WO2021203682A1 - Drilling machine and pin position detection method for drilling machine - Google Patents

Abstract

A drilling machine and a pin position detection method for the drilling machine. The drilling machine comprises a workbench (10), a main shaft (20), a cutter (30), and a detection mechanism (40). A first pin (100) and a second pin (200) are provided on an air clamp of the workbench. The cutter is mounted on the main shaft. The detection mechanism is mounted on the main shaft. The main shaft is configured to drive the cutter to contact the first pin, to form a conductive circuit among the detection mechanism, the first pin, and the workbench, so that the detection mechanism detects the position of the first pin; the main shaft is further configured to drive the cutter to contact the second pin, to form a conductive circuit among the detection mechanism, the second pin, and the workbench, so that the detection mechanism detects the position of the second pin.

Description

Drilling machine and method for detecting pin position of drilling machine

This disclosure claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010269285.4 on April 8, 2020, and the entire content of the above application is incorporated into this disclosure by reference.

Technical field

This application relates to the technical field of PCB processing, such as a drilling machine and a method for detecting the pin position of the drilling machine.

Background technique

In the production process of the PCB board, it is usually necessary to use a drilling machine to drill the PCB board, and before the drilling, it is usually necessary to fix the PCB board on the worktable with a pin. In order to make the machining coordinate system of the drilling spindle and the positioning coordinate system of the PCB board highly coincide, it is necessary to detect the position of the pin. However, in the related art, the position of the pin is usually manually detected manually, and the manual detection has low efficiency and poor accuracy.

Therefore, there is an urgent need for a new type of drilling machine and a method for detecting the pin position of the drilling machine to solve the above technical problems.

Summary of the invention

The present application provides a drilling machine, which can realize automatic detection of the pin position, and improve the position detection accuracy and detection efficiency.

The present application also provides a method for detecting the pin position of a drilling machine. Based on the above-mentioned drilling machine, the detection accuracy and detection efficiency of the pin position can be improved.

This application adopts the following technical solutions:

A drilling machine includes:

Workbench, the first pin and the second pin are arranged on the air clamp of the workbench;

A spindle and a tool, the tool is mounted on the spindle;

The detection mechanism is installed on the main shaft;

The spindle is configured to drive the tool to touch the first pin, so that a conduction circuit is formed between the detection mechanism, the first pin, and the worktable, so that the detection mechanism detects the The position of the first pin; the spindle is also configured to drive the tool to touch the second pin, so that a conductive circuit is formed between the detection mechanism, the second pin and the worktable, so that The detection mechanism detects the position of the second pin.

A method for detecting a pin position of a drilling machine, the method for detecting a pin position is based on the above-mentioned drilling machine, and the method for detecting a pin position includes:

S1. The spindle drives the tool to sequentially touch the left position, right position, upper position, and lower position of the first pin, so that the detection mechanism detects the left position, right position, and upper position of the first pin. The coordinates of the position and the lower position are recorded as X ₁₁ , X ₁₂ , Y ₁₁ and Y _{12 in turn} ;

S2. Calculate the actual position coordinates of the first pin and record it as (X ₁ , Y ₁ ), where X ₁ =(X ₁₁ +X ₁₂ )/2, Y ₁ =(Y ₁₁ +Y ₁₂ )/ 2;

S3. Determine whether the actual position coordinates of the first pin are within the preset position range, and perform step S4 based on the judgment result that the actual position coordinates of the first pin are within the preset position range; based on the first pin If the actual position coordinates of is beyond the preset position range, the drilling machine gives an alarm and executes step S1 after adjusting the position of the first pin;

S4. The spindle drives the tool to sequentially touch the left position, right position, upper position, and lower position of the second pin, so that the detection mechanism detects the left position, right position, and upper position of the second pin. The coordinates of the position and the lower position are recorded as X ₂₁ , X ₂₂ , Y ₂₁ and Y ₂₂ in sequence;

S5. Calculate the actual position coordinates of the second pin and record it as (X ₂ , Y ₂ ), where X ₂ =(X ₂₁ +X ₂₂ )/2, Y ₂ =(Y ₂₁ +Y ₂₂ )/ 2;

S6. Determine whether the actual position coordinates of the second pin are within the preset position range, and perform step S7 based on the judgment result that the actual position coordinates of the second pin are within the preset position range; based on the second pin If the actual position coordinates of, are beyond the preset position range, the drilling machine gives an alarm and executes step S4 after adjusting the position of the second pin;

S7. Install the workpiece on the workbench and prepare to start drilling.

A method for detecting pin position of a drilling machine is based on the above-mentioned drilling machine, and the method for detecting the pin position includes:

S1. Design a testing tool, the testing tool includes the first pin, the second pin and a connecting piece, the first pin and the second pin are spaced apart and arranged in parallel, the first end of the connecting piece Connecting the upper end of the first pin, and the second end of the connecting piece connecting the upper end of the second pin;

S2. Install the detection tool on the air clamp of the workbench;

S3. The spindle drives the tool to sequentially touch the left and right positions of the first pin, so that the detection mechanism detects the coordinates of the left and right positions of the first pin, which are sequentially denoted as X ₁₁ and X ₁₂ ;

S4. Calculate the actual coordinate of the first pin in the X direction, and record it as X ₁ , X ₁ =(X ₁₁ +X ₁₂ )/2;

S5. The spindle drives the tool to sequentially touch the left and right positions of the second pin, so that the detection mechanism detects the coordinates of the left and right positions of the second pin, which are sequentially denoted as X ₂₁ and X ₂₂ ;

S6. Calculate the actual coordinates of the second pin in the X direction, and record it as X ₂ , X ₂ =(X ₂₁ +X ₂₂ )/2;

S7. Determine whether X ₁ is equal to X ₂ , and based on _{the judgment result that X 1} is equal to X ₂ , execute step S8; Based on the judgment result that X _{1 is} not equal to X ₂ , the drilling machine alarms and adjusts the position of the detection tooling Then execute step S3;

S8. Install the workpiece on the workbench, ready to start drilling.

Description of the drawings

The following will briefly introduce the drawings used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, they will not be creative. Under the premise of labor, other drawings can be obtained based on the content of the embodiments of the present application and these drawings.

Fig. 1 is a detection principle diagram of the drilling machine provided in the first embodiment of the present application;

2 is a schematic diagram of the positional relationship between the first pin and the second pin and the workbench provided by the first embodiment of the present application;

Figure 3 is a drilling principle diagram of the drilling machine provided in the first embodiment of the present application;

4 is a flowchart of a method for detecting pin positions of a drilling machine provided in the second embodiment of the present application;

5 is a schematic diagram of the detection position of the pin provided in the second embodiment of the present application;

Fig. 6 is a flowchart of a method for detecting pin positions of a drilling machine provided in a third embodiment of the present application;

FIG. 7 is a schematic structural diagram of a detection tool provided in Embodiment 3 of the present application;

Fig. 8 is a schematic diagram of pin position detection provided in the third embodiment of the present application.

In the picture:

100-first pin; 200-second pin; 300-workpiece;

10-workbench; 101-wood pulp pad; 102-aluminum plate;

20-spindle;

30-knives;

40- Testing agency;

50-Detection tooling; 501-connector.

Detailed ways

The technical solutions of the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of this application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, or used to distinguish different structures or components, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the meaning of the above-mentioned terms in this application can be understood.

Example one

As shown in FIGS. 1 and 2, this embodiment provides a drilling machine, which includes a worktable 10, a spindle 20, a cutter 30 and a detection mechanism 40. The first pin 100 and the second pin 200 are arranged on the air clamp of the workbench 10. The tool 30 is mounted on the spindle 20. The detection mechanism 40 is installed on the main shaft 20. After satisfying the preset detection conditions, the spindle 20 is configured to drive the cutter 30 to touch the first pin 100, so that a conductive circuit is formed between the detection mechanism 40, the first pin 100 and the worktable 10, so that the detection mechanism 40 detects the first pin 100. The position of a pin 100. The main shaft 20 is also configured to drive the cutter 30 to touch the second pin 200 so that a conductive circuit is formed between the detection mechanism 40, the second pin 200 and the worktable 10, so that the detection mechanism 40 detects the position of the second pin 200.

In the drilling machine provided in this embodiment, the detection mechanism 40 is provided on the spindle 20, and the tool 30 is driven to move through the spindle 20, so that the tool 30 touches the pin, thereby forming a guide between the detection mechanism 40, the pin and the worktable 10. Through the circuit, the detection mechanism 40 automatically detects the position of the pin, which greatly improves the position detection accuracy and detection efficiency; in addition, after the preset detection conditions are met, the detection mechanism 40 will automatically The pin position is detected, so as to avoid the occurrence of forgotten and missed inspection, realize the periodic detection of the pin position, and prevent the drilling accuracy from being reduced due to the pin position problem.

In one embodiment, the detection mechanism 40 includes a tool detection circuit board. When the tool 30 touches the pin, a conduction circuit is formed so that the tool detection circuit board outputs a 24V signal to realize the detection of the pin position. For the first time, it is necessary to manually adjust the position of the first pin 100 and the second pin 200 with a dial indicator, and use a grating ruler to record the coordinate positions of the first pin 100 and the second pin 200, and record it in the drilling machine. The hole machine automatically detects the positions of the first pin 100 and the second pin 200. The grating ruler can realize high-precision position reading and improve detection accuracy.

The drilling machine provided in this embodiment further includes a drive motor, the tool 30 is arranged at the lower end of the main shaft 20, the drive motor is arranged at the upper end of the main shaft 20, and the detection mechanism 40 is arranged above the drive motor.

Optionally, the diameter of the cutter 30 is less than or equal to 0.1 mm. In this embodiment, the diameter of the cutter 30 is equal to 0.1 mm. Controlling the diameter of the tool 30 is beneficial to improve the accuracy of position detection. Of course, in other embodiments, a tool with a diameter greater than 0.1 mm can also be selected, as long as the position detection accuracy can be ensured.

As shown in Fig. 3, when the test is completed and ready to start drilling, a wood pulp pad 101 will be laid on the workbench 10, a workpiece 300 will be placed on the wood pulp pad 101, and an aluminum plate 102 will be laid on the workpiece 300. At this time, the pin can be touched by the tool 30 to form a conduction circuit between the detection mechanism 40 and the pin and the worktable 10, and the end of the tool 30 can also be touched to the aluminum plate 102, so that the detection mechanism 40 is connected to the aluminum plate 102 and the workpiece 300. , A conducting circuit will be formed between the wood pulp pad 101 and the workbench 10.

In this embodiment, the first pin 100 and the second pin 200 are used to position the workpiece 300. In other embodiments, three, four or more pins may be used to position the workpiece 300.

Example two

As shown in Figures 4 and 5, this embodiment provides a method for detecting the pin position of a drilling machine. Based on the above-mentioned drilling machine, the method for detecting the pin position includes:

S1. The spindle 20 drives the tool 30 to sequentially touch the left, right, upper and lower positions of the first pin 100, so that the detection mechanism 40 detects the left, right, upper and lower positions of the first pin 100 Coordinates, denoted as X ₁₁ , X ₁₂ , Y ₁₁ and Y ₁₂ in sequence;

S2. Calculate the actual position coordinates of the first pin 100 and record it as (X ₁ , Y ₁ ), where X ₁ =(X ₁₁ +X ₁₂ )/2, Y ₁ =(Y ₁₁ +Y ₁₂ )/2 ；

S3. Determine whether the actual position coordinates of the first pin 100 are within the preset position range. If the actual position coordinates of the first pin 100 are within the preset position range, then perform step S4; if the actual position coordinates of the first pin 100 exceed If the position range is preset, the drilling machine gives an alarm, and executes step S1 after adjusting the position of the first pin 100;

S4. The spindle 20 drives the tool 30 to sequentially touch the left, right, upper and lower positions of the second pin 200, so that the detection mechanism 40 detects the left, right, upper and lower positions of the second pin 200 Coordinates, denoted as X ₂₁ , X ₂₂ , Y ₂₁ and Y ₂₂ in sequence;

S5. Calculate the actual position coordinates of the second pin 200 and record it as (X ₂ , Y ₂ ), where X ₂ =(X ₂₁ +X ₂₂ )/2, Y ₂ =(Y ₂₁ +Y ₂₂ )/2 ；

S6. Determine whether the actual position coordinates of the second pin 200 are within the preset position range. If the actual position coordinates of the second pin 200 are within the preset position range, perform step S7; if the actual position coordinates of the second pin 200 exceed If the position range is preset, the drilling machine will give an alarm and execute step S4 after adjusting the position of the second pin 200;

S7. Mount the workpiece 300 on the worktable 10, and prepare to start drilling.

In the method for detecting the pin position of a drilling machine provided in this embodiment, the automatic detection of the pin position is realized through the cooperation of the main shaft 20, the cutter 30 and the detection mechanism 40, and the position detection accuracy and detection efficiency are greatly improved.

As an optional solution of the method for detecting the pin position of the drilling machine, before step S1, the method further includes:

S11. Determine whether the preset detection conditions are met, if yes, execute step S1, if otherwise, the drilling machine can continue drilling. After the preset detection conditions are met, the detection mechanism 40 will automatically detect the pin position under the cooperation of the spindle 20 and the tool 30, so as to avoid the occurrence of forgotten and missed detection, and realize the periodic detection of the pin position. Optionally, the preset detection condition includes a preset time condition, and when a certain time is reached, the detection mechanism 40 will automatically detect the position of the pin.

In an embodiment, between step S11 and step S1, it further includes: S12. The tool 30 is retrieved from the tool library and installed on the spindle 20.

Example three

As shown in FIG. 6, this embodiment provides another method for detecting the pin position of a drilling machine. Based on the above-mentioned drilling machine, the method for detecting the pin position includes:

S1. Design the inspection tool 50. As shown in FIG. 7, the inspection tool 50 includes a first pin 100, a second pin 200, and a connecting piece 501. The first pin 100 and the second pin 200 are spaced apart and arranged in parallel. One end is connected to the upper end of the first pin 100, and the second end of the connecting piece 501 is connected to the upper end of the second pin 200;

S2. Install the inspection tool 50 on the air clamp of the workbench 10;

S3. The spindle 20 drives the tool 30 to sequentially touch the left and right positions of the first pin 100, so that the detection mechanism 40 detects the coordinates of the left and right positions of the first pin 100, which are sequentially recorded as X ₁₁ and X ₁₂ ;

S4. Calculate the actual coordinate of the first pin 100 in the X direction, and record it as X ₁ , X ₁ =(X ₁₁ +X ₁₂ )/2;

S5. The spindle 20 drives the tool 30 to sequentially touch the left and right positions of the second pin 200, so that the detection mechanism 40 detects the coordinates of the left and right positions of the second pin 200, which are sequentially recorded as X ₂₁ and X ₂₂ ;

S6. Calculate the actual coordinate of the second pin 200 in the X direction, and record it as X ₂ , X ₂ =(X ₂₁ +X ₂₂ )/2;

S7. Judge whether X ₁ is equal to X ₂ , if X ₁ is equal to X ₂ , then execute step S8; if X _{1 is} not equal to X ₂ , the drill will give an alarm and execute step S3 after adjusting the position of the detection tool 50;

S8. Mount the workpiece 300 on the worktable 10, and prepare to start drilling.

As shown in Fig. 8, in the preset position, the connecting piece 501 will be parallel to the Y axis and one of the sides of the worktable 10. At this time, X ₁ is equal to X ₂ ; when the detection tool 50 is deflected, the second pin The coordinates of 200 in the X direction will become X ₂ '. At this time, X ₂ 'is not equal to X ₁ , and the position of the inspection tool 50 needs to be adjusted. Compared with the second embodiment, the method for detecting the pin position of the drilling machine provided in this embodiment only needs to detect two positions for each pin, which can improve the detection efficiency.

The pin position detection method of the drilling machine provided by this embodiment realizes the automatic detection of the pin position through the cooperation of the main shaft 20, the cutter 30 and the detection mechanism 40, which greatly improves the position detection accuracy and detection efficiency, and at the same time improves the drilling The utilization rate of the machine.

Optionally, between steps S1 and S2, it further includes: S21. Determine whether the preset detection condition is met, if yes, execute S2, if otherwise, the drilling machine can continue drilling processing. After the preset detection conditions are met, the position detection procedure for the first pin 100 and the second pin 200 will be executed, so that the occurrence of forgotten and missed inspections can be avoided, and the periodic detection of the pin positions can be realized. Optionally, the preset detection condition includes a preset time condition, and when a certain time is reached, the detection mechanism 40 will automatically detect the position of the pin.

In an embodiment, the steps S2 and S3 further include: S31. The tool 30 is retrieved from the tool library and installed on the spindle 20.

Optionally, in step S1, the connecting member 501 is elongated, the size of the first pin 100 and the second pin 200 are the same, and the width of the connecting member 501 is equal to the diameter of the first pin 100.

In this embodiment, the connecting member 501 is a rectangular parallelepiped, and the width of the rectangular parallelepiped is equal to the diameter of the first pin 100. Of course, in other embodiments, the connecting member 501 can also use other shapes such as a cylinder.

In the drilling machine provided by the present application, a detection mechanism is set on the main shaft, and the tool is driven by the main shaft to move the tool so that the tool touches the pin, thereby forming a conductive circuit between the detection mechanism, the pin and the worktable, and realizes the detection mechanism pairing The automatic detection of the pin position greatly improves the position detection accuracy and detection efficiency; in addition, after the preset detection conditions are met, the detection mechanism will automatically detect the pin position with the cooperation of the spindle and the tool, so as to avoid forgetting to check and In case of missed detection, periodic detection of the pin position is realized to prevent the decrease of drilling accuracy due to the pin position problem.

The method for detecting the pin position of a drilling machine provided by the present application is based on the above-mentioned drilling machine, and realizes the automatic detection of the pin position, which greatly improves the position detection accuracy and detection efficiency.

Claims (10)

1. A drilling machine includes:

   The workbench (10), the first pin (100) and the second pin (200) are arranged on the air clamp of the workbench (10);

   A spindle (20) and a tool (30), the tool (30) is mounted on the spindle (20);

   The detection mechanism (40) is installed on the main shaft (20);

   The spindle (20) is configured to drive the cutter (30) to touch the first pin (100), so that the detection mechanism (40), the first pin (100) and the worktable ( 10) A conduction circuit is formed between, so that the detection mechanism (40) detects the position of the first pin (100); the spindle (20) is also configured to drive the tool (30) to touch the position The second pin (200) makes a conductive circuit formed between the detection mechanism (40), the second pin (200) and the workbench (10), so that the detection mechanism (40) can detect The position of the second pin (200).
2. The drilling machine according to claim 1, wherein the diameter of the cutter (30) is less than or equal to 0.1 mm.
3. A method for detecting a pin position of a drilling machine, the method for detecting a pin position is based on the drilling machine according to claim 1 or 2, and the method for detecting a pin position includes:

   S1. The spindle (20) drives the cutter (30) to sequentially touch the left position, right position, upper position and lower position of the first pin (100), so that the detection mechanism (40) detects the position Describe the coordinates of the left position, right position, upper position and lower position of the first pin (100) and mark them as X ₁₁ , X ₁₂ , Y ₁₁ and Y _{12 in turn} ;

   S2. Calculate the actual position coordinates of the first pin (100) and record it as (X ₁ , Y ₁ ), where X ₁ =(X ₁₁ +X ₁₂ )/2, Y ₁ =(Y ₁₁ +Y ₁₂ )/2;

   S3. Determine whether the actual position coordinates of the first pin (100) are within the preset position range, and perform step S4 based on the judgment result that the actual position coordinates of the first pin (100) are within the preset position range; Based on the judgment result that the actual position coordinate of the first pin (100) exceeds the preset position range, the drilling machine gives an alarm, and executes step S1 after adjusting the position of the first pin (100);

   S4. The spindle (20) drives the cutter (30) to sequentially touch the left position, right position, upper position and lower position of the second pin (200), so that the detection mechanism (40) detects the position Describe the coordinates of the left position, right position, upper position and lower position of the second pin (200), which are sequentially recorded as X ₂₁ , X ₂₂ , Y ₂₁ and Y ₂₂ ;

   S5. Calculate the actual position coordinates of the second pin (200) and record it as (X ₂ , Y ₂ ), where X ₂ =(X ₂₁ +X ₂₂ )/2, Y ₂ =(Y ₂₁ +Y ₂₂ )/2;

   S6. Determine whether the actual position coordinates of the second pin (200) are within the preset position range, and perform the step based on the judgment result that the actual position coordinates of the second pin (200) are within the preset position range

   S7; Based on the judgment result that the actual position coordinates of the second pin (200) exceed the preset position range, the drill alarms, and step S4 is executed after adjusting the position of the second pin (200);

   S7. Mount the workpiece (300) on the worktable (10) and prepare to start drilling.
4. The method for detecting the pin position of a drilling machine according to claim 3, before step S1, the method for detecting the pin position of a drilling machine further comprises:

   S11. It is judged whether the preset detection condition is satisfied, and step S1 is executed based on the judgment result of satisfying the preset detection condition.
5. The method for detecting the pin position of a drilling machine according to claim 4, between step S11 and step S1, the method for detecting the pin position of a drilling machine further comprises:

   S12. Retrieve the tool (30) from the tool library and install it on the spindle (20).
6. A method for detecting pin position of a drilling machine, based on the drilling machine according to claim 1 or 2, wherein the method for detecting the pin position includes:

   S1. Design a testing tool (50), the testing tool (50) includes the first pin (100), the second pin (200) and the connecting piece (501), the first pin (100) and The second pins (200) are spaced apart and arranged in parallel, the first end of the connecting piece (501) is connected to the upper end of the first pin (100), and the second end of the connecting piece (501) is connected to the The upper end of the second pin (200);

   S2. Install the detection tool (50) on the air clamp of the workbench (10);

   S3. The spindle (20) drives the cutter (30) to sequentially touch the left and right positions of the first pin (100), so that the detection mechanism (40) detects the first pin (100) The coordinates of the left and right positions of ), which are recorded as X ₁₁ and X _{12 in turn} ;

   S4. Calculate the actual coordinate of the first pin (100) in the X direction, and record it as X ₁ , X ₁ =(X ₁₁ +X ₁₂ )/2;

   S5. The spindle (20) drives the tool (30) to sequentially touch the left and right positions of the second pin (200), so that the detection mechanism (40) detects the second pin (200) The coordinates of the left and right positions of ), which are recorded as X ₂₁ and X _{22 in turn} ;

   S6. Calculate the actual coordinates of the second pin (200) in the X direction, and record it as X ₂ , X ₂ =(X ₂₁ +X ₂₂ )/2;

   S7. Determine whether X ₁ is equal to X ₂ , and based on _{the judgment result that X 1} is equal to X ₂ , execute step S8; Based on the judgment result that X _{1 is} not equal to X ₂ , the drilling machine alarms and adjusts the detection tool (50 Step S3 is executed after the position of );

   S8. Mount the workpiece (300) on the worktable (10), ready to start drilling.
7. The method for detecting pin position of a drilling machine according to claim 6, between steps S1 and S2, the method for detecting pin position of a drilling machine further comprises:

   S21. It is judged whether the preset detection condition is satisfied, and step S2 is executed based on the judgment result of satisfying the preset detection condition.
8. The method for detecting the pin position of a drilling machine according to claim 6, between steps S2 and S3, the method for detecting the pin position of a drilling machine further comprises:

   S31. Retrieve the tool (30) from the tool library and install it on the spindle (20).
9. The method for detecting the pin position of a drilling machine according to claim 6, wherein the connecting member (501) is elongated, and the size of the first pin (100) and the second pin (200) are the same, The width of the connecting piece (501) is equal to the diameter of the first pin (100).
10. The method for detecting the pin position of a drilling machine according to claim 9, wherein the connecting member (501) is a rectangular parallelepiped, and the width of the rectangular parallelepiped is equal to the diameter of the first pin (100).

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