Automatic sandpaper changing mechanism for grinding robot

Abstract

The present invention discloses an automatic sandpaper changing mechanism for a grinding robot, which includes a base plate, a paper inserting and clamping assembly, and an automatic paper changing assembly. The automatic paper changing assembly includes an automatic slide seat, a resetting elastic component, and a material rack. The paper inserting and clamping assembly includes a mounting seat, a fixed plug plate, a movable clamp plate, and a driving device. The fixed plug plate is inserted into the position between the grinding disc and the sandpaper of the grinding tool, and then the sandpaper is clamped, so that the sandpaper is torn off the grinding disc under force. When replacing the sandpaper, even if the geometric centers of the grinding disc and the sandpaper are not relatively aligned, the material rack can be forced to drive the automatic slide seat to move under the auxiliary action of the guide position of the material rack during the downward movement of the grinding disc, so that the grinding disc and the sandpaper are accurately aligned and adhered to each other, so as to realize the automatic replacement of the sandpaper of the grinding tool of the grinding robot, without manual on-site operation, saving time and labor, and effectively solving the problem that traditional sandpaper needs to be designed with a larger size, avoiding unnecessary waste of resources, and saving costs.

Description

Technical Field

[0001] The invention relates to the technical field of grinding manipulators, and in particular to an automatic sandpaper changing mechanism of a grinding manipulator. Background Art

[0002] Traditional technology uses manual processing to polish products, which cannot guarantee the consistency of the products after polishing and is inefficient. In addition, manual polishing is inefficient, and manual processing is uncertain, which can cause fatigue, making it difficult to ensure that the surface burrs of the products are removed cleanly, resulting in inconsistency of the products and high labor costs.

[0003] With the popularization of mechanization and automation, the demand for mechanical workpieces is increasing, and workpieces usually need to be polished by a robot. On the automated polishing production line, the robot drives the grinding head to polish the product to be processed. Generally, in the polishing process, in order to avoid reducing the polishing quality, the sandpaper used for polishing needs to be replaced after a period of use. Even the sandpaper needs to be replaced every time one or several workpieces are polished, resulting in frequent replacement of sandpaper. At present, most of them use manual methods to tear off the used sandpaper and replace it with new sandpaper manually. The work efficiency is very low, which wastes manpower and material resources. In addition, there are certain safety hazards in manually changing sandpaper, which is easy to cause personal injury to the operator.

[0004] The utility model with publication number "CN205520909U" and name "A robot grinding and sandpaper changing device" discloses a robot grinding and sandpaper changing device, including a support table, a clamping mechanism for clamping the sandpaper to be replaced and a feeding mechanism for providing new sandpaper, the clamping mechanism and the feeding mechanism are both fixed to the support table; the clamping mechanism includes a clamping claw and a cylinder for driving the clamping claw to open and close; the feeding mechanism includes a tray for placing new sandpaper and a lifting assembly for lifting the tray; it can fully automatically replace the sandpaper of the grinding tool of the grinding robot arm without manual on-site operation, saving a lot of manpower and material resources and improving work efficiency. However, in use, it is necessary to select sandpaper with an outer size larger than that of the grinding disc, because only when the sandpaper is large, its edge will be exposed and protruded from the edge of the grinding disc, so as to facilitate the clamping mechanism to clamp the edge of the sandpaper and tear off the sandpaper; at the same time, since the grinding disc rotates eccentrically, that is, the geometric center of the grinding disc rotates circumferentially relative to the eccentric axis, when the grinding disc stops rotating, the geometric center of the grinding disc randomly stops at one side of the axis of the rotating shaft, and the geometric center of the grinding disc cannot be relatively aligned with the geometric center of the sandpaper; the position of the feeding mechanism is fixed, and the coordinate position of the movement of the manipulator is also pre-set. In order to ensure that the sandpaper can fully fit and cover the grinding disc, the deflection deviation of the grinding disc has to be compensated by increasing the size of the sandpaper, which will lead to unnecessary waste of sandpaper. Summary of the invention

[0005] In view of the above-mentioned deficiencies, the object of the present invention is to provide a sandpaper changing mechanism of a grinding robot with a reasonable structure, which can clamp and tear off sandpaper and automatically correct the alignment of sandpaper and grinding disc when the outer dimensions of sandpaper and grinding disc are consistent.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a sandpaper automatic changing mechanism for a grinding robot, which includes a base plate, a paper clamping assembly and an automatic paper changing assembly, wherein the automatic paper changing assembly includes an automatic alignment slide, a reset elastic component and a material rack, a predetermined paper picking area is provided on the base plate, the automatic alignment slide is movably arranged on the predetermined paper picking area, a plurality of reset elastic components are symmetrically arranged around the automatic alignment slide in a circle center, and limit the automatic alignment slide to be able to move and reset in the predetermined paper picking area, the material rack is arranged on the automatic alignment slide, and the upper end opening of the material rack gradually increases to form a guiding position; the paper clamping assembly is arranged on the base plate at a side position corresponding to the predetermined paper picking area, the paper clamping assembly includes a mounting seat, a fixed plug plate, a movable splint and a driving device, the fixed plug plate is arranged on the mounting seat, the movable splint is hinged on the mounting seat corresponding to the lower position of the fixed plug plate, and the driving device is arranged in the mounting seat and can drive the movable splint to open and close relative to the fixed plug plate.

[0007] As an improvement of the present invention, the bottom surface of the automatic alignment slide is provided with a universal wheel or a universal ball, so that the automatic alignment slide can slide on the base plate more smoothly and flexibly.

[0008] As an improvement of the present invention, the resetting elastic component is a spring or a tension spring, one end of which is fixed on the automatic alignment slide, and the other end is fixed on the base plate. The elastic force of the spring or the tension spring is used to change the automatic alignment slide from a traditional fixed installation structure to a movable structure, which can automatically move for alignment.

[0009] As an improvement of the present invention, the front end of the fixed plug plate is provided with an inclined surface, which can be more conveniently inserted between the grinding disc and the sandpaper and clamp the sandpaper. The driving device is a linear motor, a cylinder or an oil cylinder, which is located at the lower end of the movable clamp plate, and the upper end is hinged to the tail of the movable clamp plate, and the lower end is hinged to the mounting seat.

[0010] As an improvement of the present invention, the material rack includes a chassis and six support rods, the chassis is provided with six radially arranged adjustment long grooves, the position of the automatic alignment slide corresponding to the adjustment long groove is provided with a plurality of fixing holes arranged along the long side direction of the adjustment long groove, the lower end of the support rod is provided with a slide plate capable of sliding in the adjustment long groove, the slide plate is provided with a locking hole corresponding to the fixing hole, and the upper ends of the six support rods are symmetrically bent outward to form the guide position.

[0011] As an improvement of the present invention, the material rack further comprises a tray and a lifting device, wherein the lifting device is arranged at the center of the chassis, the tray is arranged on the lifting device and is lifted and lowered by the lifting device, and the lifting device is a linear motor, a cylinder or an oil cylinder.

[0012] As an improvement of the present invention, it also has a protective shell, which covers the base plate and covers the automatic alignment slide and the reset elastic component. The protective shell is provided with an opening to expose the material rack, has a beautiful appearance and a good protection effect.

[0013] The beneficial effects of the present invention are as follows: the present invention has a reasonable structural design. When in use, a plurality of new sandpapers with outer dimensions consistent with the grinding disc of the grinding tool are stacked on the material rack. When the grinding tool on the robot arm needs to replace the old sandpaper after grinding for a period of time, the robot arm moves the grinding tool to the position of the fixed plug plate, and inserts the fixed plug plate into the position between the grinding disc of the grinding tool and the old sandpaper. At this time, the driving device drives the movable splint to clamp the old sandpaper relative to the fixed plug plate, and then the robot arm moves away from the fixed plug plate, and the old sandpaper is torn off the grinding disc by force. After tearing off the old sandpaper, the robot arm drives the grinding tool to move to the position above the rack and move downward. At this time, even if the geometric centers of the grinding disc and the new sandpaper are not relatively aligned, the downward movement of the grinding disc, with the assistance of the guide position of the rack, can force the rack to drive the automatic alignment slide to move to the corresponding position so that the grinding disc and the new sandpaper are accurately aligned and adhered to each other, thereby realizing automatic replacement of the sandpaper of the grinding tool of the grinding robot arm without manual on-site operation, reducing the labor intensity of the operators, saving time and effort, and the sandpaper is completely aligned with the grinding disc and adhered to each other. On the basis of ensuring the grinding quality, it effectively solves the problem that traditional sandpaper needs to be designed with a larger size, avoids unnecessary waste of resources, saves costs, and increases profits.

[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0016] Figure 2 The decomposition structure of the present invention is shown in FIG. Figure 1 .

[0017] Figure 3 The decomposition structure of the present invention is shown in FIG. Figure 2 .

[0018] Figure 4 It is a structural schematic diagram of the automatic alignment slide in the present invention.

[0019] Figure 5 It is a structural schematic diagram of the paper inserting and clamping assembly in the present invention.

[0020] Figure 6 It is a structural schematic diagram of the paper inserting and clamping assembly of the present invention when in use. DETAILED DESCRIPTION

[0021] For example, see Figures 1 to 6 The present embodiment provides an automatic sandpaper changing mechanism for a grinding robot, which includes a base plate 1, a paper clamping assembly 2, an automatic paper changing assembly 3 and a protective shell 4.

[0022] In this embodiment, two sets of automatic paper-changing assemblies 3 are provided on the base plate 1 to stack more or different types of sandpaper 5. In other embodiments, the number of automatic paper-changing assemblies 3 can be set as needed.

[0023] The automatic alignment paper changing assembly 3 includes an automatic alignment slide 31, a reset elastic component 32 and a material rack 33. A predetermined paper picking area (not shown) is provided on the substrate 1. The automatic alignment slide 31 is movably arranged on the predetermined paper picking area. Preferably, a universal ball 34 is provided on the bottom surface of the automatic alignment slide 31 to effectively reduce friction, so that the automatic alignment slide 31 slides more smoothly and flexibly on the substrate 1. In other embodiments, a universal wheel or a smooth surface may also be provided to reduce the friction between the automatic alignment slide 31 and the substrate 1.

[0024] In this embodiment, the reset elastic component 32 is preferably a tension spring, and the number is four. The shape of the automatic alignment slide 31 is square. One end of the four tension springs are respectively snapped into the four corners of the automatic alignment slide 31, and the other end is fixed to the substrate 1 by screws. In the initial state, the automatic alignment slide 31 is located at the center of the predetermined paper picking area. The elastic force of the tension spring is used to transform the automatic alignment slide 31 from a traditional fixed installation structure to a movable structure, which can be automatically moved for alignment. In other embodiments, the number of the reset elastic components 32 can also be six, eight or more, and then they are symmetrically arranged around the automatic alignment slide 31 in a circle. The reset elastic component 32 can also be replaced by other elastic components such as springs, which has a simple structure.

[0025] The material rack 33 is arranged on the automatic alignment slide 31, and the upper end opening of the material rack 33 gradually increases to form a guiding position; the protective shell 4 covers the substrate 1 and covers the automatic alignment slide 31 and the reset elastic component 32. The protective shell 4 is provided with an opening to expose the material rack 33, which has a beautiful appearance and a good protection effect. Specifically, the material rack 33 includes a chassis 331, a tray 332, a lifting device 333 and six supporting rods 334. The chassis 331 is provided with six radially arranged adjusting long grooves 3311. The position of the automatic positioning slide 31 corresponding to the adjusting long groove 3311 is provided with a plurality of fixing holes 311 arranged along the long side direction of the adjusting long groove 3311. The lower end of the supporting rod 334 is provided with a slide plate 3341 that can slide in the adjusting long groove 3311. The slide plate 3341 is provided with a locking hole 3342 that is aligned with the fixing hole 311. During installation, the position of the supporting rod 334 is adjusted by passing the locking screw through the fixing hole 311 and the locking hole 3342 and locking it to meet the placement requirements of sandpaper of different sizes or shapes. The upper ends 3343 of the six supporting rods 334 are symmetrically bent outward to form the guiding position. The use of six supporting rods 334 can be suitable for round or square sandpaper 5. In other embodiments, the corresponding number of support rods 334 can also be set according to the shape of the sandpaper 5. In this embodiment, the lifting device 333 is a cylinder, the cylinder body of which is vertically fixed at the center of the chassis 331, and the automatic alignment slide 31 and the base plate 1 are provided with openings for the cylinder body to extend downward, and the outer dimensions of the opening must meet the distance requirements for the cylinder to move with the movement of the automatic alignment slide 31. The piston rod of the cylinder is vertically upward, and the tray 332 is fixed on the piston rod of the cylinder. The piston rod of the cylinder can drive the tray 332 to move up and down when it is extended and retracted. In other embodiments, the lifting device 333 can also use a linear motor or a cylinder or other device that can drive the tray 332 to move up and down.

[0026] The paper clamping assembly 2 is arranged on the substrate 1 at a position corresponding to one side of the predetermined paper picking area. The paper clamping assembly 2 includes a mounting seat 21, a fixed plug plate 22, a movable clamp plate 23 and a driving device 24. The fixed plug plate 22 is arranged on the mounting seat 21. Preferably, an inclined surface is provided at the front end of the fixed plug plate 22 to reduce the thickness, which is more convenient for inserting between the grinding disc 61 and the sandpaper 5. The movable clamp plate 23 is arranged on the mounting seat 21 through a hinge 25 or a hinge shaft at a position below the fixed plug plate 22. The front end of the movable clamp plate 23 forms a clamp corresponding to the front end of the fixed plug plate 22. The driving device 24 is preferably a cylinder, which is located at the lower end of the movable clamp plate 23. The upper end of the piston rod of the cylinder is hinged to the tail of the movable clamp plate 23, and the lower end of the cylinder body of the cylinder is hinged to the mounting seat 21. When the piston rod of the cylinder is extended and retracted, it can drive the movable clamp plate 23 to open and close relative to the fixed plug plate 22. In other embodiments, the driving device 24 may also be a linear motor or a cylinder, etc., which can drive the movable clamping plate 23 to open and close relative to the fixed plug plate 22.

[0027] When in use, a plurality of new sandpapers with the same outer dimensions as the sanding disc 61 of the sanding tool 6 are stacked on the material rack 33. When the sanding tool 6 on the robot hand needs to be replaced with the old sandpaper after being sanded for a period of time, the robot hand moves the sanding tool 6 to the position of the fixed plug plate 22. At this time, see Figure 6 The front end of the fixed plug plate 22 and the position between the grinding disc 61 and the old sandpaper are on the same plane. The manipulator drives the grinding tool 6 to move to one side of the fixed plug plate 22 for easy movement, so that the fixed plug plate 22 is inserted into the position between the grinding disc 61 and the old sandpaper.

[0028] Next, the driving device 24 drives the movable clamping plate 23 to clamp the old sandpaper relative to the fixed plug plate 22, and then the robot moves away from the fixed plug plate 22, and the old sandpaper is torn off from the grinding disc 61 by force. After tearing off the old sandpaper, the robot drives the grinding tool 6 to move to the position above the material rack 33 and move downward. At this time, no matter whether the geometric center of the grinding disc 61 is randomly stopped at any position on the side of the axis of the rotating shaft, that is, the geometric centers of the grinding disc 61 and the new sandpaper are not relatively aligned, the grinding disc 61 descends with the assistance of the guide position of the material rack 33, which can force the material rack 33 to drive the automatic alignment slide 31 to move to the corresponding reverse direction position for compensation, so that the grinding disc 61 and the new sandpaper are accurately aligned and adhered to each other. When the grinding disc 61 of the grinding tool 6 exits the material rack 33, the elastic force of the reset elastic component 32 causes the automatic alignment slide 31 to return to the predetermined position, that is, the automatic replacement of the sandpaper of the grinding tool 6 is completed, and the operation is simple and convenient.

[0029] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention. The use of the same or similar mechanisms is within the scope of protection of the present invention.

Claims

1. A sandpaper automatic changing mechanism for a grinding robot, comprising a base plate, characterized in that: It also includes a paper insertion and clamping assembly, an automatic paper changing assembly and a protective shell, the automatic paper changing assembly includes an automatic paper finding slide, a reset elastic component and a material rack, a predetermined paper picking area is provided on the base plate, the automatic paper finding slide is movably arranged on the predetermined paper picking area, a plurality of reset elastic components are symmetrically arranged around the automatic paper finding slide in a circle center, and limit the automatic paper finding slide to be able to move and reset in the predetermined paper picking area, the material rack is arranged on the automatic paper finding slide, and the upper end opening of the material rack gradually increases to form a guiding position; the paper insertion and clamping assembly is arranged on the base plate at a side position corresponding to the predetermined paper picking area, the paper insertion and clamping assembly includes a mounting seat, a fixed plug plate, a movable clamp plate and a driving device, the fixed plug plate is arranged on the mounting seat, the movable clamp plate is hinged on the mounting seat corresponding to the lower position of the fixed plug plate, the driving device is arranged in the mounting seat, and can drive the movable clamp plate to open and close relative to the fixed plug plate; The bottom surface of the automatic alignment slide is provided with a universal wheel or a universal ball; The resetting elastic component is a spring or a tension spring, one end of which is fixed on the automatic alignment slide, and the other end is fixed on the base plate; The material rack comprises a chassis and six support rods, the chassis is provided with six radially arranged adjustment slots, the position of the automatic alignment slide corresponding to the adjustment slot is provided with a plurality of fixing holes arranged along the long side direction of the adjustment slot, the lower end of the support rod is provided with a slide plate capable of sliding in the adjustment slot, the slide plate is provided with a locking hole aligned with the fixing hole, and the upper ends of the six support rods are symmetrically bent outward to form the guide position; The protective shell is covered on the base plate and covers the automatic alignment slide seat and the resetting elastic component. The protective shell is provided with an opening for exposing the material rack.

2. The automatic sandpaper changing mechanism of the grinding robot according to claim 1 is characterized in that: The front end of the fixed plug plate is provided with an inclined surface.

3. The automatic sandpaper changing mechanism of the grinding robot according to claim 1 is characterized in that: The driving device is a linear motor, a pneumatic cylinder or an oil cylinder, which is located at the lower end of the movable clamping plate, and the upper end of the driving device is hinged to the tail of the movable clamping plate, and the lower end of the driving device is hinged to the mounting seat.

4. The automatic sandpaper changing mechanism of the grinding robot according to claim 1 is characterized in that: The material rack also includes a tray and a lifting device. The lifting device is arranged at the center of the chassis. The tray is arranged on the lifting device and is lifted and lowered by the lifting device.

5. The automatic sandpaper changing mechanism of the grinding robot according to claim 4 is characterized in that: The lifting device is a linear motor, a pneumatic cylinder or an oil cylinder.

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