置 —在前夾取步驟63中，令該清潔裝 疋格轉動’將該待磨鑽頭轉動至該轉差 201236810 處，接著令該中繼裝置30夾取該待磨鑽頭’並將該待磨鑽 頭帶動至設置在該失持定位裝置40之旋轉台41的取放料位 置41 1處的夾持組件42上； 在研磨步驟64中，令該夾持定位裝置4〇之旋轉台馴 定格轉動，將設有待磨鑽頭之夾持組件42轉動至該旋轉台 41之研磨位置412處，接著令該驅動台53帶動該研磨裝 置50移動，先利用該研磨裝置5〇之研磨檢測器51來檢測 該待磨鑽頭之鑽針部的長度及端部之角度，接著再令該驅 動台53進一步帶動該研磨裝置5〇，根據前述研磨檢測器 51之檢測結果來調整該研磨裝置5〇之磨輪52與該夾持組 件42之相對位置，並利用該磨輪52來對該待磨鑽頭之鑽 針部進行研磨； 在後夾取步驟65中，令該夾持定位裝置4〇之旋轉差 41定格轉動，將設有研磨完成之鑽頭的夾持組件42轉動^ 該旋轉台41之取放料位置411處，令該 該夹持組件42上取下研磨完成之錢頭，同時將另置一= 碩設於該夾持組件42上’接著再將該研磨完成之鐵頭放】 於該清潔裝置2G之轉盤21上的進出料位置處，同時從拿 轉盤21之進出料位置處夾取另一待研磨之鑽頭； 在後清潔步驟66中，令該清潔裝置2〇之轉盤21定本 轉動，將該研磨完成之鑽頭移動至該轉盤之第二清潔則 Μ處，利用該處所設置之第二清潔組件23除去鐵頭端名 之顆粒雜物； 20之轉盤21定格轉 21之檢測位置μ 6， 在檢測步驟67中，令該清潔裝置 動，將該研磨完成之鑽頭轉動至該轉盤 201236810 利用設於該處之結果檢測器24檢查該鑽頭之鑽針部的長度 及端部的鑽尖角是否符合所設定之要求； 在放料步驟68中，令該清潔裝置20之轉盤2彳定格轉 動，將該研磨完成之鑽頭轉動至該轉盤21之取放位置，若 前述結果檢測器2 4判斷該鑽頭之鑽針部的長度及端部之鑽 尖角符〇所„又疋之要求，則該第一機械手臂11夾取該研磨 完成之鑽頭，同時將該鑽頭以上、下方位的180度翻轉， 使該研磨完成之鑽頭以夾持部在上、鑽針部向下延伸的型 態設於該承載盤12之置料區中’以便於操作人員拿取，再 白該承載盤12之進料區夾取另—待磨鑽頭放置於轉盤ua grinding step of rotating the rotating table of the clamping positioning device to rotate the clamping assembly provided with the drill to be ground to the grinding position of the rotating table, and then causing the driving table to move the grinding device and The grinding bit to be ground is grounded; a post-clamping step is to rotate the rotating table of the clamping positioning device to rotate, and the clamping assembly provided with the grinding bit is rotated to the feeding position of the rotating table, Having the relay device first remove the ground drill from the clamping assembly, and then place the drilled drill bit on the feed and discharge position on the turntable of the cleaning device; a post-cleaning step 'which causes the cleaning The turntable of the device is rotated in a fixed manner, and the drilled bit is moved to the second cleaning position of the turntable, and the second cleaning component disposed at the place is used to remove the particulate matter at the end of the drill bit; The turntable of the cleaning device is rotated in a fixed manner, and the drilled bit is rotated to a pick-and-place position thereof, so that the first robot arm grips the grinding bit to complete the grinding The drill bit is placed into the tray. The drill bit may have a clamping portion, and one end of the holding portion axially extends into a plastic-drilling needle portion, and the drill bit to be ground is disposed on the carrier tray in a shape in which the clamping portion extends downward and the drill portion extends upward. In the feeding zone, when the grinding is completed, the result of the detector (4), the length of the burring portion and the tip angle _ of the end portion meet the set requirements, the first robot handles the drill bit, The 180-degree flip of the 1 direction is further set in the type of the drill which is completed by the grinding portion with the nip portion on the upper side and the boring portion extending downward. Between the above-mentioned post-cleaning step and the discharging step, a step of measuring 201236810 may be further included, in which the rotating device of the cleaning device is fixed to rotate the drill bit to the detecting position of the rotating table. Use the result inspection (4) to check whether the length of the material part of the head (4) and the tip angle of the head meet the set requirements. Then in the discharge: the first result: if the result detector determines the drill part of the drill The length of the tip of the end meets the set requirements. The first robot arm loses the drill bit that has been ground and places it in one of the loading areas of the carrier. If it does not meet the set requirements. Then, it is determined that the drill bit scraps the first mechanical arm clamp and places it in the scrapping area of one of the carrier trays. In the above discharging step, when the result detector determines that the length of the drill portion of the drill bit is not in accordance with the set requirement, the determination of the re-grinding or scrapping may be performed when the determination (four) head needs heavy material. , the first mechanical arm does not grip the iron head 'to make the determined regrind bit repeat the foregoing pre-cleaning step, pre-clamping step, grinding step, post-clamping step 'post-cleaning step, detecting step and discharging step, when The first robot arm picks up the drill bit when it is determined that the drill bit needs to be scrapped, and places it on the scrapping area on the carrier tray. The relay device may include a second robot arm, a relay exchange base and a third mechanical arm, the second mechanical arm is disposed between the cleaning device and the relay exchange seat, and the third mechanical arm is disposed at the Between the relay exchange base and the clamping and positioning device, the second mechanical arm is provided with two clamps disposed at a distance from each other, and the third mechanical arm is provided with a needle removing jaw and a needle releasing jaw; In the clamping step, the relay device picks up the to-be-ground bit at the feeding and discharging position of the rotating plate by one of the second robot arms, and then rotates the second mechanical arm to place the to-be-ground bit On the relay exchange base provided by the relay device, and then the relay exchange base rotates toward the third mechanical arm 201236810, 'take the drill bit to be gripped by the take-up jaw of the third mechanical arm' and then put the a grinding bit that is clamped on the needle clamping jaw is placed on the relay exchange seat; in the above-mentioned rear clamping step, the clamping position of the rotating table is taken by the needle clamping jaw a ground drill bit placed on the assembly, The grinding bit to be ground on the needle is placed on the clamping assembly at the picking and discharging position. The grinding device may have a grinding detector and two grinding wheels, and the grinding device is used first in the grinding step. The grinding detector detects the length and the angle of the end of the drill bit of the bit to be ground, and then causes the driving table to further drive the grinding device, and adjusts the grinding wheel and the clip of the grinding device according to the detection result of the grinding detector The grinding wheel is used to grind the drill bit of the bit to be ground by the relative position of the assembly. The feeding and discharging position on the turntable of the cleaning device may include a discharging position and a feeding position, the feeding position is between the discharging position and the second cleaning position. The relay device is the first: the robot f The grinding is completed first, the drill bit is placed at the feeding position, and then moved to the discharging position to grip the next bit to be ground. The pick-and-place position on the turntable of the cleaning device may include a take-up and discharge position, where the take-out position is at the discharge position and the first position of the load-bearing device is the mechanical arm from the take-up position The drilled drill is placed on the bearing (4), and another drill bit to be ground is taken from the carrier to the discharge position. The post-clamping step and the grinding step are advantageous for providing a clamping on one of the inventions, wherein the grinding device can laterally move the bit to be ground on the 201236810 component while the grinding device is being ground. The third robot arm first removes the drill bit that has been ground on the other clamping component, and puts on the next drill bit to be ground, so that the grinding and the action of taking and placing the drill bit simultaneously enter the #, which can be effective Achieve the goal of improving the efficiency of the overall grinding and maintenance process. [Embodiment] Hereinafter, the technical means adopted by the present invention for achieving the intended purpose of the invention will be further described in conjunction with the drawings and preferred embodiments of the present invention. Referring to FIG. 2, a bit grinding apparatus for implementing the automatic grinding method of the drill bit of the present invention comprises a relay device 3, one side of which is provided with a carrying device 10 and a cleaning device 2 The other side of the relay device 30 is provided with a clamping and positioning device 4 and a polishing device 5, and the cleaning device 20 is located between the relay device 30 and the carrier device 1 Between the device 30 and the polishing device 5, wherein the specific structure of the π cleaning device 20 is as shown in Taiwan Certificate No. 332000 "Cleaning Device for Drill Grinder"; as shown in FIG. The positioning device 4 has a rotating table 41 and two clamping assemblies 42. The opposite sides of the rotating table 41 are respectively a take-out position 411 and a grinding position 412. The specific structure of the clamping assembly 42 is Taiwan. As shown in the certificate number No. 332553, "Blowing and Grinding Positioning Device of the Drill Grinder", the two clamping units 42 are disposed on the rotating table 41, and are respectively disposed in opposite directions, and can be respectively moved to the rotating table. Take the discharge position 411 and research At position 412, each clamping assembly 42 utilizes a jacking mechanism 421 and a universal joint 422 to control the position of a clamp 423 for holding the drill bit; 201236810, as shown in Figure 7, the grinding apparatus 50 has a grinding detection 5|51 and a second grinding wheel 52, the grinding detector 51 may be a CCD detector (Charge Coupled Device Camera) for detecting the length of the drill portion of the drill bit and the tip angle of the end portion The grinding wheel 52 can be ground at different angles, and the grinding device 52 is mounted on a driving table 53. The driving table 53 can drive the grinding device 5 to move left and right. Referring further to Figure 1, the automatic bit grinding method of the present invention comprises a take-up step 61, a pre-cleaning step 62, a front gripping step 63, a grinding step 64' - a post-clamping step 65, and a post-cleaning step. 66, a detecting step 67 and a discharging step 68; in the picking step 61, one of the first robot arm 11 provided by the carrying device 1 is clamped to one of the carrying devices 1Q (four) Grinding the drill bit, placing the to-be-grounded portion on the pick-and-place position on the mosquito turntable 21 of the cleaning device 2, wherein the carrier tray can be divided into a material: a material & a receiving area and a scrapping area 'The feed zone is equipped with a number of heads to be worn, and the drill has right-water and lost.卩, one end of the clamping portion extends axially into a drill portion, and the drill bit to be ground is disposed in the feeding region of the carrier tray 12 in a form in which the missing portion is extended downward and the drill portion is extended; at: cleaning step 62 In the middle of the cleaning device 2, the turntable a of the cleaning device is rotated, and the bit to be ground is rotated to the position where the first cleaning position of the third cleaning position is provided by the space; the cleaning assembly 22 removes the end of the drill bit. In the forward gripping step 63, in the front gripping step 63, the cleaning device is rotated to rotate the bit to be ground to the slip 201236810, and then the relay device 30 is Pulling the drill bit to be drilled and driving the bit to be ground to a clamping assembly 42 disposed at the pick-and-place position 41 1 of the rotating table 41 of the lost positioning device 40; in the grinding step 64, The rotating table of the clamping and positioning device 4 is rotatively rotated, and the clamping assembly 42 provided with the drill to be ground is rotated to the grinding position 412 of the rotating table 41, and then the driving table 53 is driven to move the polishing device 50, first utilizing The grinding device 5 of the grinding device 5 detects the to be ground The length of the drill bit portion of the drill bit and the angle of the end portion are further caused by the driving table 53 to further drive the polishing device 5, and the grinding wheel 52 of the grinding device 5 is adjusted according to the detection result of the grinding detector 51. Holding the relative position of the assembly 42, and using the grinding wheel 52 to grind the drill portion of the drill to be ground; in the rear gripping step 65, the rotation difference 41 of the clamping and positioning device 4 is fixed and rotated, and the setting is set. The clamping assembly 42 of the drilled drill bit rotates the take-out position 411 of the rotary table 41, and the clamped assembly 42 is removed from the grinding head, and another one is set at the same time. The clamping assembly 42 is then 'put the polished iron head on the feeding and discharging position on the turntable 21 of the cleaning device 2G, while picking another drill bit to be ground from the feeding and discharging position of the take-up disk 21 In the post-cleaning step 66, the rotating device 21 of the cleaning device 2 is rotated, and the drilled bit is moved to the second cleaning of the turntable, and the iron is removed by the second cleaning assembly 23 disposed at the place. The first name of the particle debris; In the detecting step 67, the cleaning device is moved, and the grinding bit is rotated to the turntable 201236810. The bit detector is inspected by the result detector 24 provided there. Whether the length of the drill portion and the tip angle of the end portion meet the set requirements; in the discharging step 68, the turntable 2 of the cleaning device 20 is fixedly rotated, and the ground drill bit is rotated to the turntable 21 In the pick-and-place position, if the result detector 24 determines the length of the drill portion of the drill bit and the tip angle of the end portion, the first robot arm 11 grips the drill bit that has been ground. At the same time, the upper and lower orientations of the drill bit are reversed by 180 degrees, so that the drilled drill bit is disposed in the loading zone of the carrier tray 12 with the clamping portion extending upward and the drill needle portion extending downward. The operator takes it, and then the loading zone of the carrier tray 12 is gripped. The drill bit to be ground is placed on the turntable u.
之取放位置處，若前述結果檢測器24判斷該鑽頭之鑽針部 的長度其端部之鑽尖角不符合所設^之要求，則進一步判 足重磨或報廢’當判定該鑽頭需重磨時，第一機械手臂U 不夾取該鑽頭，也不由承哉般u + $ Q t个由承載盤12上夾取另一待磨鑽頭至轉 盤21 ’而是使該判定曹遼雄； ^ 疋更歷之鑽頭進一步轉動至該轉盤21 之放料位置Μ1，以番讳铪、+.‘、支切& 篁復則述别清潔步驟62、前夾取步驟 63、研磨步驟64、播*跑半趣£!1；;... 便灭取步驟65、後清潔步驟66、檢測 步驟67及放料步驟68，當划—#嫌， 备判疋該鑽頭需報廢時，該第一機 械手臂11夾取該鑽頭，祐腺甘 m 並將其放置於該承載盤12上之報 廢區。 配合參見圖3及4所示 該中繼裝置30包含— 在本發明之具體實施例中 第二機械手臂31、 一中繼交換座32 !、第機械手#33,該第二機械手臂31設於該清潔裝置 2〇與中繼交換座32之間，該第三機械手臂33設於該中繼 乂換座32 _夹持定位裝置4〇之間，該第二機械手臂w上 201236810 設有二相互間隔設置的二夾具311，較佳地，該第二機械手 I 31之夾具311以間隔18〇度的方式設置，該第三機械手 ’ 33上成有取針夾爪331與—放針夾爪Μ?，進一步參 見圖5所示’該第三機械手f 33可帶動該取針夾爪331與 放針夹爪332前、後、上、下直線移動以及側向翻轉； 是以’在該前夾取步驟62中，前述中繼裝置30係以 該第二機械手臂31上之其中一失具來夾取該轉盤21之進 出料位置處的待磨鑽頭，接著該第二機械手臂31旋轉，將 該待磨鑽頭置放於中繼裝置3〇所設之中繼交換座32上， 接著中繼交換座32朝該第三機械手臂33轉動，先利用該 第—機械手’ 33之取針失爪331來夾取該待磨鑽頭，再將 該放針炎爪332上所夾取的研磨完成之鑽頭放置於該中繼 交換座32上； 而在前述後夾取步驟65中，則是先以該放針夾爪332 夾取該旋轉台41之取放料位置411處的夹持組件4〇上放 置的研磨完成之鑽頭，再將該取針夾爪331上的待磨鑽頭 放置於該取放料位置41彳處的夹持組件4〇上。 此外’前述清潔裝置20之轉盤21上的進出料位置處 係包含一出料位置M3與一進料位置M4，該進料位置M4 位於該出料位置M3與該第二清潔位置M5之間，該中繼裝 置30之第二機械手臂31先將研磨完成之鑽頭放置在該進 料位置M4處’再移至該出料位置m3處夾取下一待磨錢頭； 而前述清潔裝置20之轉盤21上的取放位置處則係包 含一取料位置M8與一放料位置M1，該該取料位置|\/|8位 於該放料位置Μ1與該檢測位置M6之間，該承载裝置]〇At the pick-and-place position, if the result detector 24 determines that the length of the drill portion of the drill bit does not meet the requirements of the setting, the judgment is further determined to be re-grinding or scrapping. When re-grinding, the first robot arm U does not grip the drill bit, nor does it take the other to grind the drill bit to the turntable 21 by the bearing plate 12, but makes the determination of Cao Liaoxiong; Further, the drill bit is further rotated to the discharge position Μ1 of the turntable 21, and the cleaning step 62, the front gripping step 63, the grinding step 64, and the sowing are repeated with Panyu, +.', branch cutting & * 跑半趣£!1;;... then kill step 65, post-cleaning step 66, detecting step 67 and discharging step 68, when the drawing is #嫌, it is judged that the bit needs to be scrapped, the first The robot arm 11 grips the drill bit, and deposits it on the scrapping area on the carrier tray 12. Referring to Figures 3 and 4, the relay device 30 includes - in the specific embodiment of the present invention, a second robot arm 31, a relay exchange seat 32, a robot #33, and the second robot arm 31 is provided. Between the cleaning device 2〇 and the relay exchange base 32, the third robot arm 33 is disposed between the relay 乂 changer 32_clamping positioning device 4〇, and the second mechanical arm w is provided on 201236810. The two clamps 311 are disposed at intervals from each other. Preferably, the clamps 311 of the second robot I 31 are disposed at intervals of 18 degrees. The third robot '33 is provided with the take-up jaws 331 and The needle gripper Μ?, further see FIG. 5 'the third robot hand f 33 can drive the needle take-up jaw 331 and the needle-distracting jaw 332 to move forward, backward, up and down, and laterally flip; In the front gripping step 62, the relay device 30 picks up the to-be-ground bit at the feeding and discharging position of the turntable 21 by one of the missing pieces on the second robot arm 31, and then the second machine The arm 31 is rotated, and the drill bit to be ground is placed on the relay exchange base 32 provided in the relay device 3, and then relayed. The changing seat 32 is rotated toward the third mechanical arm 33, and the needle to be ground is first grasped by the needle removing claw 331 of the first robot '33, and the grinding on the needle placing claw 332 is completed. The drill bit is placed on the relay exchange base 32. In the foregoing rear gripping step 65, the clamp assembly 4 at the take-out position 411 of the rotary table 41 is first gripped by the release clamp jaw 332. The drilled drill bit placed on the cymbal is placed on the clamp assembly 4 at the take-off position 41彳. In addition, the feeding and discharging position on the turntable 21 of the cleaning device 20 includes a discharging position M3 and a feeding position M4, and the feeding position M4 is located between the discharging position M3 and the second cleaning position M5. The second robot arm 31 of the relay device 30 first places the ground drill bit at the feeding position M4 and then moves to the discharge position m3 to grip the next money head to be grinded; The pick-and-place position on the turntable 21 includes a take-out position M8 and a discharge position M1, and the take-up position |\/|8 is located between the discharge position Μ1 and the detection position M6, the carrying device ]〇
12 S 201236810 之第一機械手臂11由該取料位置M8處將該研磨完成之鑽 頭夾取至承載盤12上放置，並從該承載盤12上夾取另一 待磨鑽頭至該放料位置M彳處放置。 &藉由如上所述之設計，本發明之鑽頭自動研磨方法在 其别 '後夾取步驟63、65以及研磨步驟64之間可在該 研磨裝置50側向移動以對設置於其中-夾持組件42上之 _鑽頭進行研磨加工的同時，令該第三機械手臂Μ先將 失持組件42上研磨完成的鑽頭取下，並放上下一待磨 =Μ吏該夾持定位裝置4Q上研磨以及取、放鑽頭的動作 。日、進行，故可有效達到提高整體研磨加卫之動作流程的 工作效率的目的。 【圖式簡單說明】 圖1為本發明之動作流程圖。 圖2為-用以實施本發明之鑽頭研磨設備的上視圖。 圖3為該鑽頭研磨設備之一中繼交換座的立體外觀圖。 圖4為該鑽頭研磨設備之-失持定位裝置的立體外觀 圖5為該鑽頭研磨設備之夾持定位裝置的側視圖。 圖6為該鑽頭研磨設備之-清潔裝置的立體外觀圖 圖7為該鑽頭研磨設備之一研磨裝置的立體外觀圖 【主要元件符號說明】 10承載裝置 12承載盤 21轉盤 11第一機械手臂 20清潔裝置 Μ1放料位置 13 201236810 M2 第一清潔位置 M3 出料位置 M4 進料位置 M5 第二清潔位置 M6 檢測位置 M8 取料位置 22 第一清潔組件 23 第二清潔組件 24 結果檢測 30 中繼裝置 31 第二機械手臂 311 夾具 32 中繼交換座 33 第三機械手臂 331 取針夾爪 332 放針夾爪 40 夾持定位裝置 41 旋轉台 411 取放料位置 412 研磨位置 42 夾持組件 421 頂升機構 422 萬向接頭 423 夾具 50 研磨裝置 51 研磨檢測器 52 磨輪 53 驅動台 61 取料步驟 62 前清潔步驟 63 前夾取步驟 64 研磨步驟 65 後夾取步驟 66 後清潔步驟 67 檢測步驟 68 放料步驟 14The first robot arm 11 of 12 S 201236810 is gripped by the grinding bit from the picking position M8 onto the carrier tray 12, and another drill bit to be ground is taken from the carrier tray 12 to the discharging position. Placed at M彳. & By the design as described above, the automatic grinding method of the drill bit of the present invention can be moved laterally in the grinding device 50 between its other post-clamping steps 63, 65 and the grinding step 64 to be disposed in the - clip While the _ drill bit on the assembly 42 is being ground, the third robot arm first removes the drill bit that has been ground on the lost assembly 42 and puts it on the next to be grounded = Μ吏 the clamping positioning device 4Q Grinding and the action of taking and placing the drill bit. Days and progresses can effectively achieve the goal of improving the efficiency of the overall grinding and maintenance process. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a flow chart showing the operation of the present invention. Figure 2 is a top plan view of a drill grinding apparatus for carrying out the present invention. 3 is a perspective view of a relay exchange seat of one of the drill grinding apparatuses. Fig. 4 is a perspective view showing the holding device of the bit grinding device. Fig. 5 is a side view of the holding and positioning device of the bit grinding device. 6 is a perspective view of a cleaning device of the drill grinding device. FIG. 7 is a perspective view of a grinding device of the drill grinding device. [Main component symbol description] 10 carrier device 12 carrier disk 21 turntable 11 first robot arm 20 Cleaning device Μ1 Discharge position 13 201236810 M2 First cleaning position M3 Discharge position M4 Feed position M5 Second cleaning position M6 Detection position M8 Reclaim position 22 First cleaning unit 23 Second cleaning unit 24 Result detection 30 Relay unit 31 Second robot arm 311 Fixture 32 Relay exchange seat 33 Third robot arm 331 Pickup jaw 332 Needle gripper 40 Clamping and positioning device 41 Rotary table 411 Take the discharge position 412 Grinding position 42 Clamping unit 421 Lifting Mechanism 422 Universal joint 423 Fixture 50 Grinding device 51 Grinding detector 52 Grinding wheel 53 Drive table 61 Reclaiming step 62 Pre-cleaning step 63 Pre-clamping step 64 Grinding step 65 Post-clamping step 66 Post-cleaning step 67 Detection step 68 Discharge Step 14