Sanding robot automatic sandpaper changing device

Abstract

A polishing robot automatic sandpaper changing device, comprising a box body, a first supporting plate, a solenoid valve group, a first pressure regulating valve, a second supporting plate, a door, a third supporting plate, a pressing block, a sandpaper sticking component, a sandpaper tearing component, a polishing tool, a vacuum chuck, a support, a waste hopper, a hinge, and a second pressure regulating valve. Through reasonable structural design of the sandpaper tearing component, the sandpaper sticking component, and the sandpaper detecting component, the robot automatic sandpaper changing device can load sandpaper of different sizes, different forms, and different particle sizes, has strong versatility, and the sandpaper tearing mode of the sandpaper tearing plate pressing type is stable and reliable. The sandpaper automatic changing device effectively improves the reliability, stability, and practicality of the robot automatic sandpaper changing, accelerates the deployment efficiency of the robot automation application in the form of standard modularization, and indirectly ensures the stability of the polishing process and the stable operation of the robot polishing automation.

Description

TECHNICAL FIELD

[0001] The application relates to an automatic sandpaper replacing device in the field of robot automation, in particular to an automatic sandpaper replacing device for robot polishing. BACKGROUND

[0002] With the increasing application of robots in industry, robot polishing has replaced manual polishing in the working mode, and in this process, how to stably, reliably and conveniently replace the waste sandpaper on the end tool of the robot has been an important factor restricting the efficient deployment of robots. At present, the automatic sandpaper replacing mechanisms on the market are mostly single sandpaper tearing or sandpaper sticking mechanisms. For example, patent CN209831250U discloses a sandpaper tearing mechanism, which inserts a pin between the sandpaper and the sand disc to tear the sandpaper by rotating the robot to assist the sandpaper tearing, realizes synchronous sandpaper switching of four linearly arranged grinding heads, converts the sandpaper tearing action into the sandpaper cutting action, and has redundant structure and poor reliability. The four linearly arranged grinding heads simultaneously replace the sandpaper, which has poor implementability. Patent CN211805528U discloses a sandpaper replacing mechanism, which has action interference between the polishing machine and the sandpaper library during the action execution, cannot complete the replacement of the bottom layer sandpaper of the material cage, and has poor reliability because the mechanism is designed to detect the mechanism and cannot effectively confirm the sandpaper sticking and tearing state. Patent CN212399242U discloses an automatic sandpaper replacing device, which has sandpaper sticking, sandpaper tearing and sandpaper detection functions. In the independent sandpaper sticking part, the signal detection of the cylinder and the like is not designed, the robot cannot correctly judge the completion of the sandpaper sticking action, the sandpaper sticking action is unreliable or the waiting time is wasted, and the efficiency is low. In the sandpaper tearing part, the upper and lower lips of the sandpaper tearing mechanism are thick, the sandpaper tearing cannot be realized, the mechanism interference cannot be realized, and the rationality is poor. In the detection part, the detection part is not dustproof, is easily blocked in a dusty environment, and is not easy to clean the precision sensor. Patent CN103111943B discloses an automatic sandpaper loading machine, which does not consider sandpaper sticking and taking detection, cannot guarantee the reliability of sandpaper taking and sticking, and the sandpaper placing disc is arranged with four guide columns in the circumferential direction, which limits the diversity of sandpaper use.

[0003] These inventions do not solve the stability problem of the sandpaper taking and sticking process, have poor executability in the use process, are prone to failure, and have poor use stability. For example, in the process of tearing off the waste sandpaper by clamping, the sandpaper is sometimes torn or even directly clamped due to insufficient strength of the sandpaper itself or excessive local clamping force. At this time, the clamping operation cannot be automatically performed again, and only manual tearing can be performed after stopping the machine to continue production. In addition, due to the various types of sandpaper, the existing sandpaper tearing equipment has poor universality and cannot well adapt to the replacement of various types of sandpaper, and has great overall limitations. SUMMARY

[0004] The present application aims at the deficiencies of the prior art, and provides an automatic sandpaper changing device, which improves the reliability, stability, universality and practicability of automatic sandpaper changing of the robot by reasonably designing the sandpaper tearing part, the sandpaper sticking part and the sandpaper detecting part, indirectly guarantees the stability of the polishing process and the stable operation of the robot polishing automation, and accelerates the deployment efficiency of the robot automation application in the form of standard modularization.

[0005] The present application is realized by the following technology, an automatic sandpaper changing device of a polishing robot, which comprises a box body, a sandpaper sticking part, an auxiliary detecting device and a sandpaper tearing part, a plurality of openings are formed in the rear side of the upper end face of the box body, and one sandpaper sticking part is arranged in each opening; the sandpaper tearing part is arranged on the front side of the upper end face of the box body.

[0006] The auxiliary detecting device comprises a vacuum chuck and a support, the support is arranged on the front side of the upper end face of the box body, and the vacuum chuck is arranged on the upper part of the support near the side of the sandpaper tearing part.

[0007] The sandpaper tearing part comprises a mounting support, a sandpaper tearing plate, a bearing, rubber and a roller, a plurality of rollers are arranged on the mounting support in parallel, and the rollers are arranged parallel to the width direction of the box body; the rollers are rotatably arranged on the mounting support through the bearing, and the rollers can be freely rotated or driven to rotate by a motor; the surface of the roller is wrapped with a rubber layer, and the sandpaper tearing plate is fixed above the roller, and a gap for the passage of waste sandpaper, i.e. a waste sandpaper passage, is formed between the sandpaper tearing plate and the roller.

[0008] The front end of the sandpaper tearing plate is provided with a protruding part, and the protruding part is thinner as it is closer to the front end.

[0009] When the sandpaper is torn, the grinding wheel translates from front to back, the protruding part enters between the grinding wheel and the waste sandpaper first to separate the grinding wheel and the waste sandpaper, the grinding wheel continues to move, the waste sandpaper enters the waste sandpaper passage, and the waste sandpaper in the waste sandpaper passage is flattened under the action of the roller, with the movement of the grinding wheel, the waste sandpaper gradually separates from the grinding wheel until it is completely torn off; after the waste sandpaper on the grinding wheel is removed, the grinding wheel moves to the vacuum chuck, and whether the waste sandpaper is torn off is determined according to the change of the air pressure value in the vacuum chuck.

[0010] Preferably, the sandpaper sticking part comprises a cylinder, a movable sticking plate and a sandpaper hopper, a high-elastic rubber layer is arranged on the upper surface of the movable sticking plate, the movable sticking plate is arranged at the bottom of the sandpaper hopper, and the movable end of the cylinder penetrates through the sandpaper hopper and is connected with the movable sticking plate upward.

[0011] Preferably, the vacuum chuck is arranged toward the side near the sandpaper tearing part; the vacuum chuck is connected with a pressure transmitter and a first pressure regulating valve, the pressure transmitter is used for detecting the pressure in the vacuum chuck, and the first pressure regulating valve is used for adjusting the air pressure of the vacuum chuck according to the type of the sandpaper; whether the waste sandpaper is torn off and whether the new sandpaper is well stuck are determined according to the change of the air pressure at the end of the vacuum chuck.

[0012] Preferably, the box under the sandpaper tearing part is provided with an opening, and a waste hopper for collecting waste sandpaper is arranged in the opening.

[0013] Preferably, the lower part of the sandpaper hopper is provided with a sensor for detecting whether there is sandpaper in the sandpaper hopper.

[0014] Preferably, the protruding part is in the shape of a circular arc, and the protruding part and the front end face of the sandpaper tearing plate form a whole in the shape of a parabola.

[0015] Preferably, the bottom of the sandpaper tearing plate is provided with a first groove and a second groove, one end of the first groove is open to the protruding part, the main insertion plate is arranged in the first groove, the second groove is provided with a second insertion plate, the main insertion plate and the second insertion plate are arranged to extend from the protruding part, the length of the main insertion plate extending from the protruding part is greater than the length of the second insertion plate extending from the protruding part, and the front end of the second insertion plate exceeds the front end of the first groove; the front end of the second insertion plate is 1-3mm higher than the front end of the main insertion plate; the main insertion plate is used to firstly insert between the grinding wheel and the waste sandpaper to separate the grinding wheel and the waste sandpaper.

[0016] Preferably, the end of the main insertion plate is provided with an extraction device, the extraction device is connected to the extraction device through a connecting rod, and the extraction device is powered by a pneumatic cylinder, a motor or an electromagnet; the second insertion plate is arranged in the second groove through a spring.

[0017] Preferably, the front end of the first groove is a concave surface smoothly connected to the part of the second insertion plate exposed from the protruding part.

[0018] Preferably, the middle part of the main insertion plate is provided with a pressure sensor, when the grinding wheel is about to approach the second insertion plate during sandpaper tearing, if the pressure sensor senses that the pressure on the main insertion plate is less than a threshold value at this time, the extraction device controls the main insertion plate to completely retract into the first groove; at this time, the second insertion plate bears the action of being inserted between the grinding wheel and the waste sandpaper.

[0019] The present application has at least the following advantages:

[0020] 1. The automatic sandpaper changing device of the present application improves the reliability, stability, universality and practicability of the robot automatic sandpaper changing by reasonably designing the sandpaper tearing part, the sandpaper sticking part and the sandpaper detecting part, accelerates the deployment efficiency of the robot automation application in the form of standard modularization, indirectly ensures the stability of the polishing process and the stable operation of the robot polishing automation, reduces the labor cost of enterprises, and increases the efficiency of enterprises.

[0021] 2. The sandpaper tearing plate and the roller in the sandpaper tearing part can tear the sandpaper and flatten the sandpaper at the same time, which ensures the smooth operation of the sandpaper tearing operation and is not easy to tear the sandpaper as in the ordinary sandpaper tearing device.

[0022] 3. The auxiliary detection device reviews the sandpaper tearing and sticking operation, avoiding the phenomenon of idle running of the polishing tool.

[0023] 4. The double insertion plate setting of the main insertion plate and the auxiliary insertion plate improves the success rate of single sandpaper tearing operation and has higher reliability. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the overall structure schematic diagram of the present application;

[0025] Figure 2 is the sandpaper sticking part schematic diagram of the present application;

[0026] Figure 3 is the sandpaper tearing part schematic diagram of the present application;

[0027] Figure 4 is the partial structure schematic diagram of the bottom of another protruding part;

[0028] The labels in the drawings are as follows: 1, box body, 2, first support plate, 3, electromagnetic valve group, 4, first pressure regulating valve, 5, second support plate, 6, door, 7, third support plate, 8, pressing block, 9, sandpaper sticking part, 901, air cylinder, 902, movable sticking plate, 903, high-elastic rubber layer, 904, sandpaper hopper, 10, sandpaper tearing part, 1001, mounting bracket, 1002, tearing plate, 1003, bearing, 1004, rubber, 1005, roller, 11, polishing tool, 12, vacuum chuck, 13, bracket, 14, waste hopper, 15, hinge, 16, second pressure regulating valve, 17, protruding part, 1710, first groove, 1720, second groove, 1711, main insertion plate, 1712, pressure sensor, 1721, auxiliary insertion plate. DETAILED DESCRIPTION

[0029] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made. These all belong to the protection scope of the present application.

[0030] Example 1

[0031] As Figures 1-3The sandpaper automatic replacing device of the polishing robot is characterized by comprising a box body 1, sandpaper sticking parts 9, an auxiliary detection device and sandpaper tearing parts 10, a plurality of openings are formed on the rear side of the upper end face of the box body 1, one sandpaper sticking part 9 is arranged in each opening, and the sandpaper tearing parts 10 are arranged on the front side of the upper end face of the box body 1; in the embodiment, the box body is divided into three layers, i.e., a first support plate 2 at the bottom, a second support plate 5 at the middle and a third support plate 7 at the upper end face, the sandpaper sticking parts 9 are detachably fixed on the box body 1 through pressing blocks 8, and a door 6 is installed on the box body 1 through a hinge 15. The sandpaper sticking parts 9 are designed with four groups, which are reasonably arranged according to the polishing process requirements, so that one device can meet more than 95% of sandpaper polishing applications, and the multi-specification switching of sandpaper with different particle sizes from coarse to fine is facilitated.

[0032] The auxiliary detection device comprises a vacuum chuck 12 and a support 13, the support 13 is arranged on the front side of the upper end face of the box body 1, and the vacuum chuck 12 is arranged on the upper part of the support 13 near one side of the sandpaper tearing parts 10; in the embodiment, the disc face of the vacuum chuck 12 is installed at 90° with the third support face 7 near one side of the sandpaper tearing parts, so as to avoid the dust in the dusty polishing environment from blocking the air pipe channel.

[0033] The sandpaper tearing parts 10 comprise an installation support 1001, a sandpaper tearing plate 1002, a bearing 1003, rubber 1004 and a roller 1005, a plurality of rollers 1005 are arranged on the installation support 1001 in parallel, and the rollers 1005 are arranged parallel to the width direction of the box body 1; the roller 1005 is rotatably arranged on the installation support 1001 through the bearing 1003, and the roller 1005 can be freely rotated or driven to rotate by a motor; the roller 1005 is wrapped with a rubber layer 1004, and the sandpaper tearing plate 1002 is fixed above the roller 1005, and a gap for the waste sandpaper to pass through, i.e., a waste sandpaper channel, exists between the sandpaper tearing plate 1002 and the roller 1005; in the embodiment, the hardness of the rubber 1004 is Shore A 75, which is used to wrap the roller 1005, the roller 1005 can be freely rotated, and when the sandpaper is torn, the torn part of the sandpaper is flattened by the sandpaper tearing plate 1002 and the roller 1005, so that the waste sandpaper can be smoothly torn off, and the waste sandpaper is not easy to tear or block due to wrinkles.

[0034] The front end of the sandpaper tearing plate 1002 is provided with a protruding part 17, and the protruding part 17 is thinner as it is closer to the front end;

[0035] When the sandpaper is being torn, the convex part 17 enters between the sand wheel and the waste sandpaper first to separate the sand wheel and the waste sandpaper, the sand wheel continues to move, the waste sandpaper enters the waste sandpaper channel, and the waste sandpaper in the waste sandpaper channel is crushed flat under the action of the roller 1005, with the movement of the sand wheel, the waste sandpaper gradually separates from the sand wheel until it is completely torn off; after the waste sandpaper on the sand wheel is removed, the sand wheel moves to the vacuum chuck 12, and whether the waste sandpaper is torn off is confirmed according to the change of the air pressure value in the vacuum chuck 12.

[0036] The sandpaper sticking part 9 comprises a cylinder 901, a movable sticking plate 902, and a sandpaper hopper 904. The movable sticking plate 902 is provided with a high-elastic rubber layer 903 on the upper surface, and is arranged at the bottom of the sandpaper hopper 904. The movable end of the cylinder 901 penetrates through the sandpaper hopper 904 upward and is connected with the movable sticking plate 902. The high-elastic rubber layer 903 contacts with the sandpaper and can protect the polishing grit on the surface of the sandpaper. The cylinder 901 realizes the contact pressure between the sandpaper in the sandpaper hopper 904 and the polishing tool 11 through the second pressure regulating valve 16 arranged in the box, and controls the extension and retraction of the cylinder through the electromagnetic valve group 3, so as to reliably stick sandpaper of different particle sizes and different sizes. The cylinder 901 is a single-shaft reciprocating cylinder, which is provided with a magnetic switch to detect the in-place information of the cylinder. When the sandpaper sticking part 9 completes the sandpaper sticking action, a signal is sent to the robot to perform the next action, so that the reliability is high.

[0037] The vacuum chuck 12 is arranged towards the side of the near sandpaper tearing part 10. The vacuum chuck 12 is connected with a pressure transmitter and a first pressure regulating valve 4. The pressure transmitter is used to detect the pressure in the vacuum chuck 12, and the first pressure regulating valve 4 is used to adjust the air pressure of the vacuum chuck 12 according to the type of sandpaper. Whether the waste sandpaper is torn off and whether the new sandpaper is well stuck is confirmed according to the change of the air pressure at the end of the vacuum chuck 12.

[0038] An opening is arranged on the box 1 below the sandpaper tearing part 10, and a waste hopper 14 for collecting waste sandpaper is arranged in the opening.

[0039] A sensor is arranged at the lower part of the sandpaper hopper 904 to detect whether there is sandpaper in the sandpaper hopper 904. If there is no sandpaper, the device will issue an alarm to remind the operator to add sandpaper.

[0040] The convex part 17 is in the shape of a circular arc, and the convex part and the front end face of the sandpaper tearing plate 1002 where the convex part is located are in the shape of a parabola as a whole.

[0041] Working principle: The operator places the sandpaper hopper 904 of the corresponding specification according to the process planning. If there is no sandpaper in the hopper 904 or no hopper 904 in the sandpaper sticking part 9, the device will issue a prompt sound and display the corresponding information. The air pressure of the cylinder 901 is adjusted through the second pressure regulating valve 16 according to the type of sandpaper, and the sandpaper detection air pressure is adjusted through the first pressure regulating valve 4.

[0042] After the robot, carrying a grinding tool, picks up new sandpaper (with flocked backing) from the sandpaper-sticking component 9, it performs a grinding operation on the workpiece. After a period of use, the sandpaper becomes unusable. The robot then moves its end-effector grinding tool 11 to the sandpaper-tearing component 10. The robot moves its end-effector sanding disc, inserting the tearing plate 1002 between the old sandpaper and the sanding disc. The robot moves horizontally, and the roller 1005 rolls along the old sandpaper. The old sandpaper is compressed flat by the roller 1005 and the tearing plate 1002, resulting in no wrinkles, and is successfully torn off. Afterward, the robot, carrying the end-effector tool 11, changes its position to the vacuum suction cup 12, and confirms the position based on the change in air pressure. If the old sandpaper has not been removed, repeat the sandpaper removal action. If it has been removed, the robot takes the end effector tool 11 to the sandpaper sticking part and sticks the sandpaper. After the robot is in position, it sends a signal to control the cylinder 901 to move. After the cylinder 901 extends, it pauses for 1 second to confirm that the sandpaper is firmly stuck and then retracts. After receiving the retraction signal from the cylinder 901, the robot takes the polishing tool 11 and changes its posture to the vacuum suction cup 12. It checks the air pressure change to confirm whether the new sandpaper has been successfully stuck. If no sandpaper is detected, repeat the sandpaper sticking action. If the new sandpaper has been successfully stuck, the robot takes the polishing tool 11 and starts the polishing operation.

[0043] Example 2

[0044] like Figure 4 As shown, similar to Embodiment 1, the difference is that the bottom of the tearing plate 1002 is provided with a first groove 1710 and a second groove 1720 with one end open to the protrusion 17. The first groove 1710 is provided with a main insertion plate 1711, and the second groove 1720 is provided with a secondary insertion plate 1721. Both the main insertion plate 1711 and the secondary insertion plate 1721 extend from the protrusion. The length of the main insertion plate 1711 extending out of the protrusion is greater than the length of the secondary insertion plate 1721 extending out of the protrusion, and the front end of the secondary insertion plate 1721 extends beyond the front end of the first groove 1710.

[0045] The front end of the secondary insertion plate 1721 is 1-3mm higher than the front end of the main insertion plate 1711; the main insertion plate 1711 is used to insert first between the grinding wheel and the waste sandpaper to separate the grinding wheel and the waste sandpaper.

[0046] The end of the main insertion plate 1711 is provided with a pulling device, the pulling device is connected with the pulling device through a connecting rod, the pulling device is powered by a cylinder, a motor or an electromagnet; the secondary insertion plate 1721 is provided in the second groove 1720 through a spring. If the main insertion plate 1711 is inserted successfully, the secondary insertion plate 1721 can also be inserted between the grinding wheel and the waste sandpaper, and can also be compressed into the second groove 1720 by being pressed on the grinding wheel, and will not affect the movement of the grinding wheel; the secondary insertion plate 1721 can be slightly inclined upward, and the hardness of the secondary insertion plate 1721 should not be too large, so as to avoid damaging the grinding wheel; the stiffness coefficient of the spring should not be too small, so as to avoid that the secondary insertion plate 1721 cannot be inserted between the grinding wheel and the waste sandpaper.

[0047] The front end of the first groove 1710 is a concave surface which is smoothly connected with the exposed part of the protruding part 17 of the secondary insertion plate 1721, this setting makes the secondary insertion plate 1721 form a parabolic shape again when the main insertion plate 1711 is retracted after failing to be inserted, so as to facilitate insertion.

[0048] The middle part of the main insertion plate 1711 is provided with a pressure sensor 1712, when the grinding wheel approaches the secondary insertion plate 1721 during sandpaper tearing, if the pressure sensor senses that the pressure on the main insertion plate 1711 is less than a threshold value, the pulling device controls the main insertion plate 1711 to retract completely into the first groove 1710; at this time, the secondary insertion plate 1721 bears the action of being inserted between the grinding wheel and the waste sandpaper.

[0049] The most common reason for the protruding part failing to be inserted between the grinding wheel and the waste sandpaper is that the position of the protruding part is lower than the position of the waste sandpaper, the double insertion plate is provided, and the front end height of the secondary insertion plate 1721 is slightly greater than that of the main insertion plate 1711, when the main insertion plate 1711 fails to be inserted between the grinding wheel and the waste sandpaper, the main insertion plate 1711 is usually subjected to smaller pressure (the main insertion plate is on the lower side of the waste sandpaper), then it can be determined that the main insertion plate 1711 does not work, the pulling device controls the main insertion plate 1711 to retract into the first groove 1710, and the secondary insertion plate 1721 with a higher front end position bears the action of being inserted between the grinding wheel and the waste sandpaper, this double insurance setting can improve the success rate of sandpaper tearing operation; if the secondary insertion plate also fails to be inserted, it is detected at the auxiliary detection device, and the sandpaper tearing operation is restarted.

[0050] The specific embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of the claims, which does not affect the essential content of the application.

Claims

1. An automatic sandpaper changing device for a sanding robot, characterized in that, It includes a box body (1), a sandpaper sticking component (9), an auxiliary detection device and a sandpaper tearing component (10). Several openings are provided on the rear side of the upper end face of the box body (1), and a sandpaper sticking component (9) is provided in each opening. The sandpaper tearing component (10) is provided on the front side of the upper end face of the box body (1). The auxiliary testing device includes a vacuum suction cup (12) and a bracket (13). The bracket (13) is located on the front side of the upper end of the box (1), and the vacuum suction cup (12) is located on the side of the upper part of the bracket (13) near the sandpaper tearing component (10). The sandpaper tearing component (10) includes a mounting bracket (1001), a tearing plate (1002), a bearing (1003), rubber (1004), and rollers (1005). Several rollers (1005) are arranged side by side on the mounting bracket (1001), and the rollers (1005) are arranged parallel to the width direction of the box (1). The rollers (1005) are rotatably mounted on the mounting bracket (1001) through the bearing (1003). The rollers (1005) can rotate freely or be driven to rotate by a motor. The surface of the rollers (1005) is covered with a rubber layer (1004). The tearing plate (1002) is fixed above the rollers (1005). There is a gap between the tearing plate (1002) and the rollers (1005) for waste sandpaper to pass through, i.e., a waste sandpaper channel. The front end of the tearing plate (1002) is provided with a protrusion (17), and the protrusion (17) is thinner closer to the front end; When tearing sandpaper, the grinding wheel moves horizontally from front to back. The protrusion (17) enters the space between the grinding wheel and the waste sandpaper first, separating the grinding wheel and the waste sandpaper. The grinding wheel continues to move, and the waste sandpaper enters the waste sandpaper channel. The waste sandpaper in the waste sandpaper channel is flattened by the action of the roller (1005). As the grinding wheel moves, the waste sandpaper gradually separates from the grinding wheel until it is completely torn off. After the waste sandpaper on the grinding wheel is removed, the grinding wheel moves to the vacuum suction cup (12). The change in air pressure in the vacuum suction cup (12) is used to confirm whether the waste sandpaper has been torn off. The bottom of the tearing plate (1002) is provided with a first groove (1710) and a second groove (1720) with one end open to the protrusion (17). The first groove (1710) is provided with a main insertion plate (1711), and the second groove (1720) is provided with a secondary insertion plate (1721). Both the main insertion plate (1711) and the secondary insertion plate (1721) extend from the protrusion. The length of the main insertion plate (1711) extending out of the protrusion is greater than the length of the secondary insertion plate (1721) extending out of the protrusion, and the front end of the secondary insertion plate (1721) extends beyond the front end of the first groove (1710). The front end of the secondary insertion plate (1721) is 1-3 mm higher than the front end of the main insertion plate (1711). The main insertion plate (1711) is used to be inserted first between the grinding wheel and the waste sandpaper to separate the grinding wheel and the waste sandpaper. The main insertion plate (1711) is provided with a withdrawal device at its end. The withdrawal device is connected to the main insertion plate via a connecting rod and is powered by a cylinder, motor, or electromagnet. The auxiliary insertion plate (1721) is provided in the second groove (1720) via a spring. A pressure sensor (1712) is provided in the middle of the main insertion plate (1711). When tearing sandpaper, when the grinding wheel is about to approach the auxiliary insertion plate (1721), if the pressure sensor senses that the pressure on the main insertion plate (1711) is less than the threshold, the extraction device controls the main insertion plate (1711) to retract completely into the first groove (1710); at this time, the auxiliary insertion plate (1721) takes on the role of inserting between the grinding wheel and the waste sandpaper.

2. The automatic sandpaper changing device for a grinding robot according to claim 1, characterized in that, The sandpaper sticking component (9) includes a cylinder (901), a movable sticking plate (902), and a sandpaper hopper (904). The upper surface of the movable sticking plate (902) is provided with a high-elastic rubber layer (903). The movable sticking plate (902) is located at the bottom of the sandpaper hopper (904). The movable end of the cylinder (901) passes upward through the sandpaper hopper (904) and connects to the movable sticking plate (902).

3. The automatic sandpaper changing device for a grinding robot according to claim 1, characterized in that, The vacuum suction cup (12) is positioned towards the side of the sandpaper tearing component (10); the vacuum suction cup (12) is connected to a pressure transmitter and a first pressure regulating valve (4). The pressure transmitter is used to detect the pressure inside the vacuum suction cup (12), and the first pressure regulating valve (4) is used to adjust the air pressure of the vacuum suction cup (12) according to the type of sandpaper; the change in air pressure at the end of the vacuum suction cup (12) is used to confirm whether the waste sandpaper has been torn off and whether the new sandpaper has been properly attached.

4. The automatic sandpaper changing device for a grinding robot according to claim 1, characterized in that, The box (1) below the sandpaper tearing component (10) has an opening, and a waste hopper (14) for collecting waste sandpaper is provided in the opening.

5. The automatic sandpaper changing device for a grinding robot according to claim 2, characterized in that, The lower part of the sandpaper hopper (904) is equipped with a sensor for detecting whether there is sandpaper in the sandpaper hopper (904).

6. The automatic sandpaper changing device for a grinding robot according to claim 1, characterized in that, The protrusion (17) is arc-shaped, and the protrusion and the front end face of the tearing plate (1002) it is located on are parabolic in shape.

7. The automatic sandpaper changing device for a grinding robot according to claim 1, characterized in that, The front end of the first groove (1710) is a concave surface that smoothly connects with the exposed protrusion (17) of the sub-insertion plate (1721).

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