TW201334908A - Controller for pin mounting machine and its program product - Google Patents

Abstract

A controller for a pin mounting machine comprises a memory unit, an analysis module, and a code generation module. The memory unit is stored with a default data set including a pin coordinate relative to a working origin, and a pin diameter. The analysis module analyzes the default data set to obtain the pin coordinate and the pin diameter. The code generation module, according to the pin coordinate and the pin diameter, generates a processing code and saving the processing code in the memory unit. The code generation module also generates a pin implanting code segment according to the pin coordinate. The processing code comprises a hole drilling code segment and the pin implanting code segment.

Description

Controller for loading processing machine and its program product

The present invention relates to a controller for a processing machine, and more particularly to a controller for a pinning machine and a program product thereof.

In the manufacturing process of the substrate, the loading operation is mainly for the substrates to be aligned and fixed by pins; common uploading operations include a drill pin hole program and an insert pin program. And the hammering procedure; generally speaking, the procedures of the aforementioned sales operations are inconsistent, and the operation is performed by the operator, and the segmentation is performed; and the planting procedure is usually manually performed by the operator. The way to complete. Therefore, the overall time taken for the above-mentioned sales operation is greatly limited by the time required for manual work.

Further, a printing machine board profile processing machine and a pinning unit disclosed in Japanese Laid-Open Patent Publication No. 2006-339318, wherein the printing plate shape processing machine can perform a drilling pin hole program and a pinning program; After processing the drill hole program, information related to the drill hole program (eg, the position of the machined pin hole, the number of machined pin holes, etc.) is updated for subsequent use by the attorney program. However, the drill hole hole program and the hitting program are also inconsistent, and still need to be intervened by the operator and segmented.

Accordingly, it is a first object of the present invention to provide a controller for an upper processing machine that automatically generates a machining program code. The upper pin processing machine is adapted to perform an upper pinning operation on a substrate, the upper pin working operation comprising a drilling pin hole program and a planting pin program, wherein the drilling pin hole program is used for drilling a drill hole hole on the substrate a pin hole for implanting a pin at the drill hole location on the substrate.

Therefore, the controller for the upper processing machine of the present invention comprises a memory unit, an analysis module, and a code generation module.

The memory unit stores a preset data set, the preset data set includes a pin coordinate relative to a working origin, and a pin diameter of the pin, wherein the pin coordinate corresponds to the drill hole position. The parsing module parses the preset data set to obtain the pin coordinate and the pin diameter. The code generating module generates a processing code according to the pin coordinate and the pin diameter, and stores the processing code in the memory unit; wherein the code generating module generates a correlation according to the pin coordinate and the pin diameter In the drill hole code section of the drill hole hole program, the code generation module further generates a plant code segment corresponding to the planting program according to the pin coordinate, the machining code including the drill Pinhole code section and the code segment.

A second object of the present invention is to provide a program product for storing a machining program code for a loading machine. The upper pin processing machine comprises a spindle module, a clamping module, a magazine housing the plurality of tools, and a pin magazine housing the plurality of pins.

Therefore, the program product for storing the processing code of the processing machine of the present invention interprets the processing code through an interpreting module of a controller to generate a drill hole command set and a planting instruction The drill hole command set is configured to cause the upper pin processing machine to perform a drill hole hole program, the drill hole hole program comprising: causing the clamping module to grab one of the tool magazines, and The tool captured by the tool is loaded into the spindle module; and the spindle module is moved to a position of a drill hole on a substrate, and a pin hole is drilled in the drill hole position on the substrate.

Wherein, the planting instruction set is used to cause the loading machine to perform a planting process, the planting process comprising: causing the clamping module to grasp one of the pins of the pin magazine; and making the clamping module Moving to align the drill hole location on the substrate and implanting the pin that it grips into the drill hole location on the substrate.

The effect of the present invention is that since the processing code can be automatically generated by the controller of the present invention according to the preset data set, the time required to train the operator to have the ability to write the processing code is reduced; Since the up-selling operation performed by the loading machine is a fully automatic operation, the overall time spent on the sales operation is no longer limited by the time required for manual work.

The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments of the invention.

Before the present invention is described in detail, it is noted that in the following description, similar elements are denoted by the same reference numerals.

Referring to FIG. 1, a first preferred embodiment of the controller 2 for the upper processing machine 1 of the present invention comprises a memory unit 21, a parser 22, and a code generator. 23, and an interpreter 24; the upper processing machine 1 is electrically connected to the controller 2 and is adapted to perform a loading operation on a substrate. In the first preferred embodiment, the substrate refers to a back-up board.

The memory unit 21 stores a preset data set; the parsing module 22 is configured to parse the preset data set; the code generating module 23 is configured to generate a processing code according to the parsing result of the parsing module 22 And storing the processing code in the memory unit 21; the interpretation module 24 is configured to interpret the processing code to enable the loading machine 1 to perform the loading operation. In the first preferred embodiment, the processing code is implemented by using a standard numerical control (NC) code.

Referring to FIG. 2 and FIG. 3, in general, the loading operation includes a drill hole hole program, a drill guide hole program, a planting program, and a hitting program; The required procedure is related to the working environment and conditions (for example, the material of a substrate 31); for example, as shown in FIG. 2, when the material of the substrate 31 is soft (for example, a plywood), due to a pin 41 The pin hole 311 of the substrate 31 can be easily implanted, so that the drill hole hole program and the planting program can be performed only in the upper pin operation; when the material of the substrate 31 is hard (for example, phenolic resin ( a bakelite plate (commonly known as a urea plate)), in order to enable the pin 41 to be stably implanted in the pin hole 311 of the substrate 31, after the pin 41 is implanted into the pin hole 311, it needs to be further hit, so In the loading operation, in addition to performing the drilling hole hole program and the planting program, the marking process is performed after the planting program; preferably, as shown in FIG. 3, the material for the substrate 31 belongs to In a rigid case, in order to prevent the pin 41 from falling out during the process of being inserted into the pin hole 311, Probability (miss) plant, which in addition to the operation of the pin pin hole drilling program, the program outside of the planting pin, and the pin hit program, also the drill guide hole in the program before the program planting pin.

Referring to FIG. 1 and FIG. 3, before the loading operation, the material of the substrate 31 is pre-selected, so the procedure required for the loading operation is also determined; and the thickness of a substrate of the substrate 31 ( a pin diameter of the pin 41 (in d _board shown) in Φ _pin) and a pin length (expressed in l _pin), and at least one pin with respect to the coordinate origin of a work are all known, wherein each A pin coordinate corresponds to a drill hole position of the pin hole 311 drilled in the substrate 31 in the drill hole hole program. Further, the preset data group stored in the memory unit 21 is pre-set before the uploading operation, and the preset data group includes a drill guide hole flag and a blow. A pin flag, a thickness of the substrate, a diameter of the pin, a length of the pin, and a pin coordinate.

Referring to FIG. 1 and FIG. 4, the controller 2 performs the following steps to generate the processing code.

In step 501, the parsing module 22 of the controller 2 parses the preset data set stored in the memory unit 21 to obtain the drill guide hole flag, the hit flag, the thickness of the substrate, The pin diameter, the pin length, and the pin coordinates.

In step 502, the code generation module 23 of the controller 2 determines according to the drill guide hole flag parsed in step 501, and if the drill guide hole flag is equal to a first set value, Proceed to step 503; otherwise (the drill guide hole flag is equal to a second set value) proceed to step 504. In the first preferred embodiment, the first set value is 1, and the second set value is 0.

In step 503, the code generation module 23 generates a drill guide hole code segment associated with the drill guide hole program according to the pin diameter and the pin coordinate resolved in step 501. The code includes the drill guide hole code section. In the first preferred embodiment, the code generating module 23 generates the drill guide hole code segment according to the pin diameter, the pin coordinate, and the substrate thickness analyzed in step 501; Further, the code generation module 23 generates a guide hole diameter according to the diameter of the pin, and then determines a drill guide hole tool data according to the diameter of the guide hole (for example, a tool number for drilling the guide hole) And generating a guiding hole depth according to the thickness of the substrate, and then generating the drilling guiding hole code segment according to the pin coordinate, the drilling guiding hole tool data, and the guiding hole depth.

In step 504, the code generation module 23 generates a drill hole code segment associated with the drill hole program according to the pin diameter and the pin coordinate resolved in step 501, and the processing code is further The drill hole code code section is included. In the first preferred embodiment, the code generating module 23 generates the drill hole code area according to the pin diameter, the pin coordinate, the substrate thickness, and the pin length analyzed in step 501. Further, the code generation module 23 determines a drill hole tool data (for example, a tool number for the drill hole) according to the pin diameter, and generates a one according to the thickness of the substrate and the length of the pin. The pin hole depth, and then the drill hole code segment is generated based on the pin coordinate, the pin hole depth, and the drill hole tool data.

Further, as shown in FIG. 3, it is assumed that the diameter of the guiding hole corresponding to a guiding hole 312 is represented by Φ _{guide _ hole} , which conforms to: Φ _pin + Δ ₁ Φ _{guide _ hole} , where Δ ₁ >0; it is assumed that the pin hole depth corresponding to the guiding hole 311 is represented by d _{pin _ hole} , which conforms to: d _{pin _ hole} = d _board - Δ ₂ and d _{pin _ hole} < l _pin , where Δ ₂ >0; it is assumed that the depth of the guiding hole corresponding to the guiding hole 312 is represented by d _{guide _ hole} , which conforms to: d _{guide _ hole} = d _{pin _ hole} × α = ( d _board - Δ ₂ ) × α, where 0 < α < 1. In the first preferred embodiment, Δ ₁ , Δ ₂ , and α are all preset values.

Referring to FIG. 1 , it is worth mentioning that, in the first preferred embodiment, the pin hole depth and the depth of the guiding hole are automatically determined by the code generating module 23 according to the thickness of the substrate; The depth of the pinhole and the depth of the guiding hole may be preset in the preset data set and analyzed by the analyzing module 22, and is not limited to the first preferred embodiment.

Referring to FIG. 1 and FIG. 4, in step 505, the code generation module 23 generates a plant code segment related to the planting program according to the pin coordinates parsed in step 501. The code also includes the planting code section.

In step 506, the code generating module 23 determines according to the pinning flag parsed in step 501. If the pinning flag is equal to the first set value, proceeding to step 507; otherwise (the hit The pin flag is equal to the second set value) and step 508 is continued.

In step 507, the code generating module 23 generates a pin code segment associated with the pinning program according to the pin coordinate parsed in step 501, and the processing code further includes the pin code. Section.

In step 508, the controller 2 sends a signal to inform the loading machine 1 that the processing code has been generated and can be performed.

Summary In the above, since the processing code can be automatically generated by the controller 2 according to the preset data group, when the operating environment and conditions are different, and the programs required for the sales operation are different, only the update is required. The preset data group, the controller 2 can automatically generate a new processing code according to the updated preset data group; in other words, the operator operating the loading machine 1 does not need to write a new processing. The code, even the operator does not need to have the ability to write the machining code at all; therefore, it reduces the time required to train the operator to have the ability to write the machining code.

After the steps 501 to 508 are completed, the interpreting module 24 of the controller 2 interprets the processing code stored in the memory unit 21 to cause the loading machine 1 to perform the loading operation.

Before further explaining the above-mentioned loading operation, the components of the upper processing machine 1 will be briefly described below.

Referring to FIGS. 5 and 6, the upper pin processing machine 1 includes a body 10, an X-axis table 11, a Y-axis slide 12, a Z-axis saddle 13, and at least one upper pin device 14. In the first preferred embodiment, the upper pin processing machine 1 includes six upper pin devices 14.

The body 10 has a bed 101 and a beam 102 spanning the bed 101. The X-axis table 11 is movably disposed on the bed 101 along an X-axis and has a substrate placement area 111 and a fitting placement area 112. In the first preferred embodiment, the substrate placement area 111 is provided with six substrates 31 along a Y-axis. The accessory placement area 112 is spaced apart from the Y-axis by six accessory library units 113, each of which is provided. The library unit 113 has a pin library 114 and a magazine 115. The Y-axis slide 12 is movably disposed on the beam 102 along the Y-axis. The Z-axis saddle 13 is movably disposed in the Y-axis slide 12 along a Z-axis.

As shown in FIG. 6, each of the pin magazines 114 has two pin trays 116, each of which has two cutterheads 117, each of which has a plurality of pins 41 of different specifications, each of which is 117 A plurality of cutters 42 of different specifications are respectively accommodated.

Each of the upper pinning devices 14 has a spindle module 141 disposed on the Z-axis saddle 13 , a clamping module 142 disposed on the Z-axis saddle 13 , and a striking disposed on the Y-axis sliding seat 12 . The hammer module 143 is located on the side of the clamping module 142. Further, the spindle module 141 has a first driving unit 144 and a spindle unit 145, wherein the spindle unit 145 is driven by the first driving unit 144 to move up and down along the Z axis, and can be used for Drilling procedures are performed on the substrates 31. The clamping module 142 has a second driving unit 146 and a clamping unit 147, wherein the clamping unit 147 is driven by the second driving unit 146. The Z-axis is raised and lowered, and can be used to grasp the pins 41 and the cutters 42. The hammer module 143 has a striking power unit 148 and a hammer head 149, wherein the hammer head 149 is subjected to the striking The power unit 148 is driven to move up and down the Z-axis and can be used to strike the pin 41 of one of the drill hole locations 32 on the substrate 31.

Referring to FIG. 1 , FIG. 6 and FIG. 7 , the interpreting module 24 of the controller 2 interprets the processing code to enable the loading processing machine 1 to perform the loading operation. It is worth mentioning that, in the following description, the above-mentioned sales operation including the drill guide hole program, the drill hole hole program, the planting program, and the hitting program are described as an example; In fact, the steps required for the sales operation are adjusted according to the procedures that are required to be performed, and are not limited to the examples. Moreover, for convenience of explanation, in the present example, only one of the drill hole positions 32 on one of the substrates 31 is described; wherein the drill hole position 32 corresponds to the pin coordinates.

First, the interpreting module 24 interprets the drill guide hole code segment of the machining program code to obtain a drill guide hole command set, so that the upper pin processing machine 1 performs the drill guide hole. The program 61, that is, the upper pin processing machine 1 drills a guide hole 312 at the drill hole position 32 of the substrate 31; wherein the drill guide hole program 61 includes the following steps.

In step 611, the clamping module 142 is moved relative to the cutters 42 to the clamping module 142 to align one of the cutters 42 and grasp the cutter 42 to which it is aligned; in this step, The tool 42 aligned and grasped by the clamping module 142 corresponds to the drill guide hole tool data.

In step 612, the tool 42 captured by the clamping module 142 in step 611 is loaded into the spindle module 141.

In step 613, the spindle module 141 is moved relative to the substrate 31 to the spindle module 141 for aligning the drill hole position 32 on the substrate 31, and the drill hole position 32 on the substrate 31. A guiding hole 312 having a depth of the guiding hole is drilled.

Then, the interpreting module 24 interprets the drill hole code segment of the processing code to obtain a drill hole command set, so that the upper pin processing machine 1 performs the drill hole program 62, that is, The upper pin processing machine 1 drills a pin hole 311 at the drill hole position 32 of the substrate 31; wherein the drill hole hole program 62 includes the following steps.

In step 621, the clamping module 142 is moved relative to the cutters 42 to the clamping module 142 to align one of the cutters 42 and grasp the cutter 42 to which it is aligned; in this step, The tool 42 aligned and grasped by the clamping module 142 corresponds to the tool hole tool data.

In step 622, the tool 42 captured by the clamping module 142 in step 621 is loaded into the spindle module 141.

In step 623, the spindle module 141 is moved relative to the substrate 31 until the spindle module 141 is aligned with the drill hole position 32 on the substrate 31, and the drill hole position 32 on the substrate 31 is A pin hole 311 having a depth of the pin hole is drilled.

Then, the interpreting module 24 interprets the planting code segment of the processing code to obtain a seeding instruction set, so that the loading machine 1 performs the planting program 63, that is, the processing of the processing The machine 1 implants a pin 41 at the drill hole location 32 on the substrate 31; wherein the flocking program 63 includes the following steps.

In step 631, the clamping module 142 is moved relative to the pins 41 to the clamping module 142 to align one of the pins 41 and grasp the pin 41 to which it is aligned.

In step 632, the clamping module 142 is moved relative to the substrate 31 to the clamping module 142 to align the drilling hole position 32 on the substrate 31, and the clamping module 142 is in step 631. The pin 41 captured in the guide hole 312 is implanted in the guiding hole 312 (and/or the pin hole 311).

Finally, the interpreting module 24 interprets the hitting code section of the processing code to obtain a hitting instruction set, so that the loading machine 1 performs the hitting process 64, that is, processing the upper pin The machine 1 strikes the pin 41 of the drill hole position 32 on the base plate 31; wherein the hitting program 64 includes the following steps.

In step 641, the hammer module 143 is moved relative to the substrate 31 until the hammer module 143 is aligned with the drill hole position 32 on the substrate 31.

In step 642, the hammer module 143 is struck against the pin 41 of the drill hole position 32 on the substrate 31 to drive the pin 41 into the guiding hole 312 (and/or the pin hole 311). .

Summary As described above, since the above-mentioned above-mentioned pinning operation is a consistent operation, there is no need for the operator to intervene in operation between the programs; therefore, the overall time spent on the sales operation is no longer limited by the time required for manual work. For example, assume that the number of pins per substrate 31 to be subjected to the upper pinning operation is 192. As shown in Table 1, the more the number of processed axes (ie, the number of substrates 31 that are simultaneously subjected to the pinning operation), The time required for the consistent sales of the invention is not increased, and is significantly lower than the time required for the conventional sales operation (manually performing the planting procedure and the selling procedure).

Referring to FIG. 8, a second preferred embodiment of the controller 7 for the upper processing machine 1 of the present invention comprises the memory unit 21 and the interpretation module 24; in the second preferred embodiment, the second preferred embodiment The processing program code is stored in a machine readable storage medium, and the implementation aspect thereof is a program product 8; similarly, when the controller 7 loads the processing code into the memory After the unit 21 is interpreted by the interpretation module 24, the loading machine 1 performs the above-mentioned over-spinning operation.

In summary, since the processing code can be automatically generated by the controller 2 (shown in FIG. 1) of the present invention according to the preset data group, it is required to train the operator to have the writing processing code. In addition, since the above-mentioned above-mentioned sales operation is a fully automatic operation (as shown in FIG. 7), the overall time spent on the sales operation is no longer limited by the time required for manual work; It is indeed possible to achieve the object of the invention.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

1. . . On-load processing machine

10. . . body

101. . . Bed

102. . . beam

11. . . X-axis workbench

111. . . Substrate placement area

112. . . Accessory placement area

113. . . Accessory library unit

114. . . Sales library

115. . . Tool magazine

116. . . Pin tray

117. . . Cutter

12. . . Y-axis slide

13. . . Z-axis saddle

14. . . Selling device

141. . . Spindle module

142. . . Clamping module

143. . . Hammer module

144. . . First drive unit

145. . . Spindle unit

146. . . Second drive unit

147. . . Clamping unit

148. . . Strike power unit

149. . . Hammerhead

2. . . Controller

twenty one. . . Memory unit

twenty two. . . Parsing module

twenty three. . . Code generation module

twenty four. . . Interpretation module

31. . . Substrate

311. . . Pin hole

312. . . Guide hole

32. . . Drill hole position

41. . . pin

42. . . Tool

501~508. . . step

61. . . Drill guide hole program

611~613. . . step

62. . . Drill hole program

621~623. . . step

63. . . Marketing program

631~632. . . step

64. . . Underwriting procedure

641~642. . . step

7. . . Controller

8. . . Program product

Figure 1 is a block diagram showing a first preferred embodiment of the controller for the upper processing machine of the present invention;

Figure 2 is a schematic view showing a substrate drilled with a pin hole, and a pin in the pin hole;

Figure 3 is a schematic view showing the substrate with the pin hole and a guiding hole, and the pin hole and the pin in the guiding hole;

Figure 4 is a flow chart showing the steps of generating a processing code in the first preferred embodiment of the present invention;

Figure 5 is a perspective view showing a top-loading machine for applying the controller of the present invention;

Figure 6 is a partial enlarged view of Figure 5;

Figure 7 is a flow chart showing the procedure and steps of an up-selling operation in the first preferred embodiment of the present invention;

Figure 8 is a block diagram showing a second preferred embodiment of the controller for the upper processing machine of the present invention, and a program product.

1. . . On-load processing machine

14. . . Selling device

141. . . Spindle module

142. . . Clamping module

143. . . Hammer module

2. . . Controller

twenty one. . . Memory unit

twenty two. . . Parsing module

twenty three. . . Code generation module

twenty four. . . Interpretation module

Claims (10)

The utility model relates to a controller for a loading machine, which is suitable for performing a loading operation on a substrate, the loading operation comprising a drilling hole hole program and a planting program, the drilling hole hole program is used for A pin hole is drilled in a drill hole hole on the substrate, and the planting program is configured to implant a pin on the drill hole hole on the substrate, the controller comprises: a memory unit, and a preset data is stored The preset data set includes a pin coordinate relative to a working origin, and a pin diameter of the pin, wherein the pin coordinate corresponds to the drill hole position; an analysis module parses the preset data And a code generating module, generating a processing code according to the pin coordinate and the pin diameter, and storing the processing code in the memory unit, wherein the code The generating module generates a drill hole code segment corresponding to the drill hole hole program according to the pin coordinate and the pin diameter, and the code generating module further generates a plant related to the planting program according to the pin coordinate Sales code section, the processing program And a code segment comprises a hole-implanting pin code section of the drill pin. The controller for a loading machine according to claim 1, wherein the code generating module determines a drill hole tool data according to the pin diameter, and according to the pin coordinate and the drill pin The hole tool data produces the drill hole code code section. According to the controller for the upper processing machine according to the first aspect of the patent application, the loading operation performed by the loading processing machine further includes a drilling guide hole program, and the drilling guiding hole program is used for A lead hole is drilled in the drill hole of the substrate, wherein the preset data set further includes a drill guide hole flag, and the parsing module parses the preset data set to obtain the drill guide hole flag The code generating module further determines, according to the drill guide hole flag, if the drill guide hole flag is equal to a first set value, the code generating module further determines the pin and the pin according to the pin The diameter produces a drill guide hole code segment associated with the drill guide hole program, the machining code further including the drill guide hole code segment. The controller for a loading machine according to claim 3, wherein if the drill guide hole flag is equal to the first set value, the code generating module is generated according to the pin diameter. Corresponding to the diameter of a guiding hole of the guiding hole, determining the tool data of the drilling guiding hole according to the diameter of the guiding hole, and generating the drilling guiding hole code according to the pin coordinate and the tool data of the drilling guiding hole Section. The controller for a loading machine according to the third aspect of the invention, wherein the preset data set further comprises a substrate thickness of the substrate, and the parsing module parses the preset data set to obtain the substrate a thickness, if the drill guide hole flag is equal to the first set value, the code generation module generates a guide hole depth corresponding to the guide hole according to the thickness of the substrate, and according to the pin coordinate, The pin diameter, and the depth of the guide hole, produces the drill guide hole code segment. According to the controller for the upper processing machine according to the first aspect of the patent application, the loading operation performed by the loading processing machine further includes a hitting program for striking the substrate. The pin of the drill hole position, wherein the preset data set further includes a hit flag, the parsing module parses the preset data set to obtain the hit flag, and the code generating module is further Determining, by the hitting flag, if the hitting flag is equal to a first set value, the code generating module further generates a hitting code section related to the hitting program according to the pin coordinate, the processing The code also includes the token code section. The controller for a loading machine according to any one of claims 1 to 6, further comprising an interpreting module, the interpreting module interpreting the stored in the memory unit The program code is processed to cause the loading machine to perform the loading operation. A program product for storing a machining program code for a loading machine, the loading machine includes a spindle module, a clamping module, a tool magazine for accommodating a plurality of tools, and a housing a pin library of the plurality of pins, interpreting the machining code through an interpretation module of a controller to generate a drill hole command set, and a plant instruction set; wherein the drill hole command set is used to make The loading machine performs a drilling hole hole program, the drilling hole program includes: causing the clamping module to grab one of the tools of the tool magazine, and loading the tool that is captured by the tool into the spindle module And moving the spindle module to a position of a drill hole on a substrate, and drilling a pin hole in the drill hole position on the substrate; and wherein the planting instruction set is used to make the upper The pin processing machine performs a planting process, the planting process includes: causing the clamping module to grasp one of the pins of the pin magazine; and moving the clamping module to the drill hole aligned on the substrate Positioning and implanting the pin that it grips into the drill hole location on the substrate. According to the program product of claim 8 , the interpretation of the processing code by the interpretation module further generates a drill guide hole instruction set, wherein the drill guide hole instruction set is used for the sales The processing machine performs a drilling guide hole program, the drilling guide hole program includes: causing the clamping module to grab one of the tools of the tool magazine, and loading the tool that is captured by the tool into the spindle module; And moving the spindle module to a position corresponding to the drill hole on the substrate, and drilling a guiding hole at the drill hole position on the substrate. According to the program product of claim 8 , the loading machine further includes a hammer module, and the processing code is interpreted by the interpretation module to generate a command set, wherein the hitting command The pin instruction set is configured to cause the pin processing machine to perform a pinning process, the pinning process comprising: moving the hammer module to a position of the drill hole aligned on the substrate; and causing the hammer module The pin that strikes the drill hole location on the substrate.