A fully automatic sandpaper replacement system

Abstract

The present invention relates to a full-automatic sandpaper replacement system, which includes a fixing unit, a sandpaper tearing unit, a mill calibration unit, and a sandpaper conveying unit. Its advantages are as follows: the robotic arm is separated from the sandpaper replacement system, so that the robotic arm and the sandpaper replacement system can be purchased and maintained separately; due to the separation of the robotic arm from the sandpaper replacement system, the sandpaper replacement system can be combined with different robotic arms, or one sandpaper replacement system can be combined with multiple robotic arms for simultaneous use, reducing the purchase cost and maintenance cost, and reducing the floor area of the entire grinding system; a mill calibration unit is arranged between the sandpaper tearing unit and the sandpaper conveying unit, which can calibrate the position of the mill tray, so that the sandpaper conveyed by the sandpaper conveying unit fits accurately with the mill tray, avoiding problems such as sandpaper warping and scattered grinding dust.

Description

Technical Field

[0001] The invention relates to the technical field of grinding devices, and particularly to a full-automatic sandpaper replacement system. Background Art

[0002] In related automated grinding processes, a robotic arm is generally used to carry a grinding machine to grind the surface of a workpiece, which has the advantages of high grinding efficiency, unrestricted operation time, stable grinding quality, and less dust pollution, and has largely replaced manual grinding processes or semi-automatic grinding processes.

[0003] An automated grinding system generally includes a robotic arm movement unit, a sandpaper feeding module, a sandpaper tearing module, a grinding machine replacement module, a dust collector, a positioner, etc. Such an automated grinding system is usually integrated and cannot be purchased separately for assembly or replacement. In addition, such an automated grinding system has a high initial purchase cost and high subsequent maintenance costs. Moreover, an automated grinding system is usually only applicable to certain components and cannot be adapted to more grinding scenarios by replacing modules.

[0004] In addition, in related technologies, the robotic arm movement unit controls the grinding machine to pass through the sandpaper tearing module and the sandpaper feeding module in sequence to complete the processes of sandpaper tearing and sandpaper replacement. However, after the sandpaper is torn, the position of the grinding machine tray usually cannot accurately correspond to the position of the sandpaper feeding module, resulting in the axes of the sandpaper and the grinding machine tray not being coaxial, and part of the edge of the sandpaper being outside the edge of the grinding machine tray, that is, the problem of sandpaper warping occurs. In subsequent grinding processes, due to the high-speed rotation of the grinding machine, the warped sandpaper is likely to damage the surface of the workpiece.

[0005] In addition, in order to prevent dust pollution, a number of tray holes are usually provided in the grinding machine tray to suck dust from the tray holes into the dust collection cylinder during the grinding process. Correspondingly, the sandpaper is also provided with sandpaper holes corresponding to the tray holes, so that dust is sucked into the dust collection cylinder from the tray holes and the sandpaper holes in sequence. Then, when the grinding disc is offline and the sandpaper cannot be correctly aligned, the tray holes and the sandpaper holes cannot correspond, resulting in the problem that the dust generated by grinding cannot be sucked into the dust collection cylinder, thus causing dust to diffuse everywhere and polluting the environment.

[0006] Therefore, in view of the problems in related technologies that the integration degree of the automated grinding system is high and modules cannot be replaced separately, and the grinding machine and the sandpaper cannot be accurately corresponded, no effective solution has been proposed yet. Summary of the Invention

[0007] The purpose of the present invention is to provide a full-automatic sandpaper replacement system for at least solving the problems in related technologies that the integration degree of the automated grinding system is high and modules cannot be replaced separately, and the grinding machine and the sandpaper cannot be accurately corresponded.

[0008] To achieve the above object, the technical solution adopted by the invention is as follows:

[0009] A fully automatic sandpaper replacement system, comprising:

[0010] A fixing unit;

[0011] A sandpaper tearing unit, which is arranged on the fixing unit and is used to separate the grinding machine from the old sandpaper;

[0012] A grinding machine calibration unit, which is arranged on the fixing unit and is located downstream of the sandpaper tearing unit, and is used to calibrate the tray of the grinding machine;

[0013] A sandpaper conveying unit, which is arranged on the fixing unit and is located downstream of the grinding machine calibration unit, and is used to convey new sandpaper to the grinding machine.

[0014] In some embodiments, it further includes:

[0015] A sandpaper recycling unit, which is arranged inside the fixing unit and is located below the sandpaper tearing unit.

[0016] In some embodiments, the sandpaper tearing unit includes:

[0017] A first fixing element, through which the sandpaper tearing unit is fixedly arranged on the fixing unit, and the first fixing element is provided with a guiding groove and a first monitoring groove;

[0018] A separating element, which is arranged on the upper surface of the first fixing element and is located on one side of the guiding groove, and is used to preliminarily separate the old sandpaper from the grinding machine;

[0019] A first sensor, which is arranged on the lower surface of the first fixing element and is located below the first monitoring groove;

[0020] A first driving assembly, which is arranged on the lower surface of the first fixing element and is electrically connected to the first sensor;

[0021] A first transmission element, which is arranged on the lower surface of the first fixing element and is located on one side of the guiding groove, and is in transmission connection with the output end of the first driving assembly;

[0022] A second transmission element, which is arranged on the lower surface of the first fixing element and is located on the other side of the guiding groove, and is in transmission connection with the first transmission element;

[0023] Wherein, when the first sensor detects the grinding machine, the first sensor transmits a signal to the first driving component, and the driving unit drives the first transmission element and the second transmission element to transmit, and the first transmission element and the second transmission element act together to completely separate the old sandpaper from the grinding machine.

[0024] In some of the embodiments, the sandpaper tearing unit further includes:

[0025] An elastic element, which is arranged on the lower surface of the first fixing element and is located at at least one end of the second transmission element.

[0026] In some of the embodiments, the sandpaper tearing unit further includes:

[0027] A guiding element, which is arranged on the lower surface of the first fixing element. The first end of the guiding element is connected to one side of the guiding groove, and the second end of the guiding element is located above the upper part between the first transmission element and the second transmission element.

[0028] In some of the embodiments, the guiding element is an inclined plate or an arc-shaped plate.

[0029] In some of the embodiments, the first driving component includes:

[0030] A first driving element, which is arranged on the lower surface of the first fixing element;

[0031] A third transmission element, which is in transmission connection with the output end of the first driving element;

[0032] A fourth transmission element, which is arranged on one side of the third transmission element and is in transmission connection with the first transmission element;

[0033] A fifth transmission element, which is respectively in transmission connection with the third transmission element and the fourth transmission element.

[0034] In some of the embodiments, the sandpaper tearing unit further includes:

[0035] A plurality of first supporting elements, which are respectively arranged at both ends of the first transmission element and both ends of the second transmission element.

[0036] In some of the embodiments, the first transmission element is a driving gear, the second transmission element is a driven gear, and the outer diameter of the first transmission element is equal to the outer diameter of the second transmission element.

[0037] In some of these embodiments, in the natural state, the center distance between the first transmission element and the second transmission element is equal to the outer diameter of the first transmission element.

[0038] In some of these embodiments, the sandpaper tearing unit further includes:

[0039] A second fixing element, the second fixing element is fixedly arranged on the lower surface of the first fixing element, and the first sensor is fixedly arranged on the second fixing element.

[0040] In some of these embodiments, the sandpaper tearing unit further includes:

[0041] A third fixing element, the third fixing element is fixedly arranged on the lower surface of the first fixing element, and the first driving element is fixedly arranged on the third fixing element.

[0042] In some of these embodiments, the first fixing element further includes a plurality of first mounting holes, and the plurality of first mounting holes penetrate through the first fixing element. In some of these embodiments, the sandpaper tearing unit further includes:

[0043] A plurality of fourth fixing elements, the plurality of fourth fixing elements are fixedly arranged on the lower surface of the first fixing element, and a first support element is arranged in the positioning hole of each fourth fixing element;

[0044] Wherein, the elastic element is arranged in the positioning groove of the fourth fixing element located at the second transmission element.

[0045] In some of these embodiments, the fourth fixing element includes:

[0046] A fourth upper fixing element, the fourth upper fixing element is fixedly connected to the first fixing element;

[0047] A fourth lower fixing element, the fourth lower fixing element is detachably connected to the fourth upper fixing element.

[0048] In some of these embodiments, the sandpaper tearing unit further includes:

[0049] A plurality of closing elements, and one closing element is arranged outside each fourth fixing element.

[0050] In some of these embodiments, the mill calibration unit includes:

[0051] A fifth fixing element, and the mill calibration unit is fixedly arranged on the fixing unit through the fifth fixing element;

[0052] Calibration base, the calibration base is arranged on the upper surface of the fifth fixing element, and the calibration base is provided with a second monitoring groove;

[0053] A plurality of first positioning elements, a plurality of the first positioning elements are fixedly arranged on the upper surface of the calibration base for cooperating with a plurality of tray holes of a plurality of trays of a plurality of grinding mills;

[0054] A second sensor, the second sensor is arranged on the lower surface of the calibration base and is located below the second monitoring groove;

[0055] A second driving assembly, the second driving assembly is arranged on one side of the fifth fixing element, and is connected to the calibration base and electrically connected to the second sensor.

[0056] In some embodiments, the fifth fixing element is provided with a third monitoring groove, and the third monitoring groove is located below the second monitoring groove;

[0057] The second sensor is arranged on the lower surface of the fifth fixing element and is located below the third monitoring groove.

[0058] In some embodiments, the mill calibration unit further includes:

[0059] A sixth fixing element, the sixth fixing element is fixedly arranged on the fifth fixing element, and the second sensor is fixedly arranged on the sixth fixing element.

[0060] In some embodiments, the fifth fixing element further includes a plurality of second mounting holes, and the plurality of second mounting holes penetrate through the fifth fixing element.

[0061] In some embodiments, the sandpaper conveying unit includes:

[0062] A first limiting element;

[0063] A third sensor, the third sensor is arranged on the first limiting element;

[0064] A second limiting element, the second limiting element is arranged below the first limiting element;

[0065] A connecting element, the connecting element is respectively connected to the first limiting element and the second limiting element;

[0066] A moving element, the moving element is arranged between the first limiting element and the second limiting element;

[0067] A plurality of second positioning elements, the plurality of second positioning elements penetrate through the moving element and are slidably connected to the moving element;

[0068] The third driving assembly is disposed on the second limiting element, connected to the moving element and electrically connected to the third sensor, and is configured to drive the moving element to reciprocate between the first limiting element and the second limiting element;

[0069] The seventh fixing element is disposed on the lower surface of the second limiting element, and the sandpaper conveying unit is fixedly disposed on the fixing unit through the seventh fixing element.

[0070] In some embodiments, the connecting element penetrates through the moving element and is slidably connected to the moving element.

[0071] In some embodiments, the connecting element is any one of a connecting rod, a connecting cylinder, and a connecting plate.

[0072] In some embodiments, a plurality of the second positioning elements penetrate through the second limiting element and are slidably connected to the second limiting element.

[0073] In some embodiments, the third driving assembly includes:

[0074] The third driving element is disposed on one side of the second limiting element and is electrically connected to the third sensor;

[0075] The sixth transmission element is respectively in transmission connection with the third driving element and the moving element.

[0076] In some embodiments, the third driving assembly further includes:

[0077] The seventh transmission element is fixedly connected to the moving element and in transmission connection with the sixth transmission element.

[0078] In some embodiments, the third driving assembly further includes:

[0079] The eighth transmission element is respectively in transmission connection with the third driving element and the sixth transmission element.

[0080] In some embodiments, the third driving assembly further includes:

[0081] The ninth transmission element is respectively in transmission connection with the sixth transmission element and the eighth transmission element.

[0082] In some embodiments, the sandpaper conveying unit further includes:

[0083] A second support element, which is connected to the moving element and is in transmission connection with the connecting element.

[0084] In some of these embodiments, the sandpaper conveying unit further includes:

[0085] An eighth fixing element, which is fixedly arranged on one side of the second limiting element, and the third driving assembly is fixedly arranged on the eighth fixing element.

[0086] In some of these embodiments, the sandpaper conveying unit further includes:

[0087] A first buffer element, which is arranged on the upper surface of the moving element.

[0088] In some of these embodiments, the sandpaper conveying unit further includes:

[0089] A second buffer element, which is connected to the connecting element and is located between the moving element and the second limiting element.

[0090] In some of these embodiments, the sandpaper conveying unit further includes:

[0091] A second buffer element, which is connected to the second positioning element and is located between the moving element and the second limiting element.

[0092] In some of these embodiments, the sandpaper conveying unit further includes:

[0093] A third buffer element, which is connected to the connecting element and is located between the moving element and the first limiting element.

[0094] The invention adopts the above technical solutions, and compared with the prior art, has the following technical effects:

[0095] In a full-automatic sandpaper replacement system of the present invention, the robotic arm is separated from the sandpaper replacement system, so that the robotic arm and the sandpaper replacement system can be purchased and maintained separately; since the robotic arm is separated from the sandpaper replacement system, the sandpaper replacement system can be combined with different robotic arms, or one sandpaper replacement system can be combined with multiple robotic arms simultaneously, reducing the purchase cost and maintenance cost, and reducing the floor area of the entire grinding system; a mill calibration unit is arranged between the sandpaper tearing unit and the sandpaper conveying unit, which can calibrate the position of the mill tray, so that the sandpaper conveyed by the sandpaper conveying unit can be accurately attached to the mill tray, avoiding problems such as sandpaper warping and grinding dust spreading everywhere. Description of the Drawings

[0096] Figure 1 It is a schematic diagram of the sandpaper tearing unit 200 according to an embodiment of the present application;

[0097] Figure 2 It is a schematic diagram of the sandpaper tearing unit according to an embodiment of the present application;

[0098] Figures 3A - 3B It is a cross-sectional view of the separation element according to an embodiment of the present application;

[0099] Figure 4 It is a schematic diagram of the first driving component, the first transmission element, and the second transmission element according to an embodiment of the present application;

[0100] Figure 5 It is a schematic diagram of the fourth fixing element according to an embodiment of the present application;

[0101] Figure 6 It is a schematic diagram of the mill calibration unit according to an embodiment of the present application;

[0102] Figure 7 It is a top view of the mill calibration unit according to an embodiment of the present application;

[0103] Figure 8 It is a schematic of the sandpaper conveying unit according to an embodiment of the present application Figure 1 ;

[0104] Figures 9A - 9D It is a schematic diagram of the usage state of the fully automatic sandpaper replacement system according to an embodiment of the present application;

[0105] Figure 10 It is a schematic of the sandpaper conveying unit according to an embodiment of the present application Figure 2 ;

[0106] Figure 11 It is a schematic of the connecting element according to an embodiment of the present application Figure 1 ;

[0107] Figure 12 It is a schematic of the connecting element according to an embodiment of the present application Figure 2 ;

[0108] Figure 13 It is the third schematic diagram of the sandpaper conveying unit 400 according to an embodiment of the present application.

[0109] The reference numerals therein are: fixing unit 100, housing 101, shock-absorbing element 102;

[0110] Sandpaper tearing unit 200, first fixing element 201, guiding groove 202, first monitoring groove 203, separating element 204, first sensor 205, first transmission element 206, second transmission element 207, first driving element 208, third transmission element 209, fourth transmission element 210, fifth transmission element 211, elastic element 212, guiding element 213, first supporting element 214, second fixing element 215, third fixing element 216, fourth upper fixing element 217, fourth lower fixing element 218, first accommodating cavity 219, second accommodating cavity 220, sealing element 221;

[0111] Mill calibration unit 300, fifth fixing element 301, calibration base 302, second monitoring groove 303, first positioning element 304, second sensor 305, second driving element 306, third monitoring groove 307, edge element 308, second mounting hole 309, sixth fixing element 310;

[0112] Sandpaper conveying unit 400, first limiting element 401, third sensor 402, second limiting element 403, connecting element 404, moving element 405, second positioning element 406, third driving element 407, sixth transmission element 408, seventh transmission element 409, eighth transmission element 410, ninth transmission element 411, second supporting element 412, seventh fixing element 413, first buffer element 414, second buffer element 415, third buffer element 416, eighth fixing element 417, observation groove 418;

[0113] Mill 500;

[0114] Sandpaper 600. Detailed implementation mode

[0115] Next, the technical solutions in the embodiments of the invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the invention. Obviously, the described embodiments are only a part of the embodiments of the invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the invention without creative efforts shall fall within the scope of protection of the invention.

[0116] It should be noted that, without conflict, the embodiments in the invention and the features in the embodiments may be combined with each other.

[0117] Next, the invention will be further described in conjunction with the accompanying drawings and specific embodiments, but it is not a limitation of the invention.

[0118] Embodiment 1

[0119] This embodiment is a schematic embodiment of the present invention. As Figure 1As shown in the figure, a fully automatic sandpaper replacement system includes a fixing unit 100, a sandpaper tearing unit 200, a grinding machine calibration unit 300, a sandpaper conveying unit 400, a sandpaper recycling unit, and a central control unit. Among them, the sandpaper tearing unit 200 is detachably connected to the fixing unit 100; the grinding machine calibration unit 300 is detachably connected to the fixing unit 100 and is located downstream of the sandpaper tearing unit 200; at least one sandpaper conveying unit 400 is detachably connected to the fixing unit 100 and is located downstream of the grinding machine calibration unit 300; the sandpaper recycling unit is arranged inside the fixing unit 100 and is located below the sandpaper tearing unit 200; the central control unit is arranged inside or outside the fixing unit 100 and is electrically connected to the sandpaper tearing unit 200, the grinding machine calibration unit 300, and the sandpaper conveying unit 400 respectively.

[0120] The fixing unit 100 is a workbench, which is welded by several steel pipes. On the outside of the workbench is a housing 101 assembled by sheet metal parts, and there are several shock-proof elements 102 at the bottom of the workbench.

[0121] In some of the embodiments, the shock-proof element 102 is a support plate.

[0122] As Figure 2 shown in the figure, the sandpaper tearing unit 200 includes a first fixing element 201, a separating element 204, a first sensor 205, a first driving assembly, a first transmission element 206, a second transmission element 207, and an elastic element 212. Among them, the first fixing element 201 is fixedly connected to the fixing unit 100; the separating element 204 is fixedly arranged on the upper surface of the first fixing element 201 and is used for preliminarily separating the sandpaper from the grinding machine; the first sensor 205 is fixedly arranged on one side of the first fixing element 201 and is used for obtaining the signal of whether the grinding machine approaches or moves away from the sandpaper tearing unit 200; the first driving assembly is fixedly arranged on the lower surface of the first fixing element 201 and is used for performing relevant actions when the first sensor 205 transmits a signal; the first transmission element 206 is fixedly arranged on the lower surface of the first fixing element 201 and is in transmission connection with the output end of the first driving assembly; the second transmission element 207 is fixedly arranged on the lower surface of the first fixing element 201 and is in transmission connection with the first transmission element 206. Under the action of the first transmission element 206 and the second transmission element 207, the sandpaper enters between the first transmission element 206 and the second transmission element 207, so that the sandpaper is completely separated from the grinding machine; the elastic element 212 is fixedly arranged on the lower surface of the first fixing element 201 and is located at one end of the second transmission element 207. When the second transmission element 207 contacts the elastic element 212, the elastic element 212 provides an elastic force to the second transmission element 207, so that the second transmission element 207 can be closely attached to the sandpaper.

[0123] As Figure 2 、Figure 3A , Figure 3B As shown in Figure 3B , the first fixing element 201 includes a guiding groove 202. The guiding groove 202 is disposed in the middle of the first fixing element 201 or on one side close to the first fixing element 201, and penetrates through the upper surface and the lower surface of the first fixing element 201. It is used to enable the separated sandpaper to enter from the upper side to the lower side of the first fixing element 201 through the guiding groove 202.

[0124] In some embodiments thereof, the length of the guiding groove 202 is greater than the maximum diameter of conventional sandpaper, so as to be applicable to sandpapers of different specifications.

[0125] In some embodiments thereof, the first fixing element 201 is a sheet metal part.

[0126] In some embodiments thereof, the first fixing element 201 is further provided with a plurality of first mounting holes, and the plurality of first mounting holes are arranged around the first fixing element 201 for mounting the first fixing element 201 on other devices.

[0127] As Figure 3A , Figure 3B shown, the separating element 204 is a bent plate composed of a horizontal plate and a vertical plate. The first end of the vertical plate is fixedly connected to the upper surface of the first fixing element 201 and is located at the rear side of the guiding groove 202; the first end of the horizontal plate is fixedly connected to the second end of the vertical plate and forms a right-angle structure; the second end of the horizontal plate faces the front side of the guiding groove 202 and is used to extend between the grinding machine and the sandpaper when the grinding machine approaches, so as to separate the sandpaper from the grinding machine.

[0128] In some embodiments thereof, the separating element 204 further includes an arc plate, and the two ends of the arc plate are respectively fixedly connected to the first end of the horizontal plate and the second end of the vertical plate, and are used to enable the sandpaper to enter the guiding groove along the radian of the arc plate when separating the sandpaper.

[0129] In some embodiments thereof, the second end of the horizontal plate is located at the upper part between the front side and the rear side of the guiding groove 202, that is, the width of the horizontal plate is smaller than the width of the guiding groove 202.

[0130] In some embodiments thereof, the second end of the horizontal plate is located at the upper part of the front side of the guiding groove 202, that is, the width of the horizontal plate is equal to the width of the guiding groove 202.

[0131] In some embodiments thereof, the second end of the horizontal plate is located at the front side of the guiding groove 202, that is, the width of the horizontal plate is greater than the width of the guiding groove 202.

[0132] Wherein, when the horizontal plate is inserted between the sandpaper and the grinding machine in the case where the width of the horizontal plate is less than the width of the guiding groove 202, the separated sandpaper may enter the guiding groove 202 after contacting the vertical plate, and it is easy to occur jams, sandpaper folding and other situations; in the case where the width of the horizontal plate is greater than or equal to the width of the guiding groove 202, when the horizontal plate is inserted between the sandpaper and the grinding machine, the separated sandpaper will, under the action of its own gravity, enter the guiding groove without contacting the vertical plate, and it is not easy to occur sandpaper folding.

[0133] Wherein, the length of the horizontal plate is much greater than the maximum diameter of the conventional sandpaper, so as to be applicable to sandpapers of different specifications.

[0134] Wherein, the distance between the lower surface of the horizontal plate and the upper surface of the first fixing element 201 is less than the distance from the hook spines of the grinding machine to the upper surface of the first fixing element 201, so as to avoid the contact between the horizontal plate and the lower surface of the grinding machine and prevent the horizontal plate from cutting the root of the hook spines.

[0135] Furthermore, in order to facilitate the sandpaper to enter the inner side of the guiding groove 202, the sandpaper tearing unit 200 further includes a guiding element 213, and the guiding element 213 is fixedly arranged on the lower surface of the first fixing element 201 and is located on the lower side of the guiding groove 202 for guiding the sandpaper to enter the inner side of the guiding groove 202 along the guiding element 213.

[0136] In some of the embodiments, as Figure 3A shown, the first end of the guiding element 213 is connected to the front side of the guiding groove 202.

[0137] In some of the embodiments, the guiding element 213 is an inclined plate, the first end of the inclined plate is fixedly connected to the front side of the guiding groove 202, the second end of the inclined plate is obliquely downward between the front side and the rear side of the guiding groove 202, and the second end of the inclined plate is at the front part of the rear side of the guiding groove 202.

[0138] In some of the embodiments, the guiding element 213 is an arc-shaped plate, the first end of the arc-shaped plate is fixedly connected to the front side of the guiding groove 202, the second end of the arc-shaped plate is between the front side and the rear side of the guiding groove 202, and the second end of the arc-shaped plate is at the front part of the rear side of the guiding groove 202.

[0139] In some of the embodiments, as Figure 3B shown, the second end of the guiding element 213 is connected to the rear side of the guiding groove 202.

[0140] In some of the embodiments, the guiding element 213 is an inclined plate, the first end of the inclined plate is fixedly connected to the rear side of the guiding groove 202, the second end of the inclined plate is obliquely downward between the front side and the rear side of the guiding groove 202, and the second end of the inclined plate is at the rear part of the front side of the guiding groove 202.

[0141] In some of these embodiments, the guiding element 213 is an arc-shaped plate. The first end of the arc-shaped plate is fixedly connected to the rear side of the guiding groove 202, and the second end of the arc-shaped plate is located between the front side and the rear side of the guiding groove 202, and the second end of the arc-shaped plate is at the rear part of the front side of the guiding groove 202.

[0142] As Figure 2 shown, the first sensor 205 is fixedly arranged on the lower surface of the first fixing element 201 and is located on the front side of the guiding groove 202. When the grinding machine approaches the sandpaper tearing unit 200, the first sensor 205 detects the signal of the movement of the grinding machine, and thus sends an action signal to the central control unit (such as a central control machine). The central control machine controls the first driving assembly to act. Before the sandpaper contacts the separating element 204, the first driving assembly prepares the power to separate the sandpaper in advance.

[0143] Directly above the first sensor 205, the first fixing element 201 is provided with a first monitoring groove 203 for enabling the first sensor 205 to monitor whether the grinding machine approaches or moves away from the sandpaper tearing unit 200 through the first monitoring groove 203.

[0144] Wherein, from a top-down perspective, the projection range of the first sensor 205 on the horizontal plane is located inside the projection range of the first monitoring groove 203 on the horizontal plane, that is, the outer dimension of the first monitoring groove 203 is larger than the outer dimension of the first sensor 205.

[0145] In some of these embodiments, the first sensor 205 is a photoelectric sensor or an infrared sensor, which is used to emit a signal and receive a returned signal, and judge the distance between the grinding machine and the sandpaper tearing unit 200 according to the time interval between the emitted signal and the returned signal.

[0146] Furthermore, in order to improve the connection stability between the first sensor 205 and the first fixing element 201 and facilitate the disassembly, assembly and maintenance of the first sensor 205, the sandpaper tearing unit 200 further includes a second fixing element 215. The second fixing element 215 is fixedly arranged on the lower surface of the first fixing element 201, and the first sensor 205 is detachably mounted on one side (such as the front side or the rear side) of the second fixing element 215.

[0147] In some of these embodiments, the second fixing element 215 is a sensor fixing plate.

[0148] As Figure 4As shown in the figure, the first driving component includes a first driving element 208, a third transmission element 209, a fourth transmission element 210, and a fifth transmission element 211. Among them, the first driving element 208 is fixedly arranged on the lower surface of the first fixing element 201 and is located at the rear side of the guiding groove 202, and the first driving element 208 is electrically connected to the first sensor 205 (that is, the first sensor 205 and the first driving element 208 are respectively electrically connected to the central control unit); the third transmission element 209 is in transmission connection with the output shaft of the first driving element 208, the fourth transmission element 210 is located at the front side of the third transmission element 209, and the fifth transmission element 211 is in transmission connection with the third transmission element 209 and the fourth transmission element 210 respectively.

[0149] Among them, the first driving element 208 is a driving motor, the third transmission element 209 is a first synchronous pulley, the fourth transmission element 210 is a second synchronous pulley, and the fifth transmission element 211 is a synchronous toothed belt.

[0150] The working principle of the first driving component is as follows: under the action of the central control unit, the first driving element 208 operates, and its output shaft rotates in the clockwise direction (or counterclockwise direction); the third transmission element 209 rotates in the same direction as the output shaft of the first driving element 208 rotates; under the action of the fifth transmission element 211, the fourth transmission element 210 rotates in the same direction as the third transmission element 209 rotates.

[0151] Furthermore, in order to improve the connection stability between the first driving element 208 and the first fixing element 201 and facilitate the disassembly, assembly and maintenance of the first driving element 208, the sandpaper tearing unit 200 further includes a third fixing element 216. The third fixing element 216 is fixedly arranged on the lower surface of the first fixing element 201, and the first driving element 208 is detachably installed on one side (such as the left side or the right side) of the third fixing element 216.

[0152] In some of the embodiments, the third fixing element 216 is a driving element fixing plate.

[0153] As Figure 2 、 Figure 4 shown in the figure, the first transmission element 206 is arranged on the lower surface of the first fixing element 201 and is located at the rear side of the guiding groove 202. The first transmission element 206 is coaxially and transmissionally arranged with the fourth transmission element 210, that is, when the fourth transmission element 210 rotates, the first transmission element 206 rotates in the same direction as the fourth transmission element 210 rotates.

[0154] Among them, the first transmission element 206 is a driving gear with a shaft, and the first end of the shaft of the driving gear is nested inside the fourth transmission element 210.

[0155] AsFigure 2 , Figure 4 As shown in Figure 4 , the second transmission element 207 is disposed on the lower surface of the first fixing element 201 and is located on the front side of the guiding groove 202. The second transmission element 207 is in transmission connection with the first transmission element 206. That is, when the first transmission element 206 rotates, the second transmission element 207 rotates in the reverse direction along with the rotation of the first transmission element 206, providing a downward pulling force on the abrasive paper.

[0156] Wherein, the second transmission element 207 is a driven gear with a shaft.

[0157] In some embodiments, the gear module of the first transmission element 206 is the same as that of the second transmission element 207; the number of teeth of the first transmission element 206 is the same as that of the second transmission element 207; the outer diameter of the gear of the first transmission element 206 is the same as that of the gear of the second transmission element 207.

[0158] In some embodiments, in the natural state, that is, when no abrasive paper enters between the first transmission element 206 and the second transmission element 207, the center distance between the first transmission element 206 and the second transmission element 207 is equal to the outer diameter of the gear of the first transmission element 206.

[0159] The working principle of the first transmission element 206 and the second transmission element 207 is as follows: When the first driving element 208 works, through the transmission effect, the first transmission element 206 rotates in the same direction along with the rotation of the output shaft of the first driving element 208; since the second transmission element 207 meshes with the first transmission element 206, the second transmission element 207 rotates in the reverse direction along with the rotation of the first transmission element 206. That is, when the first transmission element 206 rotates clockwise, the second transmission element 207 rotates counterclockwise, so that the abrasive paper located between the first transmission element 206 and the second transmission element 207 continuously moves downward, and finally the separation of the abrasive paper from the grinding machine is completed.

[0160] The elastic element 212 is disposed on the lower surface of the first fixing element 201 and is respectively disposed on the front sides of the first end and the second end of the second transmission element 207, and is used for providing a rebounding force to the second transmission element 207 when the second transmission element 207 displaces in the front side direction of the first fixing element 201, so that the second transmission element 207 can closely adhere to the abrasive paper.

[0161] In some embodiments, the elastic element 212 is a compression spring.

[0162] To reduce the frictional force when the first transmission element 206 and the second transmission element 207 rotate, the sandpaper tearing unit 200 further includes a plurality of first support elements 214. At least one first support element 214 is provided at the first end and the second end of the first transmission element 206 respectively, and at least one first support element 214 is provided at the first end and the second end of the second transmission element 207.

[0163] Among them, the first support element 214 is a bearing.

[0164] To fix the first support element 214 and the elastic element 212, the sandpaper tearing unit 200 further includes a plurality of fourth fixing elements, and fourth fixing elements are respectively provided at the first end and the second end of the first transmission element 206 and at the first end and the second end of the second transmission element 207.

[0165] As Figure 5 shown, the fourth fixing element is a detachable fourth fixing element, which is convenient for replacing and maintaining the first support element 214 and the elastic element 212. The fourth fixing element includes a fourth upper fixing element 217 and a fourth lower fixing element 218. The fourth upper fixing element 217 is fixedly provided on the lower surface of the first fixing element 201, and the fourth lower fixing element 218 is detachably connected to the fourth upper fixing element 217 (such as by a pin connection).

[0166] According to different usage requirements, the fourth fixing elements located at the first end and the second end of the first transmission element 206 are provided with a first accommodation cavity 219 in the middle thereof. The first accommodation cavity 219 penetrates through the left surface and the right surface of the fourth fixing element and is used for placing the first support element 214; the fourth fixing elements located at the first end and the second end of the second transmission element 207 are provided with a first accommodation cavity 219 and a second accommodation cavity 220 in the middle thereof. The first accommodation cavity penetrates through the left surface and the right surface of the fourth fixing element and is used for placing the first support element 214, and the second accommodation cavity 220 is used for placing the elastic element 212.

[0167] Furthermore, sealing elements 221 are respectively provided on the outside of the fourth fixing elements for protecting the first support element 214 located inside the fourth fixing elements.

[0168] Among them, the sealing element 221 is a bearing end cover and / or an oval bearing end cover. Bearing end covers are respectively provided on the outside of the fourth fixing elements located at the first end and the second end of the first transmission element 206; oval bearing end covers are respectively provided on the outside of the fourth fixing elements located at the first end and the second end of the second transmission element 207.

[0169] As Figures 6 - 7As shown, the mill calibration unit 300 includes a fifth fixing element 301, a calibration base 302, a second sensor 305, and a second driving assembly. The fifth fixing element 301 is fixedly connected to the fixing unit 100, and the calibration base 302 is disposed on the fifth fixing element 301; the second sensor 305 is used to monitor the mill tray on the calibration base 302; the second driving assembly is used to drive the calibration base 302 to rotate, so that the mill tray fits tightly against the calibration base 302, completing the calibration of the mill tray.

[0170] The fifth fixing element 301 is a sheet metal part for fixedly connecting with the fixing unit 100.

[0171] Furthermore, the fifth fixing element 301 further includes at least two edge elements 308, and the edge elements 308 are at least symmetrically disposed on both sides of the fifth fixing element 301.

[0172] The fifth fixing element 301 can be installed with the fixing unit 100 through the edge elements 308 to set the mill calibration unit 300 at a position convenient for calibrating the mill tray.

[0173] Furthermore, the fifth fixing element 301 further includes a plurality of second mounting holes 309, and at least two second mounting holes 309 are penetratingly provided in each edge element 402, facilitating the installation of the fifth fixing element 301 with other devices.

[0174] In some embodiments, the edge element 308 is a vertical plate, the edge element 308 is disposed perpendicular to the fifth fixing element 301, and the second mounting holes 309 penetrate through the edge element 308.

[0175] In some embodiments, the edge element 308 is a bent plate, that is, it includes a vertical plate and a horizontal plate, the vertical plate is disposed perpendicular to the fifth fixing element 301, the horizontal plate is disposed parallel to the fifth fixing element 301, and the fifth fixing element 301 and one edge element 308 are in a "Z" shape, and the second mounting holes 309 penetrate through the horizontal plate.

[0176] The calibration base 302 is installed on the upper part of the fifth fixing element 301. The calibration base 302 has the same size and shape as the mill tray, that is, the cross-section of the calibration base 302 is circular, and its outer diameter is equal to the outer diameter of the mill tray. When the mill tray fits tightly against the calibration base 302, only the mill tray can be seen from the top view.

[0177] On the upper surface of the calibration base 302, a number of first positioning elements 304 are provided. The first positioning elements 304 are used to correspond to the tray holes of the grinding machine tray, that is, the distribution of the first positioning elements 304 on the calibration base 302 is the same as the distribution of the tray holes of the grinding machine tray. When the grinding machine tray is closely attached to the calibration base 302, from the top-down perspective, the first positioning elements 304 can be observed through the tray holes.

[0178] In some of these embodiments, the first positioning element 304 is a positioning protrusion. When the grinding machine tray is closely attached to the calibration base 302, the first positioning element 304 is inserted into the interior of the corresponding tray hole.

[0179] Among them, the first positioning element 304 can be a cylinder or a frustum of a cone, that is, the maximum value of the outer diameter of the first positioning element 304 is less than or equal to the inner diameter of the tray hole.

[0180] In some of these embodiments, the height of the first positioning element 304 is greater than the depth of the tray hole. That is, when the first positioning element 304 is inserted into the interior of the corresponding tray hole, the top end of the first positioning element 304 protrudes from the tray hole, which is convenient for the first positioning element 304 to be inserted into the sandpaper hole of the sandpaper when sticking a new sandpaper in the subsequent process.

[0181] When the calibration base 302 is installed on the upper part of the fifth fixing element 301, the upper end surface of the fifth fixing element 301 is at most coplanar with the upper end surface of the calibration base 302.

[0182] Specifically, the upper end surface of the edge element 308 is at most coplanar with the upper end surface of the calibration base 302, which is used to prevent the grinding machine tray from contacting the edge element 308 when the calibration base 302 rotates, affecting the calibration of the grinding machine tray.

[0183] In some of these embodiments, the second sensor 305 is arranged on one side of the calibration base 302, such as the left side, for monitoring whether there is a grinding machine tray on the calibration base 302. When the grinding machine tray touches the calibration base 302, the second sensor 305 sends a monitoring signal, which is used to make the second driving element 306 drive the calibration base 302 to rotate.

[0184] In some of these embodiments, the second sensor 305 is a distance sensor. When there is no grinding machine tray on the calibration base 302, the second sensor 305 monitors and obtains the first distance data; when there is a grinding machine tray on the calibration base 302, the second sensor 305 monitors and obtains the second distance data, and the second distance data is less than the first distance data.

[0185] Among them, the second sensor 305 can be an ultrasonic sensor or an infrared sensor.

[0186] In some of these embodiments, the second sensor 305 is disposed at the bottom of the calibration base 302, for reducing the lateral width of the mill calibration unit 300, and thus reducing the floor area. Correspondingly, the calibration base 302 is provided with a second monitoring groove 303, the second sensor 305 is disposed below the second monitoring groove 303, and the second sensor 305 monitors the mill tray on the calibration base 302 through the second monitoring groove 303.

[0187] In some of these embodiments, when observed from a top-down perspective, the projection range of the second sensor 305 is located inside the projection range of the second monitoring groove 303, that is, the projection range of the second sensor 305 is a subset of the projection range of the second monitoring groove 303. The purpose is to avoid the second sensor 305 being blocked.

[0188] When the cross-section of the second sensor 305 is rectangular and the cross-section of the second monitoring groove 303 is rectangular, the length of the cross-section of the second monitoring groove 303 is greater than or equal to the length of the cross-section of the second sensor 305, and the width of the cross-section of the second monitoring groove 303 is greater than or equal to the width of the cross-section of the second sensor 305.

[0189] When the cross-section of the second sensor 305 is circular and the cross-section of the second monitoring groove 303 is circular, the diameter of the cross-section of the second monitoring groove 303 is greater than or equal to the diameter of the cross-section of the second sensor 305.

[0190] When the cross-section of the second sensor 305 is circular and the cross-section of the second monitoring groove 303 is rectangular, the length of the cross-section of the second monitoring groove 303 is greater than or equal to the diameter of the cross-section of the second sensor 305, and the width of the cross-section of the second monitoring groove 303 is greater than or equal to the diameter of the cross-section of the second sensor 305.

[0191] When the cross-section of the second sensor 305 is rectangular and the cross-section of the second monitoring groove 303 is circular, the diameter of the cross-section of the second monitoring groove 303 is greater than or equal to the diagonal distance of the cross-section of the second sensor 305.

[0192] The second driving assembly at least includes a second driving element 306, and the second driving element 306 is fixedly disposed at the lower part of the calibration base 302, for driving the calibration base 302 to rotate, so that the first positioning elements 304 on the calibration base 302 correspond to the tray holes of the mill tray one by one.

[0193] In some of these embodiments, the output end of the second driving element 306 is connected to the center of the lower part of the reference base 100, that is, the output end of the second driving element 306 is coaxial with the central axis of the calibration base 302.

[0194] In some of these embodiments, the second driving element 306 is a servo motor.

[0195] In some of these embodiments, the second driving element 306 drives the calibration base 302 to rotate n turns, so that the positioning element of the calibration base 302 corresponds to the tray holes of the grinding mill tray. Here, n is 1, 2, 3, or 4.

[0196] Specifically, the second sensor 305 can output a signal to the second driving element 306, and the second driving element 306 automatically selects the number of rotation turns according to the signal; alternatively, the central control unit is used to output an action signal to the second driving element 306 to control the number of rotation turns of the second driving element 306.

[0197] In some of these embodiments, the second sensor 305 is fixedly arranged on the upper surface of the fifth fixing element 301 and is located below the calibration base 302.

[0198] In some of these embodiments, the second sensor 305 is fixedly arranged on the lower surface of the fifth fixing element 301. Correspondingly, the fifth fixing element 301 is provided with a third monitoring groove 307, the second sensor 305 is arranged below the third monitoring groove 307, and the second sensor 305 monitors the grinding mill tray on the calibration base 302 through the third monitoring groove 307 and the second monitoring groove 303.

[0199] In some of these embodiments, when observed from a top-down perspective, the projection range of the second sensor 305 is located inside the projection range of the third monitoring groove 307, that is, the projection range of the second sensor 305 is a subset of the projection range of the third monitoring groove 307. The purpose is to avoid the second sensor 305 being blocked.

[0200] When the cross-section of the second sensor 305 is rectangular and the cross-section of the third monitoring groove 307 is rectangular, the length of the cross-section of the third monitoring groove 307 is greater than or equal to the length of the cross-section of the second sensor 305, and the width of the cross-section of the third monitoring groove 307 is greater than or equal to the width of the cross-section of the second sensor 305.

[0201] When the cross-section of the second sensor 305 is circular and the cross-section of the third monitoring groove 307 is circular, the diameter of the cross-section of the third monitoring groove 307 is greater than or equal to the diameter of the cross-section of the second sensor 305.

[0202] When the cross-section of the second sensor 305 is circular and the cross-section of the third monitoring groove 307 is rectangular, the length of the cross-section of the third monitoring groove 307 is greater than or equal to the diameter of the cross-section of the second sensor 305, and the width of the cross-section of the third monitoring groove 307 is greater than or equal to the diameter of the cross-section of the second sensor 305.

[0203] When the cross-section of the second sensor 305 is rectangular and the cross-section of the third monitoring groove 307 is circular, the diameter of the cross-section of the third monitoring groove 307 is greater than or equal to the distance of the diagonal of the cross-section of the second sensor 305.

[0204] Among them, the second driving element 306 can be fixedly arranged above the fifth fixing element 301; the second driving element 306 can also penetrate through the fifth fixing element 301, and the output end of the second driving element 306 is located above the fifth fixing element 301.

[0205] Furthermore, in order to facilitate fixing the second sensor 305 to the fifth fixing element 301, the mill calibration unit 300 further includes a sixth fixing element 310, and the sixth fixing element 310 is vertically arranged below the fifth fixing element 301.

[0206] As Figure 8 shown, the sandpaper conveying unit 400 includes a first limiting element 401, a third sensor 402, a second limiting element 403, a connecting element 404, a moving element 405, a plurality of second positioning elements 406, a third driving assembly, and a seventh fixing element 413; among them, the third sensor 402 is installed on the first limiting element 401; the second limiting element 403 is arranged below the first limiting element 401; the connecting element 404 is respectively connected to the first limiting element 401 and the second limiting element 2; the moving element 405 is arranged between the first limiting element 401 and the second limiting element 403; a plurality of second positioning elements 406 penetrate through the moving element 405 and are slidably connected to the moving element 405; the third driving assembly is arranged on the second limiting element 403, is connected to the moving element 405 and is electrically connected to the third sensor 402, and the third driving assembly drives the moving element 405 to reciprocate between the first limiting element 401 and the second limiting element 403; the seventh fixing element 413 is arranged on one side of the second limiting element 403 for fixedly connecting with the fixing unit 100.

[0207] The first limiting element 401 is a limiting ring, and the inside of the limiting ring is used to accommodate the mill tray and facilitate feeding the sandpaper from the limiting ring to the moving element 405.

[0208] In some of these embodiments, the first limiting element 401 is a circular limiting ring.

[0209] The third sensor 402 is installed on the upper surface or side surface of the first limiting element 401 and is used to monitor whether there is a grinding machine tray approaching the first limiting element 401. When the grinding machine tray approaches and contacts the first limiting element 401, the third sensor 402 sends a monitoring signal, which is used to make the third driving assembly drive the moving element 405 to move in the direction close to the first limiting element 401, so as to adhere the sandpaper (perforated sandpaper or non-perforated sandpaper) on the moving element 405 to the grinding machine tray.

[0210] Specifically, the third sensor 402 can directly transmit the monitoring signal to the third driving assembly, or the third sensor 402 transmits the monitoring signal to the central control unit, and the central control unit is used to output an action signal to the third driving assembly to control the action of the third driving assembly. Among them, the central control unit is the central control unit of the grinding system or the sandpaper replacement system, such as the PLC central control unit.

[0211] The second limiting element 403 is arranged below the first limiting element 401 and is a circular limiting plate.

[0212] The top end of the connecting element 404 is fixedly connected to the lower surface of the first limiting element 401, and the bottom end of the connecting element 404 is fixedly connected to the upper surface of the second limiting element 403.

[0213] In some of these embodiments, at least one of the connecting elements 404 is a hollow connecting element. For one of the hollow connecting elements, its interior is used to place the cable of the third sensor 402, so as to avoid the problem that the third sensor 402 fails due to the cable of the third sensor 402 being exposed outside.

[0214] In some of these embodiments, there are several connecting elements 404, and the several connecting elements 404 are circumferentially arranged around the axis of the first limiting element 401.

[0215] In some of these embodiments, the connecting element 404 is a connecting rod.

[0216] The moving element 405 is arranged between the first limiting element 401 and the second limiting element 403 and is slidably connected to the connecting element 404. Specifically, the connecting element 404 passes through the moving element 405, and the moving element 405 reciprocally slides between the first limiting element 401 and the second limiting element 403 along the axis of the connecting element 404.

[0217] In some of these embodiments, the moving element 405 is a circular push plate, and its outer diameter is equal to the outer diameter of the first limiting element 401 and / or the outer diameter of the second limiting element 403. The upper surface of the moving element 405 is used to place sandpaper (perforated sandpaper or non-perforated sandpaper). Driven by the third driving assembly, it slides along the connecting element 404 in the direction approaching the first limiting element 401 to cause the grinding tray to adhere to the sandpaper; after the grinding tray adheres to the sandpaper, it slides along the connecting element 404 in the direction away from the first limiting element 401 under the drive of the third driving assembly.

[0218] A number of second positioning elements 406 penetrate through the moving element 405 and are slidably connected to the moving element 405. The moving element 405 reciprocally slides between the first limiting element 401 and the second limiting element 403 along the axial direction of the number of second positioning elements 406.

[0219] In this embodiment, the connecting element 404 and the second positioning elements 406 function to guide the movement and limit the position of the moving element 405, preventing the horizontal position of the moving element 405 from shifting.

[0220] In some of these embodiments, a number of second positioning elements 406 are detachably connected to the moving element 405, and the number of second positioning elements 406 are arranged perpendicular to the horizontal plane so that the number of second positioning elements 406 can be removed when fixing non-perforated sandpaper.

[0221] Specifically, when observed from a top-down perspective, a number of second positioning elements 406 are located inside the first limiting element 401.

[0222] Among them, the configuration distribution of the number of second positioning elements 406 on the moving element 405 corresponds to the sandpaper holes of the perforated sandpaper.

[0223] In some of these embodiments, the tops of a number of second positioning elements 406 are located inside the first limiting element 401, or protrude from the first limiting element 401, or correspond to the detection ports of the third sensor 402, so that when the grinding tray contacts the second positioning elements 406, the third sensor 402 obtains a signal that the grinding tray is approaching and controls the operation of the third driving assembly.

[0224] The third driving assembly at least includes a third driving element 407 and a sixth transmission element 408. The third driving element 407 is arranged below the moving element 405. The sixth transmission element 408 is connected to the output end of the third driving element 407 and is in transmission connection with the moving element 405. The sixth transmission element 408 rotates under the action of the third driving element 407, thereby driving the moving element 405 to slide along the connecting element 404 in the direction approaching or away from the first limiting element 401.

[0225] Among them, the third driving element 407 is a motor.

[0226] In some of the embodiments, the sixth transmission element 408 is a telescopic transmission rod, and one end of the sixth transmission element 408 is fixedly connected to the lower surface of the moving element 405. The sixth transmission element 408 extends under the action of the third driving element 407 to exert an upward pushing action on the moving element 405; the sixth transmission element 408 contracts under the action of the third driving element 407 to exert a resetting action on the moving element 405.

[0227] In some of the embodiments, the sixth transmission element 408 is a transmission rod or a ball screw, the sixth transmission element 408 is rotatably connected to the moving element 405 (such as a threaded rotational connection), and the moving element 405 is sleeved on the sixth transmission element 408. The sixth transmission element 408 rotates under the action of the third driving element 407, thereby driving the moving element 405 to slide along the connecting element 404 in a direction close to or away from the first limiting element 401.

[0228] Correspondingly, the third driving assembly further includes a seventh transmission element 409, the seventh transmission element 409 is fixedly connected to the moving element 405 and is rotatably connected to the sixth transmission element 408 (such as a threaded rotational connection). Specifically, the seventh transmission element 409 is a nut or a nut seat for a threaded rotational connection with the sixth transmission element 408.

[0229] Among them, the seventh transmission element 409 can be fixedly arranged on the upper surface of the moving element 405 or can be fixedly arranged on the lower surface of the moving element 405.

[0230] Further, the third driving assembly further includes an eighth transmission element 410 and a ninth transmission element 411, the eighth transmission element 410 is connected to the output end of the third driving element 407, the ninth transmission element 411 is fixedly connected to the sixth transmission element 408, and the eighth transmission element 410 is in transmission connection with the ninth transmission element 411.

[0231] Specifically, both the eighth transmission element 410 and the ninth transmission element 411 are gears, the eighth transmission element 410 meshes with the ninth transmission element 411, the eighth transmission element 410 rotates in the vertical plane direction, and the ninth transmission element 411 rotates in the horizontal plane direction.

[0232] Further, in order to reduce the movement resistance between the moving element 405 and the connecting element 404, a second supporting element 412 is further included, the second supporting element 412 is fixedly connected to the moving element 405 and is in transmission connection with the connecting element 404 (connecting element 404).

[0233] In some of these embodiments, the second support element 412 is a bushing, whose outer wall is fixedly connected to the moving element 405, and whose inner wall is drivingly connected (i.e., rotationally connected) to the connecting element 404, which not only reduces the movement resistance between the moving element 405 and the connecting element 404, reduces the output power of the third driving element 407, but also improves the operating efficiency of the moving element 405.

[0234] The working principle of the third driving assembly is as follows: The third driving element 407 drives the eighth transmission element 410 to rotate. Under the action of gear meshing, the ninth transmission element 411 rotates as the eighth transmission element 410 rotates; Since the ninth transmission element 411 is fixedly connected to the sixth transmission element 408, the sixth transmission element 408 rotates in the horizontal plane as the ninth transmission element 411 rotates; Under the action of screw rotation, the seventh transmission element 409 moves along the sixth transmission element 408 in a direction approaching or departing from the first limiting element 401. Since the moving element 405 is fixedly connected to the seventh transmission element 409, the moving element 405 moves together with the seventh transmission element 409 in a direction approaching or departing from the first limiting element 401.

[0235] The seventh fixing element 413 is fixedly connected to the second limiting element 403, and the seventh fixing element 413 is located below the second limiting element 403.

[0236] In some of these embodiments, the seventh fixing element 413 is a fixing cylinder, and the sandpaper conveying unit 400 can be fixedly installed on other devices through the seventh fixing element 413.

[0237] Furthermore, in order to prevent the sandpaper from contacting the connecting element 404, the sixth transmission element 408 of the third driving assembly, and the seventh transmission element 409, the sandpaper conveying unit 400 further includes a first buffer element 414, which is fixedly arranged on the upper surface of the moving element 405 and is located inside the space formed by enclosing the connecting element 404, the sixth transmission element 408, and the seventh transmission element 409.

[0238] Specifically, the first buffer element 414 is a circular buffer pad or a circular buffer seat, whose outer diameter is smaller than the outer diameter of the moving element 405 and is less than or equal to the inner diameter of the circle formed by enclosing the connecting element 404, the sixth transmission element 408, and the seventh transmission element 409.

[0239] More specifically, the first buffer element 414 contacts at most the connecting element 404 and the seventh transmission element 409.

[0240] In addition, a plurality of second positioning elements 406 are detachably connected to the first buffer element 414, and a plurality of second positioning elements 406 are detachably connected to the second limiting element 403.

[0241] Specifically, a number of second positioning elements 406 sequentially penetrate through the first buffer element 414 and the moving element 405, and are nested and threadedly connected to the second limiting element 403.

[0242] Furthermore, in order to prevent the moving element 405 from contacting or squeezing the third driving element 407 of the third driving assembly, the sandpaper conveying unit 400 further includes a second buffer element 415. The second buffer element 415 is sleeved on the connecting element 404, abuts against the second limiting element 403, and the height of the second buffer element 415 is greater than the height of the third driving element 407, that is, the upper end surface of the second buffer element 415 is above the upper end surface of the third driving element 407. Thus, when the moving element 405 contacts the upper end surface of the second buffer element 415, it will not contact the third driving element 407.

[0243] In some of these embodiments, the second buffer element 415 is made of silica gel, rubber, etc.

[0244] Furthermore, in order to prevent the moving element 405 from contacting or squeezing the first limiting element, contacting or squeezing the third sensor 402, or when the sandpaper adheres to the grinding tray, the moving element 405 pushing out the grinding tray, the sandpaper conveying unit 400 further includes a third buffer element 416. The third buffer element 416 is sleeved on the connecting element 404, abuts against the first limiting element 401, and the height of the third buffer element 416 is greater than the height of the third sensor 402, that is, the lower end surface of the third buffer element 416 is below the lower end surface of the third sensor 402. Thus, when the moving element 405 contacts the lower end surface of the third buffer element 416, it will not contact the third sensor 402 or the first limiting element 401.

[0245] In some of these embodiments, the third buffer element 416 is made of silica gel or rubber.

[0246] In some of these embodiments, the third driving assembly further includes an eighth fixing element 417. The eighth fixing element 417 is fixedly arranged on one side of the second limiting element 403, and the third driving element 407 is fixedly arranged on the eighth fixing element 417.

[0247] For the sandpaper recycling unit, it is a recycling bin, located directly below the sandpaper tearing unit 200, and is used for recycling the old sandpaper separated from the grinding machine.

[0248] Specifically, the sandpaper recycling unit is located directly below the transmission connection of the first transmission element 206 and the second transmission element 207. Under the action of the first transmission element 206 and the second transmission element 207, the sandpaper continuously moves downward and falls into the interior of the sandpaper recycling unit.

[0249] For the central control unit, it can be integrated inside the fixed unit 100 for exclusive use by the fully automatic sandpaper replacement system; or it can be set outside the fixed unit 100 and used jointly with the grinding robotic arm.

[0250] In some of these embodiments, the central control unit is a PLC control unit.

[0251] The usage method of the invention is as follows:

[0252] As Figure 9A shown, the grinding machine moves forward and approaches the sandpaper tearing unit 200. When the front end of the grinding machine is located above the first monitoring groove 203, the first sensor 205 acquires the signal of the grinding machine and transmits the signal to the central control unit; the central control unit controls the first driving element 208 to act according to the signal, and its output shaft rotates counterclockwise. The third transmission element 209 rotates counterclockwise as the output shaft rotates. Under the action of the fifth transmission element 211, the fourth transmission element 210 rotates counterclockwise as the third transmission element 209 rotates; the first transmission element 206 rotates counterclockwise as the fourth transmission element 210 rotates; the second transmission element 207 rotates clockwise as the first transmission element 206 rotates; the grinding machine continues to move forward, and the horizontal plate of the separating element 204 is inserted between the sandpaper and the grinding machine to preliminarily separate the sandpaper from the grinding machine; the sandpaper enters the guiding groove 202 and moves downward along the guiding element 213; the sandpaper enters between the first transmission element 206 and the second transmission element 207; due to the certain thickness of the sandpaper, the second transmission element 207 moves forward and presses the elastic element 212, and the elastic element 212 provides a rebounding force, so that the second transmission element 207 closely adheres to the sandpaper; since the first transmission element 206 and the second transmission element 207 rotate in opposite directions, a downward acting force is provided to the sandpaper, and the meshing action of the gears is used to pull the sandpaper and convey the sandpaper downward; as the grinding machine continues to move forward, the sandpaper is completely separated from the grinding machine under the combined action of the separating element 204, the first transmission element 206, and the second transmission element 207; when the grinding machine moves forward and away from the monitoring groove, at this time the sandpaper has been separated from the grinding machine and falls downward into the sandpaper recycling device; the first sensor 205 transmits a signal to the central control unit, and the central control unit controls the first driving element 208 to stop acting. Under the action of the elastic element 212, the second transmission element 207 returns to its initial position;

[0253] As Figure 9BAs shown, when the mill tray is in contact with and calibrated on the calibration base 302, the second sensor 305 monitors a signal indicating that the mill tray is approaching the calibration base 302. The second driving element 306 drives the calibration base 302 to rotate according to this signal. In the initial state, the first positioning element 304 on the calibration base 302 supports the mill tray. As the calibration base 302 rotates, the first positioning element 304 cooperates with the tray holes of the mill tray, and the first positioning element 304 is inserted into the tray holes. At this time, the mill tray automatically descends and fits against the upper surface of the calibration base 302. The second driving element 306 drives the calibration base 302 to rotate to drive the mill tray to rotate to the fixed position of the subsequent process, completing the calibration of the mill tray.

[0254] As Figures 9C - 9D shown, in the initial state, the lower surface of the moving element 405 is in contact with the upper surface of the second buffer element 415. When the mill tray needs to adhere sandpaper, the lower surface of the mill tray contacts several second positioning elements 406. At this time, the third sensor 402 obtains the contact signal of the mill tray, and the third driving element 407 starts to work forward. The ninth transmission element 411, the eighth transmission element 410, the sixth transmission element 408, and the seventh transmission element 409 are sequentially transmitted (rotated). The second support element 412 is driven passively (slides along the connecting element 404), and the moving element 405 moves in the direction close to the first limiting element 401 until the sandpaper on the first buffer element 414 contacts the lower surface of the mill tray. After the mill tray adheres to the sandpaper, the third driving element 407 starts to work in reverse. The ninth transmission element 411, the eighth transmission element 410, the sixth transmission element 408, and the seventh transmission element 409 are sequentially transmitted (rotated). The second support element 412 is driven passively, and the moving element 405 moves in the direction close to the second limiting element 403 until the lower surface of the moving element 405 is in contact with the upper surface of the second buffer element 415.

[0255] Embodiment 2

[0256] This embodiment is a schematic embodiment of the present invention. As Figure 1As shown in the figure, a fully automatic sandpaper replacement system includes a fixing unit 100, a sandpaper tearing unit 200, a grinding machine calibration unit 300, a sandpaper conveying unit 400, a sandpaper recycling unit, and a central control unit. Among them, the sandpaper tearing unit 200 is detachably connected to the fixing unit 100; the grinding machine calibration unit 300 is detachably connected to the fixing unit 100 and is located downstream of the sandpaper tearing unit 200; at least one sandpaper conveying unit 400 is detachably connected to the fixing unit 100 and is located downstream of the grinding machine calibration unit 300; the sandpaper recycling unit is arranged inside the fixing unit 100 and is located below the sandpaper tearing unit 200; the central control unit is arranged inside the fixing unit 100 and is electrically connected to the sandpaper tearing unit 200, the grinding machine calibration unit 300, and the sandpaper conveying unit 400 respectively.

[0257] In this embodiment, the fixing unit 100, the sandpaper tearing unit 200, and the grinding machine calibration unit 300 are basically the same as those of the fixing unit 100, the sandpaper tearing unit 200, and the grinding machine calibration unit 300 in Embodiment 1, and will not be described in detail here.

[0258] As Figure 10 shown in the figure, the sandpaper conveying unit 300 includes a first limiting element 401, a third sensor 402, a second limiting element 403, a connecting element 404, a moving element 405, a second positioning element 406, and a third driving assembly; among them, the third sensor 402 is installed on the first limiting element 401, the second limiting element 403 is arranged below the first limiting element 401 and is connected to the first limiting element 401 through the connecting element 404, the moving element 405 is arranged between the first limiting element 401 and the second limiting element 403, the second positioning element 406 is slidably connected to the moving element 405 and the second limiting element 403 respectively, and the third driving assembly is arranged on the second limiting element 403 and is connected to the moving element 405 for driving the moving element 405 to reciprocate between the first limiting element 401 and the second limiting element 403.

[0259] The first limiting element 401 is a limiting ring, and the inside of the limiting ring is used to accommodate the grinding machine tray and facilitate the feeding of the sandpaper from the limiting ring to the moving element 405.

[0260] In some of these embodiments, the first limiting element 401 is a circular limiting ring.

[0261] The third sensor 402 is installed on the upper surface or side surface of the first limiting element 401 for monitoring whether there is a grinding mill tray approaching the first limiting element 401. When the grinding mill tray approaches and contacts the first limiting element 401, the third sensor 402 sends a monitoring signal for enabling the third driving assembly to drive the moving element 405 to move in the direction approaching the first limiting element 401, so as to adhere the sandpaper (perforated sandpaper or non-perforated sandpaper) on the moving element 405 to the grinding mill tray.

[0262] Specifically, the third sensor 402 can directly transmit the monitoring signal to the third driving assembly, or the third sensor 402 transmits the monitoring signal to the central control unit, and the central control unit is used to output an action signal to the third driving assembly to control the action of the third driving assembly. Wherein, the central control unit is the central control unit of the grinding system or the sandpaper replacement system, such as the PLC central control unit.

[0263] The second limiting element 403 is a limiting ring, and the inside of the limiting ring is used to accommodate the second positioning element 406.

[0264] In some embodiments, the second limiting element 403 is a circular limiting ring.

[0265] In some embodiments, the inner diameter of the second limiting element 403 is less than or equal to the inner diameter of the first limiting element 401. The outer diameter of the second limiting element 403 is greater than or equal to the outer diameter of the first limiting element 401.

[0266] The connecting element 404 is arranged between the first limiting element 401 and the second limiting element 403 and is respectively connected to the first limiting element 401 and the second limiting element 403 for limiting the moving element 405 located between the first limiting element 401 and the second limiting element 403.

[0267] In some embodiments, the connecting element 404 is a limiting cylinder.

[0268] In some embodiments, the inner diameter of the connecting element 404 is greater than or equal to the inner diameter of the first limiting element 401. The outer diameter of the connecting element 404 is less than or equal to the outer diameter of the first limiting element 401.

[0269] In some embodiments, as Figure 11 shown, the connecting element 404 is formed by a plurality of limiting arc-shaped plates spaced apart and surrounded.

[0270] In some embodiments, as Figure 12 shown, the connecting element 404 is formed by a plurality of limiting rods spaced apart and surrounded.

[0271] In some of these embodiments, when the connecting element 404 is a limiting cylinder, at least one observation groove 418 is provided on the side wall of the connecting element 404. Through this observation groove 418, the number of sandpapers above the moving element 405 located inside the connecting element 404 can be obtained, which is convenient for maintenance personnel to timely understand the remaining situation of the sandpapers and enable the maintenance personnel to timely replenish the sandpapers to the moving element 405.

[0272] In some of these embodiments, the number of the observation grooves 418 is at least two. The observation grooves 418 can be symmetrically arranged or asymmetrically arranged. Among them, the asymmetric arrangement means that when observing from one observation groove 418 into the interior of the connecting element 404, there is no observation groove 418 on the opposite side of this observation groove 418.

[0273] The moving element 405 is a circular push plate, and its outer diameter is equal to the inner diameter of the first limiting element 401. The upper surface of the moving element 405 is used to place sandpapers (perforated sandpapers or non-perforated sandpapers). The moving element 405 slides along the connecting element 404 in the direction close to the first limiting element 401 under the drive of the third drive assembly, so as to make the grinding machine tray adhere to the sandpapers; after the grinding machine tray adheres to the sandpapers, it slides along the connecting element 404 in the direction away from the first limiting element 401 under the drive of the third drive assembly.

[0274] The moving element 405 is provided with a plurality of first through holes, and the second limiting element 403 is provided with a plurality of second through holes. The plurality of first through holes and the plurality of second through holes are used for sliding connection with a plurality of second positioning elements 406. Specifically, when it is necessary for the moving element 405 to convey the perforated sandpapers, the plurality of second positioning elements 406 move upward in the vertical direction, the tops of the plurality of second positioning elements 406 are close to the first limiting element 401, and the bottoms of the plurality of second positioning elements 406 are located at the bottom or inside of the second limiting element 403; as Figure 13 shown, when it is necessary for the moving element 405 to convey the non-perforated sandpapers, the plurality of second positioning elements 406 move downward in the vertical direction, the tops of the plurality of second positioning elements 406 are located inside the moving element 405 (initial state) or at the bottom of the moving element 405 (initial state), and the bottoms of the plurality of second positioning elements 406 are located at the bottom of the second limiting element 403.

[0275] Among them, when the moving element 405 moves in the vertical direction, the plurality of second positioning elements 406 do not move.

[0276] In some of these embodiments, the second positioning element 406 is a positioning post, and its size is matched with the size of the holes of the perforated sandpapers.

[0277] The third driving assembly at least includes a third driving element 407. The third driving element 407 is arranged on one side of the second limiting element 403, and its output end is connected to the moving element 405. In addition, the third driving element 407 is also electrically connected to the third sensor 402 for obtaining the signal transmitted by the third sensor 402.

[0278] The third driving element 407 is a cylinder. Under the action of gas, its output end (generally a piston rod) pushes the moving element 405 to perform reciprocating motion in the vertical direction.

[0279] Further, in order to facilitate fixing the sandpaper conveying unit 400 to other devices, the sandpaper conveying unit 400 further includes a seventh fixing element 413. The seventh fixing element 413 is fixedly connected to the second limiting element 403, and the seventh fixing element 413 is located below the second limiting element 403.

[0280] In some of these embodiments, the seventh fixing element 413 is a positioning cylinder, and the sandpaper conveying unit 400 can be fixedly installed on other devices through the seventh fixing element 413.

[0281] Further, the third driving assembly further includes an eighth fixing element 417. The eighth fixing element 417 is fixedly arranged below the second limiting element 403, and the third driving element 407 is fixedly arranged on the eighth fixing element 417. The eighth fixing element 417 is provided with a plurality of third through holes for sliding connection with a plurality of second positioning elements 406. Specifically, when the moving element 405 needs to convey the perforated sandpaper, a plurality of second positioning elements 406 move upward in the vertical direction. The tops of the plurality of second positioning elements 406 are close to the first limiting element 401, and the bottoms of the plurality of second positioning elements 406 are located at the bottom or inside of the eighth fixing element 417; when the moving element 405 needs to convey the non-perforated sandpaper, a plurality of second positioning elements 406 move downward in the vertical direction. The tops of the plurality of second positioning elements 406 are located inside the moving element 405 (initial state) or at the bottom of the moving element 405 (initial state) or at the top of the eighth fixing element 417, and the bottoms of the plurality of second positioning elements 406 are located at the bottom of the eighth fixing element 417.

[0282] In some of these embodiments, the eighth fixing element 417 is a circular fixing plate.

[0283] Further, in order to reduce the movement resistance between the moving element 405 and the second positioning elements 406, the third driving assembly further includes a plurality of second supporting elements (not shown in the figure). The second supporting elements are fixedly connected to the moving element 405, and a second supporting element is arranged in each first through hole of the moving element 405. One second supporting element is in transmission connection with one second positioning element 406.

[0284] Specifically, the second support element is a bushing, the outer edge of which is fixedly connected to the inner wall of the first through hole of the moving element 405, and the inner edge of which is drivingly connected to the outer edge of the second positioning element 406.

[0285] Further, in order to reduce the movement resistance between the second limiting element 403 and the second positioning element 406, a plurality of second support elements are fixedly connected to the second limiting element 403, and a second support element is arranged in each second through hole of the second limiting element 403, and one second support element is drivingly connected to one second positioning element 406.

[0286] Specifically, the second support element is a bushing, the outer edge of which is fixedly connected to the inner wall of the second through hole of the second limiting element 403, and the inner edge of which is drivingly connected to the outer edge of the second positioning element 406.

[0287] Further, in order to reduce the movement resistance between the eighth fixing element 417 and the second positioning element 406, a plurality of second support elements are fixedly connected to the eighth fixing element 417, and a second support element is arranged in each third through hole of the eighth fixing element 417, and one second support element is drivingly connected to one second positioning element 406.

[0288] Specifically, the second support element is a bushing, the outer edge of which is fixedly connected to the inner wall of the third through hole of the eighth fixing element 417, and the inner edge of which is drivingly connected to the outer edge of the second positioning element 406.

[0289] In some embodiments, the height (or thickness) of the second support element respectively matches the height (or thickness) of the moving element 405, the height (or thickness) of the second limiting element 403, and the height (or thickness) of the eighth fixing element 417. Or, in other words, the number of the second support elements is three times the number of the second positioning elements 406.

[0290] In some embodiments, since the second limiting element 403 is fixedly connected to the eighth fixing element 417, the height (or thickness) of the second support element respectively matches the height (or thickness) of the moving element 405 and the sum of the height (or thickness) of the second limiting element 403 and the height (or thickness) of the eighth fixing element 417. Or, in other words, the number of the second support elements is two times the number of the second positioning elements 406.

[0291] Further, in order to prevent the moving element 405 from contacting or pressing against the first limiting element 401, contacting or pressing against the third sensor 402, or when sandpaper adheres to the grinding machine tray, the moving element 405 ejects the grinding machine tray, the sandpaper conveying unit 400 further includes a first buffer element 414, and the first buffer element 414 is fixedly arranged on the upper surface of the moving element 405.

[0292] In some of these embodiments, the first buffer element 414 is made of silica gel or rubber.

[0293] Furthermore, in order to prevent the moving element 405 from contacting the eighth fixing element 417 of the third driving assembly, the sandpaper conveying unit 400 further includes a number of second buffer elements 415, and a second buffer element 415 is sleeved on a second positioning element 406. The number of second buffer elements 415 is located between the moving element 405 and the eighth fixing element 417. In the case where the moving element 405 contacts the upper end surface of the second buffer element 415, it will not contact the eighth fixing element 417.

[0294] In some of these embodiments, the second buffer element 415 is made of silica gel, rubber, etc.

[0295] In addition, the first buffer element 414 is further provided with a number of fourth through holes for sliding connection with a number of second positioning elements 406.

[0296] The usage method of this embodiment is as follows:

[0297] The grinding machine moves forward and approaches the sandpaper tearing unit 200. When the front end of the grinding machine is located above the first monitoring groove 203, the first sensor 205 acquires the signal of the grinding machine and transmits the signal to the central control unit. The central control unit controls the first driving element 208 to act according to the signal, and its output shaft rotates counterclockwise. The third transmission element 209 rotates counterclockwise as the output shaft rotates. Under the action of the fifth transmission element 211, the fourth transmission element 210 rotates counterclockwise as the third transmission element 209 rotates. The first transmission element 206 rotates counterclockwise as the fourth transmission element 210 rotates. The second transmission element 207 rotates clockwise as the first transmission element 206 rotates. The grinding machine continues to move forward, and the horizontal plate of the separating element 204 is inserted between the sandpaper and the grinding machine to preliminarily separate the sandpaper from the grinding machine. The sandpaper enters the guiding groove 202 and moves downward along the guiding element 213. The sandpaper enters between the first transmission element 206 and the second transmission element 207. Due to the certain thickness of the sandpaper, the second transmission element 207 moves forward and presses the elastic element 212, and the elastic element 212 provides a rebounding force, so that the second transmission element 207 closely fits the sandpaper. Since the first transmission element 206 and the second transmission element 207 rotate in opposite directions, a downward acting force is provided to the sandpaper, and the meshing action of the gears is used to pull the sandpaper and convey the sandpaper downward. As the grinding machine continuously moves forward, the sandpaper is completely separated from the grinding machine under the combined action of the separating element 204, the first transmission element 206, and the second transmission element 207. When the grinding machine moves forward and away from the monitoring groove, at this time the sandpaper has been separated from the grinding machine and falls downward into the sandpaper recycling device. The first sensor 205 transmits a signal to the central control unit, and the central control unit controls the first driving element 208 to stop acting. Under the action of the elastic element 212, the second transmission element 207 returns to the initial position;

[0298] When the grinding machine tray fits the calibration base 302, the second sensor 305 monitors the signal that the grinding machine tray approaches the calibration base 302, and the second driving element 306 drives the calibration base 302 to rotate according to this signal. In the initial state, the first positioning element 304 on the calibration base 302 supports the grinding machine tray. As the calibration base 302 rotates, the first positioning element 304 cooperates with the tray hole of the grinding machine tray, and the first positioning element 304 is embedded in the tray hole. At this time, the grinding machine tray automatically descends and fits the upper end surface of the calibration base 302. The second driving element 306 drives the calibration base 302 to rotate to drive the grinding machine tray to rotate to the fixed position of the subsequent process to complete the calibration of the grinding machine tray;

[0299] In the initial state, the lower surface of the moving element 405 is in contact with the upper end surface of the second buffer element 415; in the case where the grinding machine tray needs to adhere sandpaper, the lower surface of the grinding machine tray contacts the third sensor 402. At this time, the third sensor 402 obtains a contact signal of the grinding machine tray, and the third driving element 407 starts to work. Its output end (piston rod) drives the moving element 405 to move in the direction close to the first limiting element 401 until the sandpaper on the first buffer element 414 contacts the lower surface of the grinding machine tray; after the grinding machine tray adheres to the sandpaper, the third driving element 407 stops working. Under the action of its own gravity, the moving element 405 moves in the direction close to the second limiting element 403 until the lower surface of the moving element 405 is in contact with the upper end surface of the second buffer element 415.

[0300] The above are only the preferred embodiments of the invention, and do not limit the implementation manners and protection scope of the invention. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the content of the invention specification and drawings should be included in the protection scope of the invention.

Claims

1. A fully automatic sandpaper replacement system, characterized in that, Comprising: A fixing unit; A sandpaper tearing unit, which is arranged on the fixing unit and is used to separate the grinding machine from the old sandpaper; A grinding machine calibration unit, which is arranged on the fixing unit and is located downstream of the sandpaper tearing unit, and is used to calibrate the tray of the grinding machine; A sandpaper conveying unit, which is arranged on the fixing unit and is located downstream of the grinding machine calibration unit, and is used to convey new sandpaper to the grinding machine; Wherein, the sandpaper tearing unit includes: A first fixing element, through which the sandpaper tearing unit is fixedly arranged on the fixing unit, and the first fixing element is provided with a guiding groove and a first monitoring groove; A separating element, which is arranged on the upper surface of the first fixing element and is located on one side of the guiding groove, and is used for preliminarily separating the old sandpaper from the grinding machine; A first sensor, which is arranged on the lower surface of the first fixing element and is located below the first monitoring groove; A first driving assembly, which is arranged on the lower surface of the first fixing element and is electrically connected to the first sensor; A first transmission element, which is arranged on the lower surface of the first fixing element and is located on one side of the guiding groove, and is in transmission connection with the output end of the first driving assembly; A second transmission element, which is arranged on the lower surface of the first fixing element and is located on the other side of the guiding groove, and is in transmission connection with the first transmission element; An elastic element, which is arranged on the lower surface of the first fixing element and is located at at least one end of the second transmission element; Wherein, the grinding machine calibration unit includes: A fifth fixing element, through which the grinding machine calibration unit is fixedly arranged on the fixing unit; A calibration base, which is arranged on the upper surface of the fifth fixing element, and the calibration base is provided with a second monitoring groove; A plurality of first positioning elements, which are fixedly arranged on the upper surface of the calibration base and are used for cooperating with a plurality of tray holes of the trays of a plurality of grinding machines; A second sensor, which is arranged on the lower surface of the calibration base and is located below the second monitoring groove; A second driving assembly, which is arranged on one side of the fifth fixing element and is connected to the calibration base and is electrically connected to the second sensor.

2. The fully automatic sandpaper replacement system according to claim 1, wherein The first driving assembly includes: A first driving element, which is arranged on the lower surface of the first fixing element; A third transmission element, which is in transmission connection with the output end of the first driving element; A fourth transmission element, which is arranged on one side of the third transmission element and is in transmission connection with the first transmission element; A fifth transmission element, which is respectively in transmission connection with the third transmission element and the fourth transmission element.

3. The fully automatic sandpaper replacement system according to claim 1, characterized in that, The sandpaper conveying unit includes: A first limiting element; A third sensor, which is arranged on the first limiting element; A second limiting element, the second limiting element being arranged below the first limiting element; A connecting element, the connecting element being connected to the first limiting element and the second limiting element respectively; A moving element, the moving element being arranged between the first limiting element and the second limiting element; A plurality of second positioning elements, the plurality of second positioning elements passing through the moving element and being slidably connected to the moving element; A third driving assembly, the third driving assembly being arranged on the second limiting element, being connected to the moving element and being electrically connected to the third sensor, for driving the moving element to reciprocate between the first limiting element and the second limiting element; A seventh fixing element, the seventh fixing element being arranged on the lower surface of the second limiting element, and the sandpaper conveying unit being fixedly arranged on the fixing unit through the seventh fixing element.

4. The fully automatic sandpaper replacement system according to claim 3, wherein, The connecting element passes through the moving element and is slidably connected to the moving element.

5. The fully automatic sandpaper replacement system according to claim 3, wherein A plurality of the second positioning elements pass through the second limiting element and are slidably connected to the second limiting element.

6. The fully automatic sandpaper replacement system according to claim 3, characterized in that, The third driving assembly includes: A third driving element, the third driving element being arranged on one side of the second limiting element and being electrically connected to the third sensor; A sixth transmission element, the sixth transmission element being respectively in transmission connection with the third driving element and the moving element; A seventh transmission element, the seventh transmission element being fixedly connected to the moving element and being in transmission connection with the sixth transmission element; An eighth transmission element, the eighth transmission element being respectively in transmission connection with the third driving element and the sixth transmission element; A ninth transmission element, the ninth transmission element being respectively in transmission connection with the sixth transmission element and the eighth transmission element.

7. The fully automatic sandpaper replacement system according to any one of claims 1 to 6, characterized in that, Further included is: A sandpaper recycling unit, the sandpaper recycling unit being arranged inside the fixing unit and being located below the sandpaper tearing unit.

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