Sandpaper auxiliary installation device

Abstract

The present invention relates to a sandpaper auxiliary installation device, comprising: a workbench; a silo, which is arranged on the workbench and used to accommodate multiple sandpapers stacked in sequence, and the side wall of the silo is provided with an avoidance opening; an image acquisition module, which is arranged on the workbench, and the image acquisition module is used to collect image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper through the avoidance opening; a control module, which is used to obtain the height position information of the gap according to the image data; a separator knife; and a moving mechanism, which is arranged on the workbench and connected to the separator knife, and the control module is used to control the movement of the moving mechanism according to the height position information, and the moving mechanism is used to drive the separator knife to move to a height position corresponding to the gap and to drive the separator knife to extend into the avoidance opening to insert into the gap. The sandpaper auxiliary installation device can avoid the adhesion of multiple sandpapers when assisting the grinding head to install sandpaper.

Description

Technical Field

[0001] The invention relates to the technical field of grinding and polishing, in particular to a sandpaper auxiliary installation device. Background Art

[0002] Grinding and polishing is an important process in the workpiece processing. Specifically, it refers to not removing or removing a very thin layer of material from the workpiece surface to remove burrs on the workpiece surface and reduce the surface roughness of the workpiece. The grinding robot equipment uses a mechanical arm to carry a grinder for grinding and polishing. It has the advantages of stable grinding effect, high work efficiency and improved working conditions for workers. During the grinding and polishing process, the grinding head of the grinder rotates quickly, resulting in rapid wear and tear of the sandpaper on the grinding head, which requires frequent replacement of the sandpaper. When replacing the sandpaper, you need to first remove the worn sandpaper from the grinding head, and then install new sandpaper on the grinding head.

[0003] At present, the method of installing sandpaper on the grinding head is mainly to control the mechanical arm to carry the grinder to move, so as to carry the grinding head to press the sandpaper, and then make the grinding head stick to the sandpaper. However, when the mechanical arm is controlled to carry the grinder to move so that the grinding head presses the sandpaper, it is easy to cause multiple sandpapers to stick to each other, which is easy to scratch the workpiece and affect the grinding and polishing effect. Summary of the invention

[0004] Based on this, it is necessary to provide a sandpaper auxiliary installation device to address the problem that the current sandpaper installation method easily causes multiple sandpapers to stick to each other.

[0005] A sandpaper auxiliary installation device, comprising:

[0006] Workbench;

[0007] A silo, arranged on the workbench and used to accommodate a plurality of sandpapers stacked in sequence, and a side wall of the silo is provided with an escape opening;

[0008] An image acquisition module is disposed on the workbench, and is used to acquire image data of a gap between a top layer of sandpaper and sandpaper adjacent to the top layer of sandpaper through the avoidance opening;

[0009] A control module, used for obtaining height position information of the gap according to the image data;

[0010] Dividing knife; and

[0011] A moving mechanism is arranged on the workbench and connected to the dividing knife. The control module is used to control the movement of the moving mechanism according to the height position information. The moving mechanism is used to drive the dividing knife to move to a height position corresponding to the gap and to drive the dividing knife to extend into the avoidance to insert into the gap.

[0012] In one embodiment, the moving mechanism includes a telescopic component and a height adjustment component, the driving direction of the telescopic component is along the moving direction of the partition knife when it extends into or exits the avoidance opening, and the driving direction of the height adjustment component is along the stacking direction of the multiple sandpapers;

[0013] The force output end of one of the telescopic component and the height adjustment component is connected to the other, and the force output end of the other is connected to the dividing knife.

[0014] In one embodiment, the force output end of the height adjustment assembly is connected to the telescopic assembly, and the force output end of the telescopic assembly is connected to the dividing knife.

[0015] In one embodiment, the telescopic assembly includes a movably connected base and a moving part, and the moving part can move relative to the base along the moving direction of the dividing knife when it extends into or exits the avoidance opening; the height adjustment assembly includes a movably connected base and a moving part along the stacking direction of the multiple sandpapers;

[0016] The moving part of one of the telescopic assembly and the height adjustment assembly is connected to the base of the other one, and the moving part of the other one is connected to the dividing knife.

[0017] In one embodiment, the number of the silos is multiple;

[0018] The sandpaper auxiliary installation device also includes a driving mechanism arranged on the workbench, and the driving mechanism is used to drive the moving mechanism to move relative to the workbench, so that the moving mechanism carries the dividing knife and can selectively move toward the avoidance opening of any of the silos.

[0019] In one embodiment, the driving mechanism is used to drive the moving mechanism to rotate relative to the workbench, and the plurality of bins are arranged in sequence around the rotation center of the moving mechanism.

[0020] In one embodiment, the image acquisition module is arranged on the mobile mechanism, so that the mobile mechanism carries the image acquisition module selectively toward the avoidance opening of any one of the silos; and the image acquisition module and the dividing knife are oriented toward the same avoidance opening of the silo.

[0021] In one embodiment, the inner cavity of the material bin is adapted to match the shape of the sandpaper, and the shapes of the inner cavities of different material bins are different.

[0022] In one embodiment, the sandpaper auxiliary installation device further comprises:

[0023] A plurality of micro switches, wherein the micro switches are arranged in one-to-one correspondence with the silos, and the positions of the micro switches and the workbench are relatively fixed; and,

[0024] A toggle member is connected to the moving mechanism, so that when the moving mechanism moves relative to the workbench, it carries the toggle member to sequentially toggle multiple micro switches, and when the micro switch is toggled, it triggers the driving mechanism to stop driving the moving mechanism, and the dividing knife moves toward the avoidance opening of the silo corresponding to the toggled micro switch.

[0025] In one embodiment, the sandpaper auxiliary installation device further comprises:

[0026] A sandpaper tray, located in the silo and used to support the plurality of sandpapers stacked in sequence;

[0027] A lifting mechanism, disposed on the workbench and used to drive the sandpaper tray to rise and fall; and

[0028] The first sensing element is arranged in the material bin, and is configured to trigger the lifting mechanism to stop when sensing that the top layer of sandpaper rises to a first predetermined height.

[0029] In one embodiment, the sandpaper auxiliary installation device further comprises:

[0030] a trigger member connected to the lifting mechanism; and

[0031] The second sensing element is disposed on the workbench, and is configured to generate a trigger signal when sensing that the trigger element rises to a second predetermined height.

[0032] In one embodiment, the sandpaper auxiliary installation device further comprises:

[0033] a trigger member connected to the lifting mechanism; and

[0034] The third sensing element is arranged on the workbench, and is configured to sense that when the trigger element descends to a third predetermined height, trigger the lifting mechanism to stop moving.

[0035] In one embodiment, the sandpaper auxiliary installation device further comprises: a pressing platform disposed on the workbench, the pressing platform having a pressing plane, and the pressing plane faces the stacking direction of the plurality of sandpapers.

[0036] In one embodiment, the sandpaper auxiliary installation device also includes: a first straightening portion arranged on the workbench and a second straightening portion arranged on the workbench, the first straightening portion and the second straightening portion are arranged opposite to each other and spaced apart along a first direction, and the first direction is perpendicular to the stacking direction of the multiple sandpapers. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of a sandpaper auxiliary installation device according to an embodiment;

[0038] Figure 2 for Figure 1 Schematic diagram of the connection relationship between the moving mechanism and the driving mechanism;

[0039] Figure 3 for Figure 2 Bottom view of

[0040] Figure 4 A first view of the connection relationship between a silo, a lifting mechanism and a sandpaper tray according to an embodiment;

[0041] Figure 5 This is a second view of the connection relationship between the silo, the lifting mechanism and the sandpaper tray of one embodiment. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0048] Please refer to Figure 1 An embodiment of the present application provides a sandpaper auxiliary installation device 10. The sandpaper auxiliary installation device 10 includes: a workbench 100, a material bin 200, an image acquisition module 300, a control module (not shown), a partitioning knife 400 and a moving mechanism 500.

[0049] The workbench 100 is a supporting structure of the sandpaper auxiliary installation device 10 , and is used to support other components of the sandpaper auxiliary installation device 10 .

[0050] The silo 200 is disposed on the workbench 100. The silo 200 is used to accommodate a plurality of sandpapers (not shown) stacked in sequence. Specifically, the plurality of sandpapers stacked in sequence can be placed in the inner cavity 201 of the silo 200. The side wall of the silo 200 is provided with an escape opening 202, so that the sides of the plurality of sandpapers can be exposed from the escape opening 202.

[0051] The image acquisition module 300 may be an industrial camera. The image acquisition module 300 is disposed on the workbench 100. The image acquisition module 300 is used to collect image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper through the avoidance port 202. Specifically, the image acquisition module 300 is disposed outside the silo 200 and can be opposite to the avoidance port 202. Therefore, the image acquisition module 300 can be opposite to the side of multiple sandpapers, so that the image acquisition module 300 can collect image data of the side of multiple sandpapers through the avoidance port 202, and further can collect image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper. It can be understood that the sandpaper adjacent to the top sandpaper is a layer of sandpaper below the top sandpaper.

[0052] When the image acquisition module 300 acquires image data, it may acquire image data of the side surfaces of some of the plurality of sandpapers stacked together, or it may acquire image data of the side surfaces of all of the plurality of sandpapers stacked together, as long as the image data acquired by the image acquisition module 300 includes image data of the top layer of sandpaper and the gap between the sandpapers adjacent to the top layer of sandpaper.

[0053] The control module may be a controller, a microprocessor, a single chip computer, etc. The control module is used to obtain the height position information of the gap according to the image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper. The control module is in communication connection with the image acquisition module 300. After the control module receives the image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper, the height position information of the gap can be obtained according to the image data.

[0054] The specific method for the control module to obtain the height position information of the gap based on the image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper can adopt the image processing method in the prior art, which will not be described in detail here.

[0055] The partitioning blade 400 is connected to the moving mechanism 500 . The moving mechanism 500 is disposed on the workbench 100 .

[0056] The control module is used to control the movement of the moving mechanism 500 according to the height position information. The moving mechanism 500 is used to drive the partition knife 400 to move to a height position corresponding to the gap and to drive the partition knife 400 to extend into the avoidance opening 202 to be inserted into the gap.

[0057] The above-mentioned sandpaper auxiliary installation device 10 is used to assist in installing sandpaper for the grinding head of the grinding robot equipment (not shown), and the silo 200 contains multiple sandpapers stacked in sequence. The image acquisition module 300 is used to collect image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper through the avoidance opening 202 of the side wall of the silo 200. The control module is used to obtain the height position information of the gap according to the image data. The control module controls the movement of the moving mechanism 500 according to the height position information of the gap. The moving mechanism 500 drives the separating knife 400 to move to the height position corresponding to the gap, and then drives the separating knife 400 to extend into the avoidance opening 202 to insert into the gap. The mechanical arm of the grinding robot equipment is controlled to carry the grinder to move, so that the grinding head presses the top sandpaper, and the grinding head can stick to the top sandpaper, so as to realize the installation of sandpaper for the grinding head. Since the separating knife 400 is inserted into the gap between the top sandpaper and the adjacent sandpaper after extending into the avoidance opening 202, when the grinding head sticks to the top sandpaper, the top sandpaper will not stick to the adjacent sandpaper, so that multiple sandpapers will not stick to the grinding head.

[0058] Please refer to Figure 2 In one embodiment, the moving mechanism 500 includes a telescopic component 510 and a height adjustment component 520. The driving direction of the telescopic component 510 is along the moving direction of the partition knife 400 when it extends into or out of the avoidance opening 202, and the driving direction of the height adjustment component 520 is along the stacking direction of the multiple sandpapers. The force output end of the telescopic component 510 and the height adjustment component 520 is connected to the other one, and the force output end of the other one is connected to the partition knife 400.

[0059] Specifically in this embodiment, the force output end of the height adjustment component 520 is connected to the telescopic component 510, and the force output end of the telescopic component 510 is connected to the separator 400, so that the height adjustment component 520 can drive the telescopic component 510 to carry the separator 400 to move along the stacking direction of the multiple sandpapers, and then the separator 400 can move along the stacking direction of the multiple sandpapers to a height position corresponding to the above-mentioned gap. The telescopic component 510 can drive the separator 400 to extend into the avoidance opening 202 to insert into the above-mentioned gap.

[0060] In other embodiments, the force output end of the telescopic assembly may be connected to the height adjustment assembly, and the force output end of the height adjustment assembly may be connected to the separating knife, so that the height adjustment assembly can drive the separating knife to move along the stacking direction of the multiple sandpapers to a height position corresponding to the above-mentioned gap. The telescopic assembly can drive the height adjustment assembly to move along with the separating knife in the direction of extending into the avoidance opening, so that the separating knife extends into the avoidance opening to be inserted into the above-mentioned gap.

[0061] In one embodiment, the telescopic assembly 510 includes a movably connected base and a moving part, and the moving part can move relative to the base along the moving direction when the partition knife 400 extends into or exits the avoidance opening 202. The height adjustment assembly 520 includes a movably connected base and a moving part along the stacking direction of multiple sandpapers. The telescopic assembly 510 and the height adjustment assembly 520, the moving part of one of them is connected to the base of the other, and the moving part of the other is connected to the partition knife 400.

[0062] The base and the moving part of the telescopic assembly 510 are respectively defined as the first base 511 and the first moving part 512, and the base and the moving part of the height adjustment assembly 520 are respectively defined as the second base 521 and the second moving part 522. The first moving part 512 can move relative to the first base 511 along the moving direction when the partition knife 400 extends into or out of the avoidance opening 202. The second base 521 is movably connected to the second moving part 522 along the stacking direction of the plurality of sandpapers.

[0063] Specifically, in the present embodiment, the second base 521 is disposed on the workbench 100. The second moving portion 522 is connected to the first base 511. The first moving portion 512 is connected to the separating knife 400. When the second moving portion 522 moves relative to the second base 521 along the stacking direction of the plurality of sandpapers, the first base 511, the first moving portion 512 and the separating knife 400 are carried to move together along the stacking direction of the plurality of sandpapers, so that the separating knife 400 can be moved along the stacking direction of the plurality of sandpapers to a height position corresponding to the above-mentioned gap. When the first moving portion 512 moves relative to the first base 511, the separating knife 400 can be carried to extend into the avoidance opening 202 to be inserted into the above-mentioned gap.

[0064] In other embodiments, the first base may be arranged on a workbench. The first moving part is connected to the second base. The second moving part is connected to the dividing knife. When the second moving part moves relative to the second base along the stacking direction of the multiple sandpapers, the dividing knife is carried to move along the stacking direction of the multiple sandpapers, so that the dividing knife can be moved along the stacking direction of the multiple sandpapers to a height position corresponding to the above-mentioned gap. When the first moving part moves relative to the first base, the second base, the second moving part and the dividing knife can be carried to move together, so that the dividing knife extends into the avoidance opening to be inserted into the above-mentioned gap.

[0065] refer to Figure 2 In one embodiment, the telescopic assembly 510 further includes a first driving member 513 , which is, for example, a linear motor, a cylinder, a lead screw motor, etc. The first driving member 513 is used to drive the first moving portion 512 to move relative to the first base 511 .

[0066] In other embodiments, the telescopic assembly itself can be a driving structure, for example, the telescopic assembly is a linear motor, the first base is the stator of the linear motor, and the first moving part is the mover of the linear motor. For another example, the telescopic assembly is a cylinder, the first base is the cylinder barrel of the cylinder, and the first moving part is the piston rod of the cylinder.

[0067] refer to Figure 2 In one embodiment, the height adjustment assembly 520 further includes a second driving member 523 , which is, for example, a linear motor, a cylinder, a lead screw motor, etc. The second driving member 523 is used to drive the second moving portion 522 to move relative to the second base 521 .

[0068] In other embodiments, the height adjustment component itself can be a driving structure, for example, the height adjustment component is a linear motor, the second base is the stator of the linear motor, and the second moving part is the mover of the linear motor. For another example, the height adjustment component is a cylinder, the second base is the cylinder barrel of the cylinder, and the second moving part is the piston rod of the cylinder.

[0069] refer to Figure 1 In one embodiment, there are multiple silos 200, so that more sandpaper can be stored, thereby providing more spare sandpaper for the grinding head. The number of silos 200 is, for example, two, three, or more.

[0070] The sandpaper auxiliary installation device 10 further includes a driving mechanism 600 disposed on the workbench 100. The moving mechanism 500 can be indirectly disposed on the workbench 100 by being connected to the driving mechanism 600. The driving mechanism 600 is used to drive the moving mechanism 500 to move relative to the workbench 100, so that the moving mechanism 500 carries the separating knife 400 to move relative to the workbench 100, and further the position of the separating knife 400 relative to the workbench 100 can be changed, so that the moving mechanism 500 carries the separating knife 400 and can selectively move toward the escape opening 202 of any bin 200. Since the separating knife 400 can selectively move toward the escape opening 202 of any bin 200, the moving mechanism 500 can drive the separating knife 400 to insert into the escape opening 202 of any bin 200 and insert into the gap between the top layer of sandpaper in the bin 200 and the sandpaper adjacent to the top layer of sandpaper. In this way, when the sandpaper of any of the plurality of silos 200 is installed on the sanding head, the plurality of sandpapers will not be stuck on the sanding head.

[0071] Combination Figure 1 and Figure 2In one embodiment, the driving mechanism 600 is used to drive the moving mechanism 500 to rotate relative to the workbench 100, so that when the moving mechanism 500 rotates, the separating knife 400 is carried to move around the rotation center of the moving mechanism 500. A plurality of bins 200 are arranged in sequence around the rotation center of the moving mechanism 500, so that when the separating knife 400 moves to different positions around the rotation center of the moving mechanism 500, it can be opposite to the avoidance openings 202 of different bins 200, and then the separating knife 400 can be inserted into the avoidance openings 202 of different bins 200 and thus inserted into the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper in different bins 200.

[0072] refer to Figure 2 In one embodiment, the driving mechanism 600 includes a motor 610 , which is installed on the workbench 100 and is used to drive the moving mechanism 500 to rotate relative to the workbench 100 .

[0073] Specifically in this embodiment, the driving mechanism 600 further includes a turntable 620. The turntable 620 is connected to the output shaft of the motor 610. The moving mechanism 500 is arranged on the turntable 620, so that the turntable 620 is driven to rotate by the motor 610, and the moving mechanism 500 is indirectly driven to rotate. Among them, the turntable 620 is arranged on one side of the workbench 100. The motor 610 is arranged on the side of the workbench 100 away from the turntable 620 and the moving mechanism 500, so as to avoid the motor 610 occupying the space on the side where the moving mechanism 500 is located, and then sufficient space can be reserved for the movement of the moving mechanism 500 and the separating knife 400.

[0074] like Figure 2 As shown, in one embodiment, the motor 610 is mounted on the workbench 100 via a motor bracket 630 .

[0075] In other embodiments, the driving mechanism is not limited to driving the moving mechanism to rotate relative to the workbench. For example, the driving mechanism is a linear driving mechanism such as a linear motor, a crank rocker mechanism, etc., that is, the driving mechanism drives the moving mechanism to move along a straight path, and the moving mechanism carries the dividing knife to move along the straight path to change its position. In this technical solution, multiple silos can be arranged in sequence along a straight direction, so that when the dividing knife moves to different positions along the straight path, it can be opposite to the avoidance openings of different silos, and then the dividing knife can be inserted into the avoidance openings of different silos and inserted into the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper in different silos.

[0076] refer to Figure 1 and Figure 2In one embodiment, the image acquisition module 300 is disposed on the mobile mechanism 500, so that the mobile mechanism 500 carries the image acquisition module 300 and can selectively face the escape opening 202 of any bin 200. The image acquisition module 300 and the dividing knife 400 face the escape opening 202 of the same bin 200 together.

[0077] Specifically, when the driving mechanism 600 drives the moving mechanism 500 to move relative to the workbench 100, the moving mechanism 500 carries the separating knife 400 and the image acquisition module 300 to move relative to the workbench 100. When the separating knife 400 moves with the moving mechanism 500 to the avoidance opening 202 facing any bin 200, the image acquisition module 300 also faces the avoidance opening 202 of the bin 200. At this time, the image acquisition module 300 collects the image data of the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper through the avoidance opening 202, and the control module can obtain the height position information of the gap according to the image data, and control the movement of the moving mechanism 500 according to the height position information of the gap, so that the moving mechanism 500 drives the separating knife 400 to move to the height position corresponding to the gap, and then drives the separating knife 400 to extend into the avoidance opening 202 to insert into the gap.

[0078] In one embodiment, the inner cavity 201 of the silo 200 is adapted to the shape of sandpaper, so that multiple sandpapers can be kept neatly in the inner cavity 201, which is beneficial for the grinding head to accurately pick up the sandpaper and ensure that the sandpaper is as flat as possible when picking up the sandpaper.

[0079] refer to Figure 1 In one embodiment, the shapes of the inner cavities 201 of different silos 200 are different, so that the inner cavities 201 of different shapes can be adapted to sandpapers of different shapes, and then sandpapers of different shapes can be installed on the grinding head, which is convenient for using grinding heads of different shapes. Moreover, because the inner cavity 201 of the silo 200 is adapted to the shape of the sandpaper, multiple sandpapers in the inner cavities 201 of different shapes can all remain regular.

[0080] Specifically, in this embodiment, the number of the silos 200 is two. Figure 1 As shown, the inner cavity 201 of one of the silos 200 is a square inner cavity, so that it can be adapted to square sandpaper. The inner cavity 201 of the other silo 200 is a circular inner cavity, so that it can be adapted to circular sandpaper.

[0081] In other embodiments, the number of the silos may be three, four, etc. The shape of the inner cavity of the silo may be hexagonal, elliptical, etc., which is not limited.

[0082] refer to Figure 3In one embodiment, the sandpaper auxiliary installation device 10 further includes: a plurality of micro switches 640 and a toggle member 650. The micro switches 640 are arranged in a one-to-one correspondence with the silos 200, and the positions of the micro switches 640 and the workbench 100 are relatively fixed.

[0083] The toggle member 650 is connected to the moving mechanism 500, so that when the moving mechanism 500 moves relative to the workbench 100, the toggle member 650 is carried to sequentially toggle the multiple micro switches 640. Specifically, since the toggle member 650 is connected to the moving mechanism 500, when the moving mechanism 500 moves relative to the workbench 100, the toggle member 650 is carried to move together, so that the toggle member 650 can move relative to the multiple micro switches 640. When the toggle member 650 moves to the position where any micro switch 640 is located, the micro switch 640 at that position can be toggled, so that as the moving mechanism 500 moves relative to the workbench 100, the moving mechanism 500 carries the toggle member 650 to sequentially toggle the multiple micro switches 640.

[0084] When each micro switch 640 is toggled, it can trigger the driving mechanism 600 to stop driving the moving mechanism 500, and the separating knife 400 faces the avoidance opening 202 of the material bin 200 corresponding to the toggled micro switch 640. Specifically, since the micro switch 640 can trigger the driving mechanism 600 to stop driving the moving mechanism 500 when it is toggled, the moving mechanism 500 stops moving relative to the workbench 100, and thus the separating knife 400 stops moving with the moving mechanism 500. At this time, since the separating knife 400 faces the avoidance opening 202 of the material bin 200 corresponding to the toggled micro switch 640, the moving mechanism 500 can drive the separating knife 400 to insert into the avoidance opening 202 and insert into the gap between the top sandpaper and the sandpaper adjacent to the top sandpaper.

[0085] It can be understood that when the driving mechanism 600 drives the moving mechanism 500 to move so that the moving mechanism 500 carries the toggle member 650 to sequentially toggle multiple micro switches 640, each time the toggle member 650 toggles a micro switch 640, the toggled micro switch 640 triggers the driving mechanism 600 to stop driving the moving mechanism 500. Therefore, after each time the toggle member 650 toggles a micro switch 640, if the moving mechanism 500 needs to continue to move relative to the workbench 100, the driving mechanism 600 needs to be started again, so that the driving mechanism 600 drives the moving mechanism 500 to move again, so that the moving mechanism 500 continues to carry the toggle member 650 to toggle the next micro switch 640.

[0086] For example, when the sandpaper in a certain bin 200 needs to be installed on the grinding head, the driving mechanism 600 is controlled to drive the moving mechanism 500 to move. After the moving mechanism 500 carries the toggle member 650 to toggle a micro switch 640, the micro switch 640 triggers the moving mechanism 500 and the separating knife 400 to stop moving relative to the workbench 100. At this time, if the separating knife 400 has not moved to the escape opening 202 toward the certain bin 200, the moving mechanism 500 needs to carry the separating knife 400 to continue to move relative to the workbench 100, and the driving mechanism 600 needs to be started again. The driving mechanism 600 drives the moving mechanism 500 to move again, so that the moving mechanism 500 continues to carry the toggle member 650 to toggle the next micro switch 640. And so on, until the toggle member 650 toggles the micro switch 640 corresponding to the certain bin 200, the separating knife 400 moves toward the escape opening 202 of the certain bin 200. In this way, the partition knife 400 can be controlled to face the escape opening 202 of any silo 200 .

[0087] Specifically, in this embodiment, there are two material bins 200, and there are two micro switches 640, one of which corresponds to the material bin 200 with a square inner cavity, and the other corresponds to the material bin 200 with a circular inner cavity. According to the above analysis, it can be understood that when the moving mechanism 500 carries the toggle member 650 to toggle the micro switch 640 corresponding to the material bin 200 with a square inner cavity, the moving mechanism 500 and the dividing knife 400 stop moving relative to the workbench 100, and the dividing knife 400 faces the avoidance opening 202 of the material bin 200 with a square inner cavity. Continue to start the driving mechanism 600 to drive the moving mechanism 500 to move, and the moving mechanism 500 continues to carry the toggle member 650 to toggle the micro switch 640 corresponding to the material bin 200 with a circular inner cavity, and the moving mechanism 500 and the dividing knife 400 stop moving relative to the workbench 100, and the dividing knife 400 faces the avoidance opening 202 of the material bin 200 with a circular inner cavity.

[0088] In other embodiments, when the number of the silos is another number, the number of the micro switches is also the other number accordingly.

[0089] like Figure 3 As shown, in one embodiment, the micro switch 640 is mounted on the motor bracket 630 , and thus is indirectly mounted on the workbench 100 and is relatively fixed in position with respect to the workbench 100 .

[0090] Combination Figure 4 and Figure 5 In one embodiment, the sandpaper auxiliary installation device 10 further includes: a sandpaper tray 210 , a lifting mechanism 700 and a first sensing element 710 .

[0091] The sandpaper tray 210 is located in the silo 200 and is used to support a plurality of sandpapers stacked in sequence. The lifting mechanism 700 is disposed on the workbench 100 and is used to drive the sandpaper tray 210 to rise and fall. Specifically, the sandpaper tray 210 is disposed on the top of the lifting mechanism 700, and the side of the sandpaper tray 210 away from the lifting mechanism 700 can be used to support the sandpaper.

[0092] The first sensing element 710 is disposed on the silo 200, and specifically can be disposed on the side wall of the silo 200. The first sensing element 710 is configured to trigger the lifting mechanism 700 to stop the action when sensing that the top layer of sandpaper rises to a first predetermined height.

[0093] Specifically, as the sanding head is sanding, the sandpaper in the sandpaper tray 210 is continuously consumed, and the sandpaper stacked on the sandpaper tray 210 becomes less and less. Therefore, when the sandpaper is installed on the sanding head, the stacking height of the sandpaper in the sandpaper tray 210 is different each time.

[0094] In this embodiment, the sandpaper tray 210 is driven to rise by the lifting mechanism 700, and when the top layer of sandpaper rises to the first predetermined height, the first sensor 710 triggers the lifting mechanism 700 to stop. In this way, even if the stacking height of the sandpaper in the sandpaper tray 210 is different each time the sandpaper is installed on the grinding head, the height position of the lifting sandpaper can always be fixed (i.e., the first predetermined height), so that each time the sandpaper is installed on the grinding head, the height position of the gap between the lifting sandpaper and the sandpaper adjacent to the lifting sandpaper remains approximately unchanged or changes only slightly, and then, only the height position of the separating knife 400 needs to be fine-tuned by the moving mechanism 500, so that the separating knife 400 can be inserted into the gap.

[0095] The first sensing element 710 is, for example, a photoelectric sensor, a displacement sensor, etc.

[0096] like Figure 4 As shown, in one embodiment, the lifting mechanism 700 includes a motor 750 and a screw rod 760. The motor 750 is installed on the workbench 100 and is located on the side of the workbench 100 away from the silo 200. The sandpaper tray 210 is fixed to one end of the screw rod 760. The other end of the screw rod 760 is screw-driven with the output shaft of the motor 750, so that when the output shaft of the motor 750 rotates, the screw rod 760 can be driven to rise and fall, and the screw rod 760 drives the sandpaper tray 210 to rise and fall.

[0097] In other embodiments, the lifting mechanism may also adopt other structures in the prior art.

[0098] like Figure 4As shown, in one embodiment, the sandpaper auxiliary installation device 10 further includes a trigger member 720 and a second sensing member 730. The trigger member 720 is connected to the lifting mechanism 700, so that it can be lifted and lowered together with the sandpaper tray 210 through the driving of the lifting mechanism 700. The second sensing member 730 is disposed on the workbench 100, and can be specifically disposed on the workbench 100 through a connecting structure such as a bracket. The second sensing member 730 is configured to generate a trigger signal when the trigger member 720 rises to a second predetermined height.

[0099] As mentioned above, the top layer of sandpaper in the sandpaper tray 210 can always rise to a fixed height (i.e., the first predetermined height) by triggering the first sensing member 710. Therefore, it can be understood that as the sandpaper is consumed less and less and the top layer of sandpaper always rises to a fixed height, the lifting mechanism 700 lifts the sandpaper tray 210 higher and higher, so that the trigger member 720 rises higher and higher.

[0100] It can be preset that when the amount of sandpaper in the sandpaper tray 210 needs to be replenished, the height of the trigger member 720 is at the second predetermined height. Thus, when the trigger member 720 rises to the second predetermined height, the second sensor 730 generates a trigger signal, so that the trigger signal can be used to remind the user to replenish the sandpaper.

[0101] The second sensing element 730 may be a proximity sensor, a photoelectric sensor, or the like.

[0102] like Figure 4 and Figure 5 As shown, in one embodiment, the trigger member 720 is connected to the lifting mechanism 700 through a connecting rod 721. The trigger member 720 is connected to one end of the connecting rod 721 and protrudes from the connecting rod 721. The trigger member 720 and the second sensing member 730 are both located on a side of the workbench 100 away from the silo 200.

[0103] like Figure 4 As shown, in one embodiment, the sandpaper auxiliary installation device 10 further includes: a trigger member 720 and a third sensing member 740. The trigger member 720 is connected to the lifting mechanism 700, so that it can be lifted and lowered together with the sandpaper tray 210 through the driving of the lifting mechanism 700. The third sensing member 740 is arranged on the workbench 100, and can be arranged on the workbench 100 through a connecting structure such as a bracket. The third sensing member 740 is configured to sense that the trigger member 720 drops to a third predetermined height and triggers the lifting mechanism 700 to stop moving.

[0104] Specifically, when the sandpaper tray 210 needs to be supplemented with sandpaper, the sandpaper tray 210 needs to be driven down by the lifting mechanism 700 so as to leave space for supplementing sandpaper above the sandpaper tray 210. When the trigger member 720 descends to the third predetermined height, the third sensor 740 triggers the lifting mechanism 700 to stop the action, thereby ensuring that the sandpaper tray 210 descends to a fixed height, preventing the sandpaper tray 210 from descending too low and falling out of the silo 200.

[0105] The third sensing element 740 may be a proximity sensor, a photoelectric sensor, or the like.

[0106] like Figure 4 and Figure 5 As shown, in one embodiment, the trigger member 720 is connected to the lifting mechanism 700 through a connecting rod 721. The trigger member 720 is connected to one end of the connecting rod 721 and protrudes from the connecting rod 721. The trigger member 720 and the third sensing member 740 are both located on a side of the workbench 100 away from the silo 200.

[0107] like Figure 4 and Figure 5 As shown, in one embodiment, the height position of the trigger member 720 is between the height position of the second sensing member 730 and the height position of the third sensing member 740, so that the trigger member 720 moves close to the second sensing member 730 when rising and moves close to the third sensing member 740 when falling.

[0108] refer to Figure 1 The sandpaper auxiliary installation device 10 further includes a pressing platform 800 disposed on the workbench 100, the pressing platform 800 having a pressing plane 810, the pressing plane 810 facing the stacking direction of the plurality of sandpapers (in Figure 1 After the grinding head is attached to the sandpaper, the mechanical arm can be controlled to move with the grinder so that the end of the grinding head attached to the sandpaper is pressed on the pressing plane 810, thereby making the grinding head and the sandpaper reliably connected.

[0109] refer to Figure 1 In one embodiment, the pressing platform 800 is connected to the workbench 100 via a plurality of support rods 820 .

[0110] refer to Figure 1 In one embodiment, the sandpaper auxiliary installation device 10 further includes: a first straightening portion 910 disposed on the workbench 100 and a second straightening portion 920 disposed on the workbench 100. The first straightening portion 910 and the second straightening portion 920 are disposed opposite to each other and spaced apart along a first direction. The first direction is perpendicular to the stacking direction of the plurality of sandpapers.

[0111] When the robot arm is controlled to carry the grinding head of the grinder, the grinding head can be controlled to pass between the first straightening part 910 and the second straightening part 920. When the grinding head passes between the first straightening part 910 and the second straightening part 920, the posture of the grinding head is limited by the space between the first straightening part 910 and the second straightening part 920. Therefore, the space between the first straightening part 910 and the second straightening part 920 can correct the posture of the grinding head, so that the grinding head can pass between the first straightening part 910 and the second straightening part 920 in the expected posture, which plays a role in straightening the grinding head. In this way, it is beneficial for the sandpaper to be smoothly adhered to the grinding head when the sandpaper is attached to the grinding head, and the sandpaper is not easy to warp.

[0112] In this embodiment, the first straightening portion 910 and the second straightening portion 920 are straightening rods, such as cylindrical rods. The first straightening portion 910 and the second straightening portion 920 are disposed on the pressing platform 800 .

[0113] In other embodiments, the first straightening portion and the second straightening portion may also be plate-shaped structures, etc. The first straightening portion and the second straightening portion may also be directly arranged on the workbench.

[0114] Since the first direction is perpendicular to the stacking direction of the multiple sandpapers, the grinding head passes along the second direction when passing between the first straightening part 910 and the second straightening part 920. The second direction is perpendicular to the first direction and the stacking direction of the multiple sandpapers. In one embodiment, the first straightening part 910 and the second straightening part 920 are located on the second direction side of the silo 200. The middle position along the first direction between the first straightening part 910 and the second straightening part 920 corresponds to the middle position of the silo 200 along the first direction. In this way, after passing between the first straightening part 910 and the second straightening part 920, the grinding head moves along the second direction and can move to the center position above the silo 200, so that when the grinding head moves downward to stick to the top layer of sandpaper, it can stick to the center position of the sandpaper, which is conducive to the sandpaper sticking to the grinding head evenly, and the sandpaper is not easy to warp.

[0115] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A sandpaper auxiliary installation device, characterized in that: include: Workbench; A silo, arranged on the workbench and used to accommodate a plurality of sandpapers stacked in sequence, and a side wall of the silo is provided with an escape opening; An image acquisition module is disposed on the workbench, and is used to acquire image data of a gap between a top layer of sandpaper and sandpaper adjacent to the top layer of sandpaper through the avoidance opening; A control module, used for obtaining height position information of the gap according to the image data; Separating knife; as well as A moving mechanism is arranged on the workbench and connected to the dividing knife, the control module is used to control the movement of the moving mechanism according to the height position information, the moving mechanism is used to drive the dividing knife to move to a height position corresponding to the gap and to drive the dividing knife to extend into the avoidance to be inserted into the gap; The moving mechanism comprises a telescopic component and a height adjustment component, wherein the driving direction of the telescopic component is along the moving direction of the partition knife when it extends into or withdraws from the avoidance opening, and the driving direction of the height adjustment component is along the stacking direction of the plurality of sandpapers; The force output end of one of the telescopic assembly and the height adjustment assembly is connected to the other, and the force output end of the other is connected to the dividing knife; The telescopic assembly includes a movably connected base and a moving part, and the moving part can move relative to the base along the moving direction of the dividing knife when it extends into or exits the avoidance opening; the height adjustment assembly includes a movably connected base and a moving part along the stacking direction of the multiple sandpapers; The telescopic assembly and the height adjustment assembly, wherein the moving portion of one is connected to the base of the other, and the moving portion of the other is connected to the dividing knife; The number of the silos is multiple; The sandpaper auxiliary installation device further comprises a driving mechanism disposed on the workbench, the driving mechanism being used to drive the moving mechanism to move relative to the workbench, so that the moving mechanism carrying the dividing knife can selectively move toward the avoidance opening of any of the silos; The driving mechanism is used to drive the moving mechanism to rotate relative to the workbench, and the plurality of bins are arranged in sequence around the rotation center of the moving mechanism; The image acquisition module is arranged on the mobile mechanism, so that the mobile mechanism carrying the image acquisition module can selectively face the avoidance opening of any of the silos; The image acquisition module and the dividing knife face the same avoidance opening of the silo; The sandpaper auxiliary installation device further includes: a plurality of micro switches, the micro switches are arranged in one-to-one correspondence with the material bins, and the positions of the micro switches and the workbench are relatively fixed; and a toggle member, the toggle member is connected to the moving mechanism, so that when the moving mechanism moves relative to the workbench, the toggle member is carried to sequentially toggle the plurality of micro switches, and when the micro switches are toggled, the driving mechanism is triggered to stop driving the moving mechanism, and the dividing knife moves toward the avoidance opening of the material bin corresponding to the toggled micro switches; The sandpaper auxiliary installation device also includes: a sandpaper tray, located in the material bin and used to support the multiple sandpapers stacked in sequence; a lifting mechanism, arranged on the workbench and used to drive the sandpaper tray to rise and fall; and a first sensing element, arranged in the material bin, the first sensing element is configured to trigger the lifting mechanism to stop when sensing that the top layer of sandpaper rises to a first predetermined height.

2. The sandpaper-assisted installation device according to claim 1, characterized in that: The force output end of the height adjustment component is connected to the telescopic component, and the force output end of the telescopic component is connected to the dividing knife.

3. The sandpaper-assisted installation device according to claim 1, characterized in that: The inner cavity of the material bin is used to match the shape of the sandpaper, and the shapes of the inner cavities of different material bins are different.

4. The sandpaper-assisted installation device according to claim 1, characterized in that: Also includes: A triggering member connected to the lifting mechanism; and, The second sensing element is disposed on the workbench, and is configured to generate a trigger signal when sensing that the trigger element rises to a second predetermined height.

5. The sandpaper-assisted installation device according to claim 1, characterized in that: Also includes: A triggering member connected to the lifting mechanism; and, The third sensing element is arranged on the workbench, and is configured to sense that when the trigger element descends to a third predetermined height, trigger the lifting mechanism to stop moving.

6. The sandpaper-assisted installation device according to claim 1, characterized in that: It also includes a pressing platform arranged on the workbench, wherein the pressing platform has a pressing plane, and the pressing plane faces the stacking direction of the plurality of sandpapers.

7. The sandpaper-assisted installation device according to claim 1, characterized in that: Also includes: A first straightening portion and a second straightening portion are arranged on the workbench, wherein the first straightening portion and the second straightening portion are arranged opposite to each other and spaced apart along a first direction, and the first direction is perpendicular to the stacking direction of the plurality of sandpapers.

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