METHOD AND SYSTEM FOR THE AUTOMATIC REPLACEMENT OF AN ABRASIVE ELEMENT OF A FINISHING APPARATUS

Description

" AUTOMATIC REPLACEMENT SYSTEM METHODOLOGY PPA ABRASIVODINE ELEMENT RATODEFINITION ” DESCRIPTION IF TT HEAR LL TECHNICAL The present invention relates to a system and a method for automatically replacing an item abrasive, especially an abrasive disc, an apparatus of finishing. And known in the field of processing and manufacture of artifacts use finishing apparatus equipped with tools abrasives for finishing, i.e. sanding, grinding, polishing, carpeting etc. the artifacts. BACKGROUND LL ' INVENTION In the field of hand finishing , particularly manonnece ss ariamentedimanufa tti ceramici, € known to treat the product formed by means of a finishing apparatus equipped with of abrasive tools, generally mounted on a structure of movement suitable for moving the abrasive tool with respect to the surface to be treated so as to be able to go to contact with the surface to be treated and finished, typically by removing part of it. A particular type of finishing apparatus particularly used when there is a need for smoothing surfaces of an artifact uniformly and without leaving marks of the path of the abrasive tool on the artifact, yes think, for example, of the polishing of car bodies in the field automotive or finishing of composite materials, such as the ceramic, is the one equipped with so-called orbital tools, that is, equipped with an abrasive element which, in use, is rotated around an axis of rotation perpendicular to the surface and, at the same time, is moved along elliptical or circular trajectories, thus impressing a orbital movement of the abrasive element. Such orbital finishing tools include no typically a support, usually in the form of a plate circular, the so-called “sanding plate”, coupled, by a side, to a support and movement structure, to example to a robot, and equipped on the opposite side with at least one releasable fastener, typically a sheet of Velcro or an adhesive or even a coupling system mechanical, for example to create a shape fit, to be able to fix releasably to the plate the actual abrasive element, typically formed by an abrasive disc. In some cases, when finishing operations are intended to affect multi-shaped surface with concavity e / is also very high , for example , in the field sanitary finish in ceramic water , is known interface rr e between 11 tray and 1 abrasive element one layer in deformable expanded material, for example a layer made of sponge or polymer foam, or provide for them abrasive elements made in single body and comprising a layer of deformable expanded material, for example in sponge or polymer foam, intended for use as fixed to the plate and equipped, on the other side (opposite the plate ) , of the abrasive element It is clear , the abrasive element , typically made of sandpaper, is subject to wear, in especially the abrasive surface of the same generally real abrasive materials , for example ssi dodi a ll uminiozirconiocarbon rhodyssilicodiamond , trends with 11 time to degrade and blunt losing its hauling capacity of equipment. It follows that, at of the abrasive element structure , the effectiveness the goodness of finishing operations depends greatly on the wear state of the latter. That's why it's crucial take into account the degree of wear of the abrasive element and replace the abrasive element once it has passed number of work cycles, depending on the type of abrasive element. To date, such replacement operations risk represent a real bottleneck for the manufacturing lines of manufactured goods, often being carried out manually by an operator who tears off the abrasive element worn out by the pad and place another one. Furthermore, as with all manual operations there is a certain risk of error in positioning the new abrasive element which could compromise its functionality. Precisely for this reason, to try to speed up the operations for replacing the abrasive element and, at the same time at the same time, ensure that the arrangements are always correct new abrasive elements, some have been developed automatic systems that include a removal device of the abrasive element, typically used for wear sharp blade or plate designed to fit between the backing plate (especially between the releasable fastener) and 1 abrasive element so as to detach the abrasive element same. It is understood that this operation is much more difficult and the more worn the abrasive element is, the riskier it is; in fact, as the state of wear increases the element abrasive becomes thinner and / or tears making it much more difficult to insert the removal device between this abrasive element, thus degraded, and the plater ll or, thus risking compromising the entire success of the operations. Furthermore, such systems are not particularly effective. when there is a gap between the backing pad and the abrasive element above-mentioned layer of deformable foam material; in fact, in these cases, 1the insertion of the blade or plate sharpening is more complex because this risks remaining caught between the fibers / cells of the foam material deformable. Furthermore, in this case, the inmaterial layer deformable foam risks absorbing part of the stress transmitted by the removal device at the time of the removal operation compromising the successful removal. Other systems for removing the abrasive element from a finishing apparatus they foresee, instead, the modification of the sanding plate and in particular the adoption of sanding plates equipped with grooves or invitation portions so as to facilitate 1 ' insertion of the removal device, in particular of the blade or sharp plate, between this plate and 1 the abrasive element. However, 1 the adoption of these solutions, in addition to requiring the complete modification of the tool abrasive, with consequent increase in costs, makes it is necessary to orient the finishing apparatus appropriately compared to the removal device before removal; Removal is, in fact, only effective if you ensure that the plate is oriented with respect to the device removal with an orientation that allows for insertion of the blade or plate in such grooves. The purpose of the present invention is to provide a system and a method for the automatic replacement of a abrasive element of a finishing apparatus, in particular of an orbital finishing apparatus, which allow for overcome, at least in part, the disadvantages of the known art, through an automatic, effective and perfectly compatible with all known finishing machines. SO MM ARTO In accordance with the present invention, a system and a method for the automatic replacement of a abrasive element of a finishing apparatus, in particular of an orbital finishing apparatus, as described in the relevant independent claims, e preferably, in any of the claims directly or indirectly dependent on the aforementioned independent claims. The claims describe embodiments preferred embodiments of the present invention, forming part integral to this description. BRIEF DESCRIPTION OF THE SIGNS The invention is described below with reference to aidisegnia nne ssi , chenei ll ustrano some examples non-limiting implementation measures, in which: - Figure 1 is a perspective and schematic view of a replacement system for the automatic replacement of an abrasive element of an orbital finishing apparatus, made in accordance with a form of implementation of the present invention; - Figure 2 is a perspective view of an apparatus of removal which is part of the system of figure 1, in which some parts have been removed for better viewing some components; - Figure 3 is a perspective view of the apparatus removal of figure 2, in use, or at the time of removing an abrasive element from a finishing head of an orbital finishing apparatus; - Figure 4 is a cross-sectional view of the figure 2; - Figure 5 is an enlarged scale view of the detail W of figure 3 from a different perspective; and - figure 6 is a schematic and perspective view of the warehouse for the containment of abrasive elements of the figure 1. DESCRIPTION OF THE AGLIATA In the attached figures, the number 1 is indicated in the on a complex replacement system 1 for the automatic replacement of an abrasive element 2 of a finishing apparatus 3; more 1in particular, for the replacement of the abrasive element 2 intended to be coupled to a finishing head 4 of an appliance of 3-piece orbital finish, or ss equipped with a 4-piece head finish capable of moving with respect to the artifact treat by rotating on itself and at the same time going along eccentric elliptical or circular trajectories. More specifically, advantageously but not Limitatively, in this paper we will focus on reference to the replacement of the abrasive element 2 of a finishing apparatus 3 intended to perform a finishing action sanding and / or polishing on a surface to be treated of an artifact, for example of an artifact made in composite material, such as ceramic, or inmaterial metallic etc. Advantageously 1 finishing apparatus 3 comprises: a 5-movable movement structure in space, for example an anthropomorphic robot as in the embodiment non-limiting illustrated in figure 1; a head of finish 4 which, in turn, includes a support 6, the so-called "sanding plate", used to carry the abrasive element 2 which is equipped with an abrasive surface 7 intended, in use, to come into contact with the surface to be treated. Advantageously but not limitingly, the head of finish 4 is rotatably coupled to the structure of movement 5 so that, when in use, it can rotate itself around an axis A of rotation, perpendicular to the support 6 and to the abrasive surface 7 and, even more advantageously but not limited to, it can oscillate along trajectories circular and / or elliptical eccentric with respect to this axis A of rotation, in a manner known in itself and not described here in the detail. In more detail, the support 6 and the abrasive element 2 are releasably coupled to each other to switch from a usage configuration, where 11 support 6 is coupled with 1''abrasive element 2, and a configuration non-operational, in which the abrasive element 2 is detached from the support 6. To this end, advantageously but not limitingly, the support 6 comprises at least one fastening element releasable (not visible in the attached figures and in itself known), for example including (in particular, consisting of) hooks or adhesive material, and intended to mate in a releasable way to wuna mating surface 8 of the abrasive element 2, parallel and opposite to the abrasive surface 7. According to some advantageous but not limiting forms of implementation, one of 11 support 6 or 1the surface of a coupling 8 comprises a plurality of hooks and the other comprises a plurality of rings intended, in use, to releasably couple to the hooks, once placed in contact with the wall of the support 6 and the surface of coupling 8, to define a releasable coupling, such as the Velcro fastening systems. Alternatively, advantageously but not limitingly, support 6 and the mating surface 8 could include other types of hook and loop fasteners or fastening elements adhesive fixings or fasteners configured for create a snap-fit ​​fit. According to some advantageous but not limiting forms of implementation, such as those illustrated in the attached figures 1the abrasive element 2 comprises an intermediate layer 9, made of an expanded material, chosen from the group that includes sponge, expanded polymers, expanded rubber and foams etc., 11 which intermediate layer 9 extends from the opposite side to the abrasive surface 7, is connected to the surface abrasive 7 and is delimited (from the opposite side to the surface abrasive 7) from the mating surface 8. The presence of this intermediate layer 9 gives a greater adaptability of the abrasive element 2 to surfaces of varying shape, for example concave or convex, ensuring, in use, a correct contact between the abrasive element 2, in particular the abrasive surface 7 and the object to be treated. More specifically, this paper focuses on reference to an abrasive element 2 sized for protrude externally from the support 6 in parallel to the abrasive surface 7 of at least approximately 8mm (more in particular, of at least about 10mm; even more particularly, of approximately 12.5mm), once the above mentioned 11 has been made releasable coupling, so that, in the aforementioned configuration of use, a protruding zone 10 remains defined compared to support 6 and having, in fact, an extension, parallel to the abrasive surface 7 as well as to a external main wall 11 of support 6, of at least approximately 8mm . Advantageously but not limited to, 11 support 6 and the abrasive element 2 have a cross-section substantially circular or elliptical; in other words, the support 6 and 1 the abrasive element 2 are advantageously but not limited to disk configurations. In this case, advantages are often not limitingly, such support 6 is coupled, advantageously centered on the support itself, a abrasive element 2 with a diameter of at least lémm (in particular, of at least about 20mm; more specifically, of approximately 25mm) with respect to the support 6 and the protruding area 10 extends radially from support 6 for at least approximately 8mm (in particular, for at least about 10mm; more in particular, for at least about 12.5mm). It is understood that, when 1the abrasive element 2 comprises the aforementioned intermediate layer 9, the protruding zone 10 includes (in particular, is formed) also by this layer 9 intermediate. With particular reference to figure 1, the system replacement 1 of the present invention, advantageously, it comprises: a Jremoval group 12 which is configured to decouple 1the abrasive element 2 from the support 6 and includes a removal station 13 for receive the finishing head 4; a magazine 14 for contain a plurality of new abrasive elements 2; and a CU control unit (only schematically illustrated to figure 1 which can also be arranged in position remote and is) configured to control 1"drive of the finishing apparatus 3, controlling the movement of the handling structure 5 so as to move the finishing head 4 up to removal station 13 and from removal station 13 to warehouse 14, as well as for command the drive of the removal group 12, gwhen the finishing head 4 is placed in the removal station 13 as will be better explained below, so as to decouple 1 abrasive element 2 from the support 6. This solution advantageously allows for replace 1 the abrasive element 2, once worn, so fully automatic, fast and precise Advantageously but not limitingly, the system of replacement 1 includes a detection system (not visible in the attached figures and known in itself) in communication with the CU control unit and which in turn comprises at least: a detection device for detecting the occupation status of removal station 13, a localization system (not visible in the figures) attached), for example a barrier photocell or a laser meter or a three-dimensional camera, plus advantageously but not limited to mounted on board of the finishing apparatus 3, and configured to provide data about the ©position of the finishing apparatus 3, in particular at least of the finishing head 4, compared to the rest of the components of the replacement system 1. In this case, 1''CU control unit controls 1''drive of the finishing apparatus 3, by operating the handling structure 5, and removal group 12 also based on what is detected by this system detection and advantageously but not limitedly in function of a programming of operations replacement contained in a memory included in that unit CU control. According to other advantageous but not limiting forms of implementation, the finishing apparatus 3 is equipped, for example in proximity of the support 6, of a sensing device (for example a laser meter or a camera three-dimensional) configured to detect the state of wear of the abrasive element 2, for example (advantageously but non-limitatively, noting the variations in the distance between support 6 and the surface to be treated at the time of finishing, detecting variations in the force transmitted to the support 6 etc.) and the CU control unit is configured for operate the movement structure 5 to move the finishing head 4 towards station 13 removal when This sensing device detects a state of wear higher than a certain established limit. Alternatively or in addition, according to other advantageous but not limiting forms of implementation, the finishing apparatus 3 is equipped with a operating time measuring device (or "clock"), configured to monitor 1l number of cycles finishing machine 3 operating and transfer such data to the unit against the CU, which contains the memory number of acceptable operating cycles for each tool abrasive 2 and is configured to compare the received data from such operating time measuring device (or "clock") with the number of acceptable operating cycles, whenever it receives data from such a measuring device of the operating time (or "clock"), and to operate the movement structure 5 to move the head of finishing 4 towards removal station 13 when the data received from the timing device operation (or "clock") coincides with the number of cycles operational deemed acceptable for that abrasive element 2. Advantageously, the removal station 13 comprises a 15 section invitation, open on one side and configured (in particular, conformed) to receive the (in particular, to allow 1''insertion of the) head of finish 4. This invitation section 15 is equipped with a 16 contact profile, which advantageously but not restrictively delimits a section of section 15 of invitation, and is configured to match for 1o less at least a portion of the protruding area 10 above, when the finishing head 4 assumes a position of removal R, which is inserted in section 1 5 of the invitation contact with the contact profile 16, with the zone 10 protruding from the invitation section 15 along a first Z direction, essentially vertical, orthogonal to the abrasive surface 7 towards a maneuvering space S. More advantageously but not limitingly, the contact profile 16 is configured to also contact support 6, in particular to find laterally at least a part of the support 6 acting as a limit switch for the finishing head 4 inside the invitation section 15 to define (or rather to delimit, at least on one side) such removal position R. Even more advantageously but not limitingly, the support 6 and abrasive element 2 have a trend cylindrical and / or truncated cone and the contact profile 16 It has a circular arc shape for find at least one lateral section of the support 6 going resting on the edge (on the upper wall) of a part of the protruding area 10 (see figures 3 and 4). Furthermore, advantageously, 1l removal group 12 comprises a clamping device 19 which operates in the above mentioned maneuvering space S and is configured (operatable; in particular, it is programmed) to grab at least one part of the protruding zone 10. According to some advantageous but not limiting forms of a ctuation , station 1 3 of removal includes a frame 17 located at removal station 13, and a plate 18 supported by the frame 17, in particular at an upper end of the frame 17, and having a ss or ss or , in particular joint shaped like a “U”, which extends from a first edge Bl of plate 18 and defines the above mentioned section 15 of the invitation (see figures 2-5). Advantageously but not limited to, 11 above mentioned maneuvering space S, in which the protruding zone 10 extends when the finishing head 4 assumes the position of removal R is delimited by a first side (in particular, above) from plate 18 and from the remaining 1 sides, orthogonal to the first side, from frame 17. More advantageously but not limitingly, the clamping device 19 is connected to plate 18 for be mobile in such a maneuvering space S between a first position, in which it is arranged to grasp at least one part of the protruding area 10, when the finishing head 4 is in removal position R, and a second position ( siveda for example figure 2), where it is spaced from the section 15 by invitation. Even more advantageously but not limitingly, in the first position the clamping device 19 is at contact from below with the invitation section 15; more in particular, with plate 18; while in the second position is spaced from plate 18. Always with particular reference to figures 2 to 4, more advantageously but not limitingly, 11 group of removal 12 includes a joint 20 placed between the plate 18 and the clamping device 19 to allow 1la rotation of the clamping device 19 around an axis B of substantially horizontal, perpendicular rotation to the Z direction, and parallel to the development plan of the plate 18 of an angle of at least approximately + or - 45° (more in particular, of at least approximately + or - 90°) to pass from the first position to second position. According to some advantageous but not limiting forms of implementation, such as those illustrated in figures 2- 5, 11 removal group 12 comprises at least one structure of support 21, such as a strut or arm mechanical, which is connected, for example bolted to the plate 18, passes through plate 18 orthogonally to plate 18 it carries, at one of its ends, 11 device tightening 19. According to some advantageous but not limiting forms of implementation, such as those illustrated in the figures attached, the clamping device 19 comprises: a first clamping element 22a, a second clamping element 22b, arranged substantially parallel and opposite to the first clamping element 22a, and a movement unit 23 configured to move the clamping elements 22a, 22b between a grip configuration, in which they are brought closer together them to tighten, from opposite sides, the abrasive element 2 in correspondence of the aforementioned part of zone 10 protruding, when the clamping device 19 takes the above mentioned first position, and a configuration of release, wherein such clamping elements 22a, 22b are move away from each other to release 1''abrasive element 2, once uncoupled from the holder 6, when the device of tightening 19 assumes the aforementioned second position. According to other forms of implementation not illustrated, the clamping device 19 includes, in place of the elements of clamping 22a, 22b described above, a clamp or any other mechanism suitable for laterally holding the protruding area 10. Advantageously but not limitingly, the group of removal 12 includes a door located in the part lower part of the frame 17 to receive the abrasive element 2 released from the clamping device 19 in the above-mentioned release configuration. Alternatively, advantageously but not limited to, removal group 12 includes a collection container (not visible in the figures) attached), located at the bottom of the maneuvering space S for receive 1 abrasive element 2 released from the device tightening 19 in the above-mentioned release configuration. More advantageously but not limitingly, when the support 6 and 1 the abrasive element 2 have a section transversal <circolare, come nelle forme di attuazione illustrated, each clamping element 22a, 22b has a curved path that extends along an arc of circumference and shaped in a complementary way to the abrasive element 2 to be able to tighten laterally at least part of the protruding zone 10. Advantageously, upon removal, the unit of CU control is configured to control 1 drive of the finishing apparatus 3 and / or of the structure of movement 5 so as to induce (once the head of finish 4 is in such removal position R and 11 clamping device 19 has gripped the above-mentioned part of the protruding area 10) a relative movement between the finishing head 3 and clamping device 19 in distance between them (more advantageously but not at least 1 along the above-mentioned Z direction vertical) so as to decouple the abrasive element 2 from the support 6. In more detail, in the advantageous but not limiting means of carrying out the action in the usstrate, the unit against the CU is configured (in particular, programmed) to operate the movement structure 5 in order to move the head finishing 4 away from section 15 of invitation (in particular, from plate 18), advantageously but not necessarily along the first Z direction, once the clamping device 19 is operated to grip the above mentioned at least a part of the protruding area 10 (i.e. once the clamping device 19 has been operated so that assume the first position and once the unit is activated movement so that the clamping elements 22a, 22b assume the above-mentioned tightening configuration), so that the contact profile 16 transmits to the area 10 protruding an action having at least one component say tt ain moving away from support 6, advantageously along the first Z direction, of such intensity as to induce the decoupling of the support 6 from the abrasive element 2, held by the clamping device 19, and possibly (when present) also from the intermediate layer 9 which, when present, forms such a protruding area 10, and is therefore also it is held by the clamping device 19. According to some advantageous but not limiting forms of implementation, the removal group 12 also includes it at least one sensing device configured for monitor at least the clamping device 19 and send a signal when the clamping device 19 grips the above mentioned part of the area 10 protruding so that the unit CU control can control one of the device clamping 19 and the handling structure 5 for loosen them mutually so as to induce detachment of the abrasive element 2, if applicable (when present) together with the intermediate layer 9 from support 9. Advantageously but not limitingly, the system of Replacement 1 also includes a control device (not visible in the attached figures) which can be mounted on board the finishing apparatus 3, in particular the finishing head 4, or can be external, for example guando It is a vision system configured to detect what happens at station 13 of removal, and is configured to detect the presence or 1"absence of the abrasive element 2 on the support and for transfer the data to the control unit CU, which, of consequence, command 11 handling device 5 towards warehouse 14. In this way, the risk that, in the event of malfunctions of the power pack removal 12, the CU control unit commands the movement of the handling structure 5 towards the warehouse 14 before the holder 6 and the abrasive element 2 to be replaced have been uncoupled from each other. According to some advantageous but not limiting forms of implementation, such as those shown in Figures 1 and 6, the warehouse 14 comprises a plurality of housings 24, each configured to receive a respective element abrasive 2 (new) arranged with the abrasive surface 7 a contact with a wall of warehouse 14 and a surface of coupling 8, parallel and opposite to the surface abrasive 7 and intended, in use, suitable for CC or PP to wear off releasable to the support 6, which is facing outwards of warehouse 14. Advantageously this particular Warehouse configuration 14, with 24 slots all on a single wall, allows you to view easily 1st state of filling of warehouse 14 and avoids the risk of damaging the new elements abrasives 2, which, unlike what happens when they are arranged stacked on top of each other (as in known systems), not they run the risk of attacking each other. Even more advantageously but not limitingly, the warehouse 14 includes at least one shelf 25 (rack), which carries on at least one of its walls 26 a plurality of pins 27, arranged to define the aforementioned housings 24. More advantageously, when the abrasive elements 2 are circulars, as in the embodiments illustrated in the attached figures, each slot 24 is defined (i.e. delimited) by three pins 27 arranged on three points diametrically opposed, along a circumference having a diameter substantially analogous to the diameter of the elements abrasives 2 to attract, so as to receive new elements abrasives 2 with the mating surface 8 facing 1' outside. Advantageously, the CU control unit is configured to control the drive of the structure movement 5, once 1''element is uncoupled abrasive from the support 6, to move the finishing head 4 from removal station R to warehouse 14 until bringing the support 6 in contact with the mating surface 8 of one of these abrasive elements 2 new. As mentioned above, advantageously Limitatively, the finishing apparatus 3 comprises a localization system (not visible in the figures) attached and known in itself therefore not described in detail, for example a through-beam photocell or a meter laser or a three-dimensional camera) that is configured to locate the finishing head 4 in space with a precision of the order of 2mm and to provide data on this localization of the action at the control unit or CU, so that this unit CU control can command the structure of movement 5 depending on its current position and of the abrasive element 2 to be removed. This allows a extremely precise movement from the finishing head 4, especially important when taking the new finishing tool 2 especially to ensure its correct positioning with respect to support 6. Advantageously but not limited to warehouse 14 It also includes a guide 28 which slides the shelving 25 and an operable drive system 29 to induce the movement of such shelving 25 along the guide 28 between an operating position, and a position of filling. In this way, by appropriately operating the drive system 28 it will be possible to move the shelving 25 from the operating position, and a position of filling. In this way, once the abrasive elements 2 present in the shelf 25 will be more simple for each operator to load others or replace one or more of the abrasive elements 2, once place shelf 25 in correspondence with the position filling. Advantageously but not limitingly, the system of Replacement 1 includes at least one detection system (not visible in the attached figures and known in itself) configured to detect the filling state of the warehouse 14 which is in communication with the unit CU control so that the CU control unit controls the drive system 29 based on what is detected by this detection system. Furthermore, according to some advantageous but not limiting embodiments, 11 warehouse 14 includes a plurality of 25 shelves, each slidingly coupled to the guide 28 and each can be operated independently from the others from the operating position to the filling position. In This way, it will be possible to fill a 25 shelf while any replacement operations are carried out performed by taking 2 abrasive elements from the remaining shelves 25. According to another aspect of the present invention a substitution method is proposed for the replacement automatic of an abrasive element 2 of a grinding apparatus finish 3; more specifically, ©for the replacement of the abrasive element 2 intended to be coupled to a 4-head finishing machine of a 3-type finishing machine orbital. Advantageously but not limited to, 1'tool abrasive 2 to be replaced and finishing apparatus 3 which will be subjected to such automatic replacement are of the type above described; more specifically, they are made in accordance with any of the variations described above. Advantageously the replacement method includes: an initial preparatory phase, during which the information is provided a warehouse 14 (advantageously but not limitingly of the type described above) to contain a plurality of elements 2 new abrasives and a 12 removal group configured for decouple 1the abrasive element 2 from the support. More advantageously but not limitingly, the group of removal 12 is of the type described above, that is, it includes the above-described clamping device 19, and a station 13 of removal, which in turn includes at least the above described section 15 of invitation to receive the head of finish 4, the above-described contact profile 16, which advantageously but not limitingly delimits a stretch of the invitation section 15 and is configured to match superiorly at least a part of the area 10 protruding and more advantageously also to find laterally at least a part of the support 6. The substitution method also includes: a first handling phase, during which the construction is completed movement 5 moves the finishing head 4 up to correspondence of the removal station 1 3, insert it finishing head 4 in section 15 of invitation up to reach a removal position R, where the profile of feedback 16 finds laterally at least a part of the support 6 and above at least a part of zone 10 protruding, which, in this removal position R, protrudes from section 15 of invitation orthogonally to the abrasive surface 7 towards a maneuvering space S; and a removal phase, (at least partially) subsequent to the first phase of movement, during which the device clamping 19 is operated to grip the abrasive element 2, by tightening at least part of the protruding area 10, and at least one of the clamping device 19 and the head of finish 4 is moved away from to the other (between the clamping device 19 and the head of finishing 4) ina the distance between them, in particular at least along the above-mentioned Z direction, so as to decouple 1 abrasive element 2 from the support 6. In detail, advantageously, the above mentioned first handling phase and removal phase are implemented in automatic mode under the control of the control unit CU, which as described above in relation to the system of replacement 1, check the operation of the device finishing 3, in particular in these phases check at least 1 " drive of the handling structure 5 , and of the removal group 12 more advantageously also on the basis as detected by the above-mentioned detection system and when provided by the detection device suitable for detect the wear of the abrasive element 2 and / or of what detected time measuring device operation (or "clock"). Advantageously but not limitingly, the above mentioned movement phase includes a first sub-phase, during which the movement structure 5 is operated (under the control of the CU control unit) and moves the finishing head 4 up to the station 13 of removal, and a sub-phase of positioning, during which the movement structure 5 is operated for Insert finishing head 4 into the invitation section 15 until it comes into contact with the contact profile 16 so as to assume the R removal position. According to some advantageous but not limiting forms of implementation, the removal phase includes: a sub-phase of grip, during which the clamping device 19 (advantageously but not limited to the above type described ) , grasp the abrasive element 2 by turning laterally at least part of the zone 10 protruding; ed a reciprocal movement phase is used , during which CU control unit commands relative movement between such clamping device 19, once it ha grasped the protruding area 10 , and the finishing head 4 in distancing between them, more advantageously but not limited at least along the above-mentioned first direction Z, cosl to detach the abrasive element 2 from the support 6. Details are given in Figures 1 , 3 and 4 , according to some beneficial but not limiting forms of implementation, such as those illustrated, during the reciprocal movement sub-phase, 11 device clamping 19 is held still with 1 element in grip abrasive 2, retained along the above-mentioned part of the area 10 protruding, and the CU control unit operates the structure of movement 5 which moves the finishing head 4 in departure from section 15 of invitation (in particular, from plate 18) at least along this first Z direction so that the aforementioned contact profile 16, reacting to the movement of the finishing head 4, transmitted to the protruding area 10 of the abrasive element 2 having an action at least one component directed away from the support 6 along the first Z direction so as to induce the decoupling of the support 6 from the abrasive element 2; inparticolare, diintensitataledacaus are 11 detachment of the of the abrasive element 2 from the support 6. According to some advantageous but not limiting forms of implementation, the clamping device 19 comprises the clamping elements 22a, 22b and 1st movement unit 2 3 to move these minds of day 22a, 22b, as described in more detail in relation to the system of substructure 1, and 11 substitution method includes a release phase, following the removal phase, during which 11 clamping device 19 releases 1''element abrasive 2 decoupled from the support 6. More advantageously but not limitedly, the abrasive element 2, once released, reaches a door by gravity or a collection container arranged at the bottom of the space S maneuvers. In particular, according to some beneficial but not limitingmedia tt uation , during the execution phase , the clamping device 19 passes, via drive of the above-mentioned unit of motion 23, from grip configuration, in which the clamping elements 22 a , 22b were given to their Persian rr are , dalati opposite, 1the abrasive element 2, to the configuration of release wherein such clamping elements 22a, 22b are spaced apart to release the abrasive element 2. The teaching methodology includes , in addition : a second phase of movement action , during which the other of movement 5 moves the finishing head 4 from the station 1 3 removal to warehouse no 1 4, also performed automatically under the control of the unit CU control; and a fixing phase, during which the handling structure 5, operated by the unit CU control, moves the finishing head 4 until it reaches the support 6 in contact with an abrasive element 2 of those contents of warehouse 14 to pair in a way releasable such abrasive element 2 to the support 6. Advantageously but not limitedly, the warehouse 14 is of the type described above, that is, it comprises a plurality of 24 slots, each configured to receive a respective abrasive element 2 (new) arranged with the abrasive surface 7 in contact with a warehouse wall 14 and with the mating surface 8 facing 1' outside of warehouse 14. The above mentioned fixing phase, advantageously but not limited to: a first sub-phase, during which the control unit CU commands the operation of the handling structure 5 which carries the finishing head 4 up to a first housing 24; a second phase, during which the unit faces the CU controls the movement structure 5 to move the head finishing 4 and bring the support 6 into contact with the mating surface 8 of the abrasive element 2 contained in such housing 24; and a third sub-phase, on cc and ss VAT depending on each phase, during which the unit CU control commands the movement structure 5 so as to move the finishing head 4 towards the mating surface 8 so as to transmit a pressure of at least about 5kg towards the surface of coupling 8 to ensure the coupling between the elements of releasable fixing present on the support 6 and that present on the mating surface 8 of the element abrasive 2. According to some advantageous but not limiting forms of implementation, such as those illustrated, when the warehouse 14 includes (in particular, is made up of) at least a shelf 25 and also includes a guide 28 which carries sliding 2 5 shelf, and a system of drive 2 9 , better described above relational substitution system 1 , the substitutionmethod also includes a filling phase, during which 1"CU control unit is driven to move the warehouse 14, once emptied or any once removed at least part of the abrasive elements 2, from the position operation at the position of fill and new elements abrasives 2 are located in housings 24 of such warehouse 14. According to some beneficial but not limiting forms of a tt uation , the exo-displacement method describes tt or is implemented with a substitution system 1 of the above type described. The method and system of substitution 1 of the present invention They have numerous advantages, including the following. First of all, they allow for quick and easy replacement effective of the abrasive element 2 of the finishing apparatus 4 in a totally automatic way, without requiring changes structural in the finishing unit 3 and ensuring good successful removal of the abrasive tool 2 worn thanks to a simple 12 removal group from mechanical point of view which guarantees repeatability and 1"effectiveness of removal operations regardless from the actual state of wear of the abrasive element 2. Furthermore, the method and system of substitution 1 of the This invention allows to speed up operations of replacement, thanks to a new warehouse 14 configured to have 1 new abrasive elements 2 arranged on a plane with the mating surface 8 exposed to the outside so it can be easily accessed.

Claims

1. Replacement system (1) for the automatic replacement of an abrasive element (2) of a finishing apparatus (3); which finishing apparatus (3) comprises a spatially movable movement structure (5), a finishing head (4) which is rotatably connected to said movement structure (5) and is equipped with a support (6) configured to releasably couple to an abrasive element (2) which, in turn, is equipped with at least one abrasive surface (7) and is configured to protrude, in use, from said support (6), parallel to said abrasive surface (7), by at least approximately 8mm, thus defining a protruding area (10); the replacement system (1) comprises: a removal assembly (12) which is configured to decouple said abrasive element (2) from said support (6) and comprises a removal station (13) for receiving said finishing head (4); a magazine (14) for containing a plurality of abrasive elements (2);and a control unit (CU) configured to control the operation of said finishing apparatus (3) and said removal group (12) by controlling the movement of said movement structure (5) so as to move said finishing head (4) to said removal station (13) and from said removal station (13) to said magazine (14), and by controlling said removal group (12) so as to decouple said abrasive element (2) from said support (6);the replacement system (1) is characterised by the fact that: said removal station (13) comprises a guide section (15) configured to receive said finishing head (4) and equipped with a contact profile (16) configured to contact at least a part of said protruding area (10) from above, when said finishing head (4) assumes a removal position (R), in which it is inserted into said guide section (15) in contact with said contact profile (16), with said protruding area (10) protruding from said guide section (15) along a first direction (Z) orthogonal to said abrasive surface (7) towards a manoeuvring space (S); said removal group (12) comprises a clamping device (19) which operates in said manoeuvring space (S) and is configured to grip at least a part of said protruding area (10);and said control unit (CU) is configured to control said finishing apparatus (3) and / or said movement structure (5) so as to induce a relative movement between said finishing head (4) and said clamping device (19) away from each other, once said finishing head (4) is in said removal position (R) and said clamping device (19) has gripped said at least one part of said protruding area (10), so as to decouple the abrasive element (2) from said support (6).; 2. Replacement system (1) according to claim 1 wherein: said magazine (14) comprises a plurality of housings (24), each configured to receive said abrasive elements (2) arranged with a mating surface (8), parallel and opposite to said abrasive surface (7) and intended, in use, to releasably mate to said support (6), which faces outward from said magazine (14); and said control unit (CU) is configured to control the operation of said handling structure (5), once said abrasive element (2) is uncoupled from said support (6), to move said finishing head (4) from said removal station (13) to said magazine (14) until said support (6) is brought into contact with the mating surface (8) of one of said abrasive elements (2).

3. Replacement system (1) according to claim 1 or 2, wherein said warehouse (14) comprises: a guide (28), at least one rack (25), which is slidably coupled to the guide (28), and a drive system (29) operable to cause the movement of said rack (25) along the guide (28) between an operating position, and a filling position.

4. Replacement system (1) according to any of the preceding claims, wherein said control unit (CU) is configured to operate said movement structure (5) so as to move said finishing head (4) away from said lead-in section (15) along said first direction (Z), once said clamping device (19) is operated to grip said at least one part of said protruding area (10) of said abrasive element (2), so that said abutment profile (16) transmits to said protruding area (10) an action having at least one component directed away from said support (6) along said first direction (Z) such as to decouple said support (6) from said abrasive element (2).

5. Replacement system (1) according to any preceding claim, wherein: said removal assembly (12) comprises a frame (17) arranged at said removal station (13), and a plate (18) carried by said frame (13) and having a recess extending from a first edge of said plate (18) and defining said lead-in section (15); said maneuvering space (S) extends below said plate (18) along said first direction (Z); and said clamping device (19) is connected to said plate (18) to be movable in said maneuvering space (S) between a first position, in which it is arranged to grip at least a portion of said protruding area (10), when said finishing head (4) is in said removal position, and a second position, in which it is spaced from said lead-in section (15).

6. Replacement system according to claim 5, wherein said removal group (12) comprises a joint (20) interposed between said plate (18) and said clamping device (19) to allow the rotation of said clamping device (19) around a rotation axis, perpendicular to said first direction (Z), by an angle of at least approximately + or - 45° (more specifically, of at least approximately + or - 90°) to pass from said first position to said second position.

7. Replacement system according to any of the preceding claims, wherein said clamping device (19) comprises: a first clamping element (22b), a second clamping element (22b), arranged substantially parallel and opposite to the first clamping element (22a), and a movement unit (23), which is configured to move at least one of the first clamping element (22a) and the second clamping element (22b) between a gripping configuration, wherein the first clamping element (22a) and the second clamping element (22b) are brought close together to clamp, from opposite sides, said abrasive element (2) at said at least one part of said protruding area (10), and a releasing configuration, wherein said first and second clamping elements (22a, 22b) are moved apart from each other to release said abrasive element (2).

8. Replacement system (1) according to claim 7, wherein the removal assembly (12) comprises a collection container, arranged at the bottom of said maneuvering space (S) to receive said abrasive element (2) released from said clamping device (19) in said release configuration.

9. Replacement method for automatically replacing an abrasive element (2) of a finishing apparatus; which finishing apparatus (3) comprises a spatially movable handling structure (5), a finishing head (4) which is rotatably connected to said handling structure (5) and is provided with a support (6) configured to releasably couple to an abrasive element (2) which, in turn, is provided with at least one abrasive surface (7) and is configured to protrude, in use, from said support (6), parallel to said abrasive surface (7), by at least approximately 8mm thereby defining a protruding zone (10); the replacement method comprises the following phases: a first preparatory phase, during which a magazine (14) is provided for holding a plurality of abrasive elements (2) and a removal assembly (12) configured to decouple said abrasive element (2) from said support (6);said removal group (12) comprising a removal station (13) which, in turn, comprises a guide section (15) for receiving said finishing head (4) and equipped with a contact profile (16), and a clamping device (19) configured to grip said abrasive element (2); a first movement phase, during which said movement structure (5) moves said finishing head (4) up to said removal station (13), inserts said finishing head (4) into said guide section (15) until it reaches a removal position (R), in which said contact profile (16) abuts at least a part of said protruding area (10) from above, which protruding area (10) protrudes from said guide section (15) orthogonally to said abrasive surface (7) towards a manoeuvring space (S);a removal phase, at least partially subsequent to said first movement phase, during which said clamping device (19) is operated to grip said abrasive element (2), clamping at least a part of said protruding area (10), and at least one of said clamping device (19) and said finishing head (4) is moved away from the other so as to decouple the abrasive element (2) from said support (6); a second movement phase, during which said movement structure (5) moves said finishing head (4) from said removal station (13) to said magazine (14);and a fastening phase, during which said movement structure (5) moves said finishing head (4) until it brings said support (6) into contact with an abrasive element (2) of said abrasive elements (2) contained in said magazine (14) to releasably couple said abrasive element (2) of said abrasive elements (2) to said support (6); and said first movement phase, removal phase, second movement phase, and fastening phase being performed automatically under the control of a control unit (CU).; 10. Replacement method according to claim 9, wherein said removal step comprises: a gripping sub-step, during which the clamping device (19) grips said abrasive element (2) by laterally clamping at least a part of said protruding area (10); and a reciprocal movement sub-step, during which the control unit (CU) controls said relative movement between said clamping device (19) and said finishing head (4), at least along said first direction (Z), so as to decouple the abrasive element (2) from said support (6).

11. Replacement method according to claim 10, wherein during said reciprocal movement sub-phase, said clamping device (19) is held still with said abrasive element (2) held along said at least one part of said protruding area (10) and said control unit (CU) operates said movement structure (5) which moves said finishing head (4) away from said lead-in section (15) along said first direction (Z) so that said abutment profile (16), reacting to the movement of said finishing head (4), transmits to said protruding area (10) of said abrasive element (2) an action having at least one component directed away from said support (6) along said first direction (Z) such as to induce the decoupling of said support (6) from said abrasive element (2).

12. Replacement method according to any of claims 9 to 11, comprising a release step, subsequent to said removal step, during which said clamping device (19) releases said abrasive element (2) decoupled from said support (6), which abrasive element (2) by gravity reaches a collection container arranged at the bottom of said maneuvering space (S); in particular, said clamping device (19) comprises a first clamping element (22a), a second clamping element (22b), arranged substantially parallel and opposite to the first clamping element (22a), and a movement unit (23), which is configured to move at least one of the first clamping element (22a) and the second clamping element (22b) between a gripping configuration, wherein the first clamping element (22a) and the second clamping element (22b) are brought close together to clamp, from opposite sides,the said abrasive element (2) at the said at least one part of the said protruding area (10) and a release configuration, in which the said first and second clamping elements (22b) are moved apart from each other to release the said abrasive element (2), once uncoupled from the said support (6) and during the said release phase, the clamping device (19) passes from the said gripping configuration to the said release configuration., 13. A replacement method according to any of claims 9 to 12, wherein: said magazine (14) comprises a plurality of housings, each configured to receive said abrasive elements arranged with a mating surface (8), parallel and opposite to said abrasive surface (7) and intended, in use, to releasably mate to said support (6), facing outward from said magazine (14); said fixing step comprises: a first sub-step, during which the control unit (CU) controls the operation of said movement structure (5) which brings said finishing head (4) up to a first housing (24) of said plurality of housings (24);a second sub-phase, during which the control unit (CU) controls the said movement structure (5) to move the said finishing head (4) and bring the said support (6) into contact with the mating surface (8) of the abrasive element (2) contained in the said first housing; and a third sub-phase, subsequent to the said second sub-phase during which the said control unit (CU) controls the said movement structure (5) so as to move the said finishing head (4) towards the said mating surface (8) to transmit a pressure of at least approximately 5kg towards the said mating surface to ensure the mating.; 14. A replacement method according to claim 13, wherein: said magazine (14) comprises a guide (28), at least one rack (25) which is slidably coupled to the guide (28), and a drive system (29) operable to cause said rack (25) to move along the guide (28) between an operating position and a second filling position; and the replacement method comprises a filling phase, during which the control unit (CU) is operated to move said magazine (14) from the operating position to the filling position and additional abrasive elements (2) are positioned in said housings (24).

15. Replacement method according to any of claims 9 to 14, wherein said movement phase comprises a first sub-phase, during which said movement structure (5) is operated and moves said finishing head (4) until it reaches said removal station (13), and a positioning sub-phase, during which said movement structure (5) is operated to insert said finishing head (4) into said guide section (15) until it abuts said abutment profile (16) so as to assume said removal position (R).

16. Replacement method according to any of claims 9 to 15 implemented with a removal system (1) made according to any of claims 1 to 9.