Automatic sandpaper replacement device and automatic sandpaper replacement method suitable for movable grinding disc

Abstract

The present invention relates to an automatic sandpaper replacement device and an automatic sandpaper replacement method suitable for a movable grinding disc, and relates to the field of robot automation technology. The device comprises: a spindle, an automatic sandpaper removal mechanism, an automatic sandpaper loading mechanism, and a support frame; the automatic sandpaper removal mechanism is arranged at one end of the support frame, and the automatic sandpaper loading mechanism is arranged at the other end of the support frame; a movable joint is fixed at the end of the spindle, and a grinding disc is fixed at the other end of the movable joint, flocked sandpaper is adhered and fixed on the end surface of the grinding disc, and a sandpaper removal hole is provided on the grinding disc; a position sensor is integrated inside the spindle for returning the spindle position to zero. The device of the present invention comprises an automatic sandpaper removal mechanism using a linear feed mechanism and a force sensor, an adsorption mechanism based on a color sensor to determine whether the sandpaper is successfully adsorbed, and a sandpaper recovery mechanism, which is suitable for the application scenario of a movable grinding disc, can ensure the success rate of changing and taking sandpaper for the movable grinding disc, and has the function of detecting whether the sandpaper is successfully adsorbed, and the detection method is simple and easy.

Description

Technical Field

[0001] The invention relates to the technical field of robot automation, and in particular to an automatic sandpaper replacement device and an automatic sandpaper replacement method suitable for a movable grinding disc. Background Art

[0002] As an important achievement of modern industrial automation, the application of grinding robots is becoming more and more extensive. In the fields of automobile manufacturing, metal processing, aerospace, etc., grinding robots have greatly improved production efficiency and product quality with their high efficiency and precision. At the same time, with the continuous advancement of technology, grinding robots have been able to realize automatic grinding of complex surfaces, reducing the difficulty and error of manual operation. In the future, with the in-depth development of intelligent manufacturing, the application of grinding robots will be more extensive and become an important force to promote industrial upgrading.

[0003] For some high-precision application scenarios, the grinding disc needs to fit the surface of the workpiece as closely as possible, which requires the spindle to apply tension and pressure to the center of the grinding disc, as well as the force to control the rotation of the grinding disc. In other directions, the grinding disc does not apply force to the spindle, so that the grinding disc and the workpiece fit more closely. This also results in the grinding disc being unforced in multiple directions in a free state, and its posture is uncertain and easily disturbed. Most existing sandpaper changing mechanisms are not suitable for this scenario. Chinese patent document CN115890489A discloses an automatic sandpaper changing mechanism, but it uses a tearing sand plate to change the sandpaper. The movable grinding disc will be deflected by force when passing through the tearing sand plate, resulting in poor effect of changing sandpaper in this way. For the same reason, the effect is also poor when automatically taking sandpaper. Chinese patent document CN112496958A discloses an automatic sandpaper changing mechanism, and the sandpaper removal mechanism it uses also uses a method similar to the tearing sand plate.

[0004] The existing sandpaper replacement mechanism adopts a tearing sand plate method, that is, a wedge-shaped thin plate is inserted into the gap between the sandpaper and the grinding disc to separate the sandpaper from the grinding disc. This method of changing sandpaper requires the grinding disc to be stressed, and multiple changes of sandpaper will cause damage to the grinding disc.

[0005] In the process of automatically changing sandpaper, the existing automatic sandpaper changing tool needs the main shaft of the grinding tool to apply a fixing force to the sandpaper to assist in fixing the sandpaper. When the grinding tool is a movable grinding disc, the success rate of changing sandpaper with the existing automatic sandpaper changing tool will be reduced. Summary of the invention

[0006] The present invention aims to solve the technical problem that the success rate of changing sandpaper in the automatic sandpaper changing tool in the prior art cannot be guaranteed, and provides an automatic sandpaper changing device and an automatic sandpaper changing method suitable for a movable grinding disc.

[0007] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0008] An automatic sandpaper replacement device suitable for a movable grinding disc comprises: a main shaft, an automatic sandpaper withdrawal mechanism, an automatic sandpaper loading mechanism, and a support frame; the automatic sandpaper withdrawal mechanism is arranged at one end of the support frame, and the automatic sandpaper loading mechanism is arranged at the other end of the support frame; wherein:

[0009] A movable joint is fixed at the end of the spindle, and a grinding disc is fixed at the other end of the movable joint. The end surface of the grinding disc is adhered and fixed with flocked sandpaper, and a sandpaper removal hole is provided on the grinding disc. A position sensor used as a zero point sensor is integrated inside the spindle to return the spindle position to zero.

[0010] The automatic sandpaper-removing mechanism comprises: a sandpaper-removing mechanism support plate, a sandpaper-removing mechanism cover plate, and a sandpaper-removing mechanism pillar which are connected in sequence; a sandpaper-removing mechanism force sensor is installed at the end of the sandpaper-removing mechanism pillar, and a displacement sensor is arranged inside the sandpaper-removing mechanism pillar;

[0011] The automatic sandpaper loading mechanism comprises: a sandpaper loading mechanism fixing plate; a sandpaper loading linear motion mechanism is arranged on the sandpaper loading mechanism fixing plate, and a sandpaper storage is arranged above the sandpaper loading linear motion mechanism; a plurality of sandpaper fixing columns are arranged around the sandpaper loading linear motion mechanism; a sandpaper loading mechanism support plate is also arranged on the sandpaper loading mechanism fixing plate, and a sandpaper loading mechanism cover plate is connected to the top of the sandpaper loading mechanism support plate; the sandpaper loading mechanism cover plate extends from the top of the sandpaper loading mechanism support plate to the top of the sandpaper storage; and a sandpaper loading mechanism force sensor is arranged at the end of the sandpaper loading mechanism cover plate.

[0012] In the above technical solution, the spindle is an electric spindle.

[0013] In the above technical solution, the position sensor used as the zero point sensor integrated inside the spindle is: an angle encoder, a rotary transformer, a circular grating or a zero point photoelectric switch.

[0014] In the above technical solution, a color sensor and a sandpaper recovery bin are also fixed on the support frame.

[0015] The method for automatically replacing sandpaper using the automatic sandpaper replacing device applicable to the movable grinding disc comprises the following steps:

[0016] S1, the spindle returns to zero;

[0017] S2, the grinding robot controls the spindle to move to the groove of the cover plate of the sandpaper removal mechanism, and adjusts the position and posture of the grinding robot so that the support of the sandpaper removal mechanism faces the sandpaper removal hole;

[0018] S3, the sandpaper removal mechanism support moves downward or the grinding robot controls the main axis to move upward, ensuring that the grinding disc and the sandpaper removal mechanism support have relative movement, and the sandpaper removal mechanism support separates the grinding disc from the flocking sandpaper;

[0019] S4, reading the value of the force sensor of the sandpaper removal mechanism. If the value is less than the preset pressure value A, it means that the flocking sandpaper is separated from the grinding disc;

[0020] S5, the sandpaper removal mechanism support moves upward or the grinding robot controls the main axis to move downward, ensuring that the sandpaper removal mechanism support is separated from the grinding disc;

[0021] S6, the grinding robot controls the spindle to move to the top of the color sensor, and the color sensor detects whether the color above it is the same as the bottom surface of the grinding disc. If they are the same, it indicates that the sandpaper is successfully removed;

[0022] S7, the grinding robot controls the spindle to move to the groove of the cover plate of the sandpaper loading mechanism, and the center of the spindle faces the center of the sandpaper storage;

[0023] S8, the grinding robot controls the spindle to move upward, so that the upper surface of the grinding disc contacts the cover plate of the sandpaper loading mechanism, and the value of the force sensor of the sandpaper loading mechanism is greater than the preset pressure value B, so as to ensure that the grinding disc is pressed tightly and will not turn over;

[0024] S9, the sandpaper loading linear motion mechanism moves upward, pushing the sandpaper magazine to move upward and press against the grinding disc, until the value of the sandpaper loading mechanism force sensor is greater than the preset pressure value C, so as to ensure that the grinding disc adheres to the sandpaper in the sandpaper magazine;

[0025] S10, the sandpaper loading linear motion mechanism moves downward to an initial position;

[0026] S11, the grinding robot controls the main axis to move to the top of the color sensor, and the color sensor detects whether the color above it is the same as the bottom surface of the flocking sandpaper. If they are the same, it indicates that the sandpaper is loaded successfully.

[0027] The present invention has the following beneficial effects:

[0028] The automatic sandpaper replacing device suitable for a movable grinding disc of the present invention comprises an automatic sandpaper removing mechanism using a linear feeding mechanism and a force sensor, a mechanism for judging whether sandpaper is successfully adsorbed based on a color sensor, and a sandpaper recovery mechanism. The device is suitable for application scenarios of movable grinding discs, can ensure the success rate of replacing and removing sandpaper of the movable grinding disc, and has the function of detecting whether sandpaper is successfully adsorbed, and the detection method is simple and easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] Figure 1 Schematic diagram of the grinding disc and spindle.

[0031] Figure 2 Schematic diagram of the grinding disc and the sandpaper holes.

[0032] Figure 3 The present invention is a schematic structural diagram of an automatic sandpaper withdrawing mechanism of an automatic sandpaper replacing device suitable for a movable grinding disc.

[0033] Figure 4 The present invention is a schematic structural diagram of an automatic sandpaper loading mechanism of an automatic sandpaper replacement device suitable for a movable grinding disc.

[0034] Figure 5 The figure is a schematic structural diagram of an automatic sandpaper replacement device suitable for a movable grinding disc according to the present invention.

[0035] Figure 6 It is a schematic diagram of automatic sandpaper changing of the system of the automatic sandpaper changing device suitable for the movable grinding disc of the present invention.

[0036] The reference numerals in the figures indicate:

[0037] 1-spindle, 2-movable joint, 3-grinding disc, 4-flocking sandpaper, 5-sandpaper withdrawal hole, 6-sandpaper withdrawal mechanism support plate, 7-sandpaper withdrawal mechanism cover plate, 8-sandpaper withdrawal mechanism pillar, 9-sandpaper withdrawal mechanism force sensor, 10-sandpaper loading mechanism cover plate, 11-sandpaper loading mechanism support plate, 12-sandpaper loading mechanism force sensor, 13-sandpaper storage, 14-sandpaper fixing column, 15-sandpaper loading linear motion mechanism, 16-sandpaper loading mechanism fixing plate, 17-color sensor, 18-sandpaper recovery bin, 19-support frame. DETAILED DESCRIPTION

[0038] The inventive concept of the present invention is:

[0039] The automatic sandpaper replacement device suitable for a movable grinding disc of the present invention includes an automatic sandpaper removal mechanism using a linear feed mechanism and a force sensor, a mechanism for judging whether sandpaper is successfully adsorbed based on a color sensor, and a sandpaper recovery mechanism. The sandpaper replacement of the movable grinding disc can be performed reliably and quickly, and has the function of detecting whether sandpaper is successfully adsorbed. During the automatic sandpaper loading process, a pressure sensor is added to ensure that the force applied to the grinding disc during the sandpaper loading process meets the requirements for adsorbing sandpaper, thereby improving the success rate of automatic sandpaper loading.

[0040] The present invention is described in detail below with reference to the accompanying drawings.

[0041] like Figure 1-6 As shown, the automatic sandpaper replacement device suitable for a movable grinding disc of the present invention comprises: a main shaft 1, an automatic sandpaper withdrawing mechanism, an automatic sandpaper loading mechanism, and a support frame 19.

[0042] Among them, a movable joint 2 is fixed at the end of the main shaft 1, a grinding disc 3 is fixed at the other end of the movable joint 2, a flocked sandpaper 4 is adhered and fixed to the end surface of the grinding disc 3, a sandpaper removal hole 5 is pre-made in the grinding disc 3, the main shaft 1 is an electric main shaft, and an internally integrated position sensor can be used for the main shaft 1 to return to zero position.

[0043] The automatic sandpaper withdrawing mechanism comprises: a sandpaper withdrawing mechanism support plate 6, a sandpaper withdrawing mechanism cover plate 7, and a sandpaper withdrawing mechanism pillar 8 which are connected in sequence; a sandpaper withdrawing mechanism force sensor 9 is installed at the end of the sandpaper withdrawing mechanism pillar 8, and a displacement sensor is integrated inside the sandpaper withdrawing mechanism pillar 8.

[0044] The automatic sandpaper loading mechanism comprises: a sandpaper loading mechanism fixing plate 16; a sandpaper loading linear motion mechanism 15 is arranged on the sandpaper loading mechanism fixing plate 16, and a sandpaper storage 13 is arranged above the sandpaper loading linear motion mechanism 15; a plurality of sandpaper fixing columns 14 are arranged around the sandpaper loading linear motion mechanism 15; a sandpaper loading mechanism support plate 11 is also arranged on the sandpaper loading mechanism fixing plate 16, and a sandpaper loading mechanism cover plate 10 is connected to the top of the sandpaper loading mechanism support plate 11; the sandpaper loading mechanism cover plate 10 extends from the top of the sandpaper loading mechanism support plate 11 to the top of the sandpaper storage 13; a sandpaper loading mechanism force sensor 12 is arranged at the end of the sandpaper loading mechanism cover plate 10.

[0045] The automatic sandpaper withdrawing mechanism is arranged at one end of the support frame 19 , and the automatic sandpaper loading mechanism is arranged at the other end of the support frame 19 ; a color sensor 17 and a sandpaper recovery bin 18 are also fixed on the support frame 19 .

[0046] The automatic sandpaper replacement device for the movable grinding disc of the present invention is applicable to the automatic sandpaper removal process according to the following steps:

[0047] (1) The spindle 1 motor returns to zero to ensure that the direction of the sandpaper removal hole 5 in the grinding disc 3 is the same as the direction of the sandpaper removal mechanism support 8.

[0048] (2) The industrial robot controls the spindle 1 to move to the groove in the cover plate 7 of the sandpaper removal mechanism, and adjusts the position and posture of the industrial robot to move the grinding disc 3 to the position directly below the support 8 of the sandpaper removal mechanism. Since the motor of the spindle 1 is reset, it can be ensured that the position of the sandpaper removal hole 5 is at the same position during this process, that is, there is a fixed posture, so that the grinding disc 3 moves directly below the support 8 of the sandpaper removal mechanism.

[0049] The sandpaper-removing mechanism support 8 moves downward, or the industrial robot controls the main shaft 1 to move upward, so that the sandpaper-removing mechanism support 8 passes through the sandpaper-removing hole 5 and separates the flocked sandpaper 4 from the grinding disc 3. In this process, the sandpaper-removing mechanism force sensor 9 is used to detect whether the sandpaper is successfully separated. If the flocked sandpaper 4 is successfully separated, the value of the sandpaper-removing mechanism force sensor 9 should be 0.

[0050] During the design process, the size of the sandpaper removal hole 5 should be significantly larger than the size of the sandpaper removal mechanism support 8 to ensure that the sandpaper removal mechanism support 8 can pass through the sandpaper removal hole 5. For the movable grinding disc, even if the grinding disc 3 is deflected, the sandpaper removal mechanism support 8 is close to the output end of the main shaft 1, which can still ensure that the sandpaper removal mechanism support 8 can penetrate into the sandpaper removal hole 5.

[0051] After the automatic sandpaper removal is completed, the industrial robot controls the spindle 1 to move to the top of the color sensor 17. The color sensor 17 determines whether the color above is the same as the bottom of the grinding disc 3 to determine whether the sandpaper removal is successful.

[0052] The automatic sandpaper replacement device for the movable grinding disc of the present invention is applied to the automatic sandpaper loading process according to the following steps:

[0053] (1) The industrial robot controls the spindle 1 to move to the middle of the groove of the sandpaper loading mechanism cover 10.

[0054] (2) The industrial robot controls the spindle 1 to move upward until the pressure reading of the force sensor 12 of the sandpaper loading mechanism reaches the set value A, so as to ensure that the grinding disc 3 is pressed tightly, the moving direction is restricted, and it will not flip over.

[0055] (3) The sandpaper loading linear motion mechanism 15 moves upward, and the sandpaper magazine 13 is fitted with the grinding disc 3 until the pressure value of the sandpaper loading mechanism force sensor 12 reaches the set value B, so that the sandpaper magazine 13 and the grinding disc 3 are pressed tightly to ensure that the grinding disc 3 can absorb the flocked sandpaper 4 from the sandpaper magazine 13.

[0056] During the design process, the installation position of the sandpaper fixing column 14 can be determined according to the size of the sandpaper storage 13, and the sandpaper loading linear motion mechanism 15 can be pneumatic or electric.

[0057] After the automatic loading of sandpaper is completed, the industrial robot controls the main shaft 1 to move to the top of the color sensor 17. The color sensor 17 determines whether the color above is the same as the bottom of the flocking sandpaper 4 to determine whether the loading of sandpaper is successful.

[0058] The automatic sandpaper replacement device applicable to a movable grinding disc of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0059] The automatic sandpaper replacement device for a movable grinding disc of the present invention comprises: a main shaft 1, an automatic sandpaper withdrawing mechanism, an automatic sandpaper loading mechanism and a support frame 19.

[0060] The spindle 1 is an electric spindle, and a position sensor used as a zero point sensor is built in. The sensor can be an angle encoder, a rotary transformer, a circular grating, a zero point photoelectric switch, etc., so that the spindle 1 can perform a position return to zero action. The output end of the spindle 1 is connected to a movable joint 2, and the rear end of the movable joint 2 is connected to a grinding disc 3. The lower surface of the grinding disc 3 can be adhered with flocked sandpaper 4, and the color of the lower surface of the grinding disc 3 and the lower surface of the flocked sandpaper 4 should be different to ensure that the color sensor 17 can distinguish. The movable joint 2 only provides pressure, tension and force to drive the grinding disc 3 to rotate, and does not constrain the grinding disc 3 in other directions to ensure that the grinding disc 3 can fit more closely with the workpiece. A sandpaper removal hole 5 is designed in the grinding disc 3. The sandpaper removal hole 5 should be close to the motor output shaft, and the cross-sectional area should be at least 5 times the cross-sectional area of ​​the sandpaper removal mechanism support 8.

[0061] The support frame 19 is a box structure, which provides support for the color sensor 17, the automatic sandpaper retracting mechanism, the automatic sandpaper loading mechanism, etc. The upper surface of the support frame 19 is equipped with a sandpaper recovery bin 18 for recycling sandpaper. Handles can be installed at both ends of the support frame 19 to facilitate workers to carry, and the bottom of the support frame 19 can be equipped with feet or universal wheels.

[0062] The automatic sandpaper withdrawing mechanism includes: a sandpaper withdrawing mechanism support plate 6, a sandpaper withdrawing mechanism cover plate 7, a sandpaper withdrawing mechanism pillar 8, and a sandpaper withdrawing mechanism force sensor 9. The sandpaper withdrawing mechanism support plate 6 is fixed to the left middle edge of the support frame 19 by screws. The sandpaper withdrawing mechanism cover plate 7 is fixed to the top of the sandpaper withdrawing mechanism support plate 6 by screws. There is a groove in the middle of the sandpaper withdrawing mechanism cover plate 7. When the sandpaper is automatically withdrawn, the main shaft 1 needs to move into the groove. Four sandpaper withdrawing mechanism pillars 8 are fixed to the right side of the sandpaper withdrawing mechanism cover plate 7. The sandpaper withdrawing mechanism pillars 8 are used to move downward to separate the sandpaper from the grinding disc 3. The sandpaper withdrawing mechanism force sensor 9 is fixed to the end of the sandpaper withdrawing mechanism pillar 8 by screws. The sandpaper withdrawing mechanism force sensor 9 is used to detect the pressure between the sandpaper withdrawing mechanism pillar 8 and the flocked sandpaper 4. The sandpaper-removing mechanism support 8 can be an electric or pneumatic linear motion unit that moves downward, and the sandpaper-removing mechanism support 8 can also be a fixed support. When the sandpaper is removed, the spindle 1 drives the grinding disc 3 to move upward, that is, during the sandpaper replacement process, the grinding disc 3 and the sandpaper-removing mechanism support 8 move relative to each other, so that the flocked sandpaper 4 is separated from the grinding disc 3. The number of the sandpaper-removing mechanism support 8 should be equal to the number of the sandpaper-removing holes 5.

[0063] The automatic sandpaper loading mechanism includes: a sandpaper loading mechanism cover plate 10, a sandpaper loading mechanism support plate 11, a sandpaper loading mechanism force sensor 12, a sandpaper storage 13, a sandpaper fixing column 14, a sandpaper loading linear motion mechanism 15, and a sandpaper loading mechanism fixing plate 16. The sandpaper loading mechanism fixing plate 16 is fixed to the right side of the upper surface of the support frame 19 by screws, and the sandpaper loading linear motion mechanism 15 is fixed to the left side of the sandpaper loading mechanism fixing plate 16 by screws. The sandpaper loading linear motion mechanism 15 has a built-in induction switch for judging whether there is sandpaper in the sandpaper storage 13; the sandpaper loading mechanism support plate 11 is fixed to the right side of the sandpaper loading mechanism fixing plate 16 by screws, and is used to support the sandpaper loading mechanism cover plate 10, and the sandpaper loading mechanism cover plate 10 is fixed above the sandpaper loading mechanism fixing plate 16 by screws, and the sandpaper loading mechanism force sensor 12 is placed at the end of the sandpaper loading mechanism cover plate 10. The sandpaper fixing column 14 is a movable fixing column, and different installation positions can be selected according to the size of the flocking sandpaper 4. The sandpaper fixing column 14 can also be cylindrical or in other forms, which can meet the requirements of loading sandpaper and ensure that the sandpaper is restricted from tipping over.

[0064] The method for automatically replacing sandpaper using the automatic sandpaper replacing device for a movable grinding disc of the present invention comprises the following steps:

[0065] S1, spindle 1 performs zero return movement. Spindle 1 has a built-in position sensor used as a zero point sensor, so the position of the grinding disc 3 relative to the spindle 1 is the same after each zero return movement of the spindle 1;

[0066] S2, the grinding robot controls the main shaft 1 to move to the groove of the sandpaper removal mechanism cover plate 7, and adjusts the position and posture of the grinding robot so that the sandpaper removal mechanism support 8 faces the sandpaper removal hole 5.

[0067] S3, the sandpaper removal mechanism support 8 moves downward or the grinding robot controls the main shaft 1 to move upward, that is, to ensure that the grinding disc 3 and the sandpaper removal mechanism support 8 have relative movement, and the sandpaper removal mechanism support 8 separates the grinding disc 3 from the flocked sandpaper 4.

[0068] S4, reading the value of the force sensor 9 of the sandpaper removal mechanism. If the value is less than the preset pressure value A, it means that the flocking sandpaper 4 is separated from the grinding disc 3.

[0069] S5, the sandpaper removal mechanism support 8 moves upward or the grinding robot controls the main shaft 1 to move downward, ensuring that the sandpaper removal mechanism support 8 is separated from the grinding disc 3;

[0070] S6, the grinding robot controls the main shaft 1 to move to the top of the color sensor 17, and the color sensor 17 detects whether the color above it is the same as the lower surface of the grinding disc 3. If they are the same, it indicates that the sandpaper is successfully removed.

[0071] S7, the grinding robot controls the spindle 1 to move to the groove of the sandpaper loading mechanism cover 10, and the center of the spindle 1 faces the center of the sandpaper storage 13.

[0072] S8, the grinding robot controls the spindle 1 to move upward, so that the upper surface of the grinding disc 3 contacts the sandpaper loading mechanism cover 10, and the value of the sandpaper loading mechanism force sensor 12 is greater than the preset pressure value B to ensure that the grinding disc 3 is pressed tightly and will not flip over.

[0073] S9, the sandpaper loading linear motion mechanism 15 moves upward, pushing the sandpaper magazine 13 to move upward and press against the grinding disc 3 until the value of the sandpaper loading mechanism force sensor 12 is greater than the preset pressure value C, to ensure that the grinding disc 3 can adhere to the sandpaper in the sandpaper magazine 13.

[0074] S10, the sandpaper loading linear motion mechanism 15 moves downward to an initial position;

[0075] S11, the polishing robot controls the main shaft 1 to move to the top of the color sensor 17, and the color sensor 17 detects whether the color above it is the same as the lower surface of the flocking sandpaper 4. If they are the same, it indicates that the sandpaper is loaded successfully.

[0076] In other specific embodiments of the present invention:

[0077] The linear feed mechanism can be transformed into other drive mechanisms and can be driven by the same drive device or different drive devices.

[0078] The force sensor integrated in the feed mechanism can be integrated in each linear feed unit respectively, or can be integrated in the connection of the ends of each linear feed mechanism, so as to measure the common force condition of the entire linear feed mechanism.

[0079] In the above specific embodiment, the number of the linear feed mechanisms is four, but in other specific embodiments of the present invention, the number may be any number greater than or equal to one.

[0080] The automatic sandpaper replacing device suitable for a movable grinding disc of the present invention comprises an automatic sandpaper removing mechanism using a linear feeding mechanism and a force sensor, a mechanism for judging whether sandpaper is successfully adsorbed based on a color sensor, and a sandpaper recovery mechanism. The device is suitable for application scenarios of movable grinding discs, can ensure the success rate of replacing and removing sandpaper of the movable grinding disc, and has the function of detecting whether sandpaper is successfully adsorbed, and the detection method is simple and easy.

[0081] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A method for automatically replacing sandpaper in an automatic sandpaper replacement device for a movable grinding disc, characterized in that: The automatic sandpaper replacement device suitable for a movable grinding disc comprises: a main shaft (1), an automatic sandpaper withdrawal mechanism, an automatic sandpaper loading mechanism, and a support frame (19); the automatic sandpaper withdrawal mechanism is arranged at one end of the support frame (19), and the automatic sandpaper loading mechanism is arranged at the other end of the support frame (19); wherein: A movable joint (2) is fixed at the end of the main shaft (1), a grinding disc (3) is fixed at the other end of the movable joint (2), flocked sandpaper (4) is adhered and fixed to the end surface of the grinding disc (3), and a sandpaper removal hole (5) is provided on the grinding disc (3); a position sensor used as a zero point sensor is integrated inside the main shaft (1) to return the position of the main shaft (1) to zero; The automatic sandpaper-removing mechanism comprises: a sandpaper-removing mechanism support plate (6), a sandpaper-removing mechanism cover plate (7), and a sandpaper-removing mechanism pillar (8) which are connected in sequence; a sandpaper-removing mechanism force sensor (9) is installed at the end of the sandpaper-removing mechanism pillar (8), and a displacement sensor is arranged inside the sandpaper-removing mechanism pillar (8); The automatic sandpaper loading mechanism comprises: a sandpaper loading mechanism fixing plate (16); a sandpaper loading linear motion mechanism (15) is arranged on the sandpaper loading mechanism fixing plate (16); a sandpaper storage (13) is arranged above the sandpaper loading linear motion mechanism (15); a plurality of sandpaper fixing columns (14) are arranged around the sandpaper loading linear motion mechanism (15); a sandpaper loading mechanism support plate (11) is also arranged on the sandpaper loading mechanism fixing plate (16); a sandpaper loading mechanism cover plate (10) is connected to the top of the sandpaper loading mechanism support plate (11); the sandpaper loading mechanism cover plate (10) extends from the top of the sandpaper loading mechanism support plate (11) to the top of the sandpaper storage (13); a sandpaper loading mechanism force sensor (12) is arranged at the end of the sandpaper loading mechanism cover plate (10); A color sensor (17) and a sandpaper recovery bin (18) are also fixed on the support frame (19); The automatic sandpaper replacement method comprises the following steps: S1, spindle (1) performs zero return motion; S2, the grinding robot controls the main shaft (1) to move to the groove of the sandpaper removal mechanism cover plate (7), and adjusts the position and posture of the grinding robot so that the sandpaper removal mechanism support (8) faces the sandpaper removal hole (5); S3, the sandpaper removal mechanism support (8) moves downward or the grinding robot controls the main shaft (1) to move upward, ensuring that the grinding disc (3) and the sandpaper removal mechanism support (8) move relative to each other, and the sandpaper removal mechanism support (8) separates the grinding disc (3) from the flocked sandpaper (4); S4, reading the value of the force sensor (9) of the sandpaper removal mechanism. If the value is less than the preset pressure value A, it indicates that the flocking sandpaper (4) is separated from the grinding disc (3); S5, the sandpaper removal mechanism support (8) moves upward or the grinding robot controls the main shaft (1) to move downward, ensuring that the sandpaper removal mechanism support (8) is separated from the grinding disc (3); S6, the grinding robot controls the main shaft (1) to move to the top of the color sensor (17), and the color sensor (17) detects whether the color above it is the same as the lower surface of the grinding disc (3). If they are the same, it indicates that the sandpaper is successfully removed; S7, the grinding robot controls the spindle (1) to move to the groove of the sandpaper loading mechanism cover (10), with the center of the spindle (1) facing the center of the sandpaper storage (13); S8, the grinding robot controls the main shaft (1) to move upward, so that the upper surface of the grinding disc (3) contacts the sandpaper loading mechanism cover plate (10), and the value of the sandpaper loading mechanism force sensor (12) is greater than the preset pressure value B, so as to ensure that the grinding disc (3) is pressed tightly and does not turn over; S9, the sandpaper loading linear motion mechanism (15) moves upward, pushing the sandpaper magazine (13) to move upward and press against the grinding disc (3), until the value of the sandpaper loading mechanism force sensor (12) is greater than the preset pressure value C, so as to ensure that the grinding disc (3) adheres to the sandpaper in the sandpaper magazine (13); S10, the sandpaper loading linear motion mechanism (15) moves downward to an initial position; S11, the grinding robot controls the main shaft (1) to move to the top of the color sensor (17), and the color sensor (17) detects whether the color above it is the same as the lower surface of the flocking sandpaper (4). If they are the same, it indicates that the sandpaper is loaded successfully.

2. The method for automatically replacing sandpaper according to claim 1, characterized in that: The spindle (1) is an electric spindle.

3. The method for automatically replacing sandpaper according to claim 1, characterized in that: The position sensor used as the zero point sensor integrated inside the spindle (1) is: an angle encoder, a rotary transformer, a circular grating or a zero point photoelectric switch.

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