Integrated automatic replacement device and system

Abstract

The invention relates to an integrated automatic replacement device and system.The replacement device comprises a shell, a first storage part, a second storage part and a third storage part, the first storage part is used for storing consumables, the second storage part is used for storing new abrasive paper to be replaced, and the third storage part is used for receiving replaced old abrasive paper; the at least one clamping component is used for clamping the consumables; the sand changing component is arranged in the second containing part, and the sand changing component is used for storing new abrasive paper and enabling the new abrasive paper to move relative to the shell so as to be exposed out of the second containing part; and the control assembly comprises a sensing element and a controller. The overall structure is simplified, the device integration is high, linkage is conducted through the control assembly, automatic sand replacement and consumable replacement are achieved, an automatic polishing production line can be matched, the sand replacement and consumable replacement speed is increased, and the overall polishing efficiency is improved; and the space layout is reasonable, so that the moving lines of the external tool and the mechanical arm are optimized.

Description

Technical Field

[0001] The present application relates to the technical field of tool changing equipment, and in particular to an integrated automatic changing device and system. Background Art

[0002] The automatic tool changer (ATC) is an important part of modern CNC machining centers. It significantly improves machining efficiency and precision by changing tools quickly and accurately. At present, the automatic tool changer is mainly divided into three types: turret type, spindle direct tool changer with disc tool magazine, and tool changer robot tool changer with chain tool magazine. These systems are designed to reduce non-cutting time during machining, improve productivity and reduce production costs.

[0003] However, traditional automatic tool changing systems have some limitations. Tools are usually stored inside the equipment, which makes it difficult to replace tools manually and is even less suitable for industrial automated production lines. In addition, fixed-position tools cannot be flexibly replaced according to processing requirements, which may affect the normal progress of the processing. At the same time, traditional tool changing systems can only replace tools, which does not meet the needs of replacing multiple consumables with multi-functional tools. Summary of the invention

[0004] Based on this, it is necessary to provide an integrated automatic replacement device and system with a high degree of automation and wide applicability to tools in order to address the above technical problems.

[0005] In one aspect, an integrated automatic replacement device is provided, the replacement device comprising:

[0006] The housing comprises a first accommodating portion, a second accommodating portion and a third accommodating portion, wherein the first accommodating portion is used to accommodate consumables, the second accommodating portion is used to store new sandpaper to be replaced, and the third accommodating portion is used to receive the replaced old sandpaper;

[0007] At least one clamping member, disposed in the first accommodating portion, the clamping member being used to clamp the consumable material;

[0008] at least one sand-changing member disposed in the second accommodation portion, the sand-changing member being used to store the new sandpaper and to move the new sandpaper relative to the housing so as to be exposed from the second accommodation portion; and

[0009] The control component includes a sensing element and a controller, wherein the sensing element is used to sense whether there are consumables on the clamping member and to sense whether old sandpaper on the external tool needs to be replaced, the controller is used to control the movement of the sand changing member according to the signal fed back by the sensing element, and the controller is used to transmit the signal fed back by the sensing element to the outside.

[0010] In one embodiment, the first accommodating portion includes a first accommodating cavity formed by the shell and an upper cover for closing the first accommodating cavity, the sensing element is used to sense the approach of an external tool, and the controller is used to control the opening of the upper cover according to a signal fed back by the sensing element.

[0011] In one embodiment, the sand changing component comprises:

[0012] A sand storage mechanism for storing a plurality of new sandpapers; and

[0013] The motion mechanism is connected to the sand storage mechanism. The motion mechanism is arranged in the shell and is used to drive the new sandpaper to move relative to the sand storage mechanism.

[0014] In one embodiment, the sand storage mechanism includes a plurality of guide rods clamped on the circumference of the new sandpaper, each of the new sandpaper is stacked and placed between the guide rods, and the moving mechanism can move relative to the guide rods and push the new sandpaper to emerge from the second accommodating portion along the extension direction of the guide rods.

[0015] In one embodiment, a flexible blocking member is provided at the end of the guide rod, and the front new sandpaper in the stack of new sandpapers can pass over the flexible blocking member and be installed on the external tool, and the flexible blocking member can block the rear new sandpaper in the stack of new sandpapers.

[0016] In one embodiment, the motion mechanism comprises:

[0017] a sand storage tray, disposed in the sand storage mechanism, the new sandpaper being disposed against the sand storage tray, and the sand storage tray being movable relative to the sand storage mechanism; and

[0018] A driving member is disposed in the housing, the driving member is drivingly connected to the sand storage tray, and the driving member is used to drive the sand storage tray to move toward the outside of the second accommodating portion.

[0019] In one embodiment, the sensing element includes a first sensor, and the first sensor is used to sense whether there is new sandpaper on the sand-changing component. The controller is used to transmit the signal fed back by the sensing element to the outside to adjust the movement trajectory of the external tool.

[0020] In one embodiment, the third accommodating portion includes a receiving cavity, a cutter head, and a receiving port connecting the receiving cavity and the outside, the cutter head is arranged on one side of the receiving port, and is used to remove the old sandpaper on the external tool, and the removed old sandpaper falls into the receiving cavity through the receiving port; the sensing element includes a second sensor arranged on the peripheral side of the receiving port, and the second sensor is used to sense whether the old sandpaper on the external tool needs to be replaced.

[0021] In one aspect, an integrated automatic replacement system is provided, comprising:

[0022] A robotic arm to pick up external tools that require replacement of consumables and / or sandpaper; and

[0023] As the integrated automatic replacement device mentioned above, wherein the controller is used to transmit the signal fed back by the sensing element to the robotic arm to adjust the movement trajectory of the external tool.

[0024] In one embodiment, the controller is used to control the robot arm to drive the external tool to move to the clamping member with consumables according to the signal fed back by the sensing element;

[0025] Alternatively, the controller is used to control the robotic arm to drive the external tool to move to the third accommodating portion to remove old sandpaper based on the signal fed back by the sensing element. When the sensing element feeds back that there is no old sandpaper on the external tool, the controller controls the robotic arm to drive the external tool to move to the second accommodating portion, and the sand changing component exposes the new sandpaper from the second accommodating portion.

[0026] The above-mentioned replacement device and replacement system integrate multiple functions such as sand changing and consumables changing in the shell, and each function has its own corresponding area, which simplifies the overall structure; the device is highly integrated, reducing the occupation of grinding space; the operation process of sand changing and consumables changing is linked through control components to realize automatic sand changing and consumables changing, which can match the automated grinding production line, speed up the sand changing and consumables changing speed, and improve the overall grinding efficiency; the spatial layout is reasonable, so that the movement lines of external tools and robotic arms are optimized, and there is sufficient operating space when replacing consumables and sandpaper without affecting the robot's movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. 1 is a schematic diagram of the structure of a replacement device in an embodiment of the present application.

[0028] FIG. 2 is a schematic diagram of the structure of a replacement device and an external tool in an embodiment of the present application.

[0029] FIG3 is a schematic structural diagram of a sand replacement component in an embodiment of the present application;

[0030] FIG4 is a schematic structural diagram of a sand changing component with new sandpaper in one embodiment of the present application;

[0031] FIG5 is a schematic structural diagram of a third receiving portion and an external tool in an embodiment of the present application;

[0032] FIG6 is a schematic diagram of a sand replacement system in an embodiment of the present application;

[0033] FIG7 is a schematic diagram of a replacement system for replacing consumables in an embodiment of the present application;

[0034] FIG8 is a schematic diagram of a control component in an embodiment of the present application;

[0035] Description of Figure Numbers:

[0036] 1. Replacement device; 2. Consumables; 3. New sandpaper; 4. Old sandpaper;

[0037] 10. External tools; 20. Robotic arm;

[0038] 100, housing; 101, body; 102, base; 110, first accommodating portion; 111, upper cover; 120, second accommodating portion; 130, third accommodating portion; 131, receiving port; 132, cutter head;

[0039] 200, sand changing component; 210, sand storage mechanism; 211, guide rod; 212, sand storage rack; 213, flexible blocking member; 220, motion mechanism; 221, sand storage tray; 222, driving member; 223, muffler; 224, air inlet and outlet;

[0040] 300, clamping member;

[0041] 400, control component; 410, controller; 420, sensing element; 421, first sensor; 422, second sensor; 423, third sensor; 424, fourth sensor. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application 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 application. However, the present application 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 application, so the present application is not limited by the specific embodiments disclosed below.

[0043] In the description of the present application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

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

[0045] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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 this application can be understood according to the specific circumstances.

[0046] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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 if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0048] Refer to Figures 1-2, which show a schematic diagram of the structure of an integrated automatic replacement device 1 in an embodiment of the present application. The replacement device 1 provided in an embodiment of the present application is used to replace consumables 2 with an external tool 10. In this embodiment, the external tool 10 is a grinding tool as an example for description. The grinding tool is generally equipped with at least sandpaper for grinding. For example, in a pneumatic wind mill, the sandpaper is attached to the pneumatic wind mill by Velcro and used, and the wear is fast. The sandpaper needs to be replaced many times in the whole grinding process. The multifunctional grinding tool is also provided with other consumables 2, and the consumables 2 are mainly abrasive consumables 2 (for example, louvers, grinding wheels, milling cutters, etc.). When the life of the grinding tool consumables 2 is exhausted or different workpieces need to be polished, different consumables 2 need to be replaced. In order to meet different grinding processes, the consumables 2 and sandpaper are normally used in turn by the grinding tool.

[0049] The replacement device 1 includes a housing 100, at least one clamping member 300, at least one sand changing member 200, and a control assembly 400. The housing 100 includes a first accommodating portion 110, a second accommodating portion 120, and a third accommodating portion 130, wherein the first accommodating portion 110 is used to accommodate consumables 2, the second accommodating portion 120 is used to store new sandpaper 3 to be replaced, and the third accommodating portion 130 is used to receive the replaced old sandpaper 4. At least one clamping member 300 is provided in the first accommodating portion 110, and the clamping member 300 is used to clamp the consumables 2. At least one sand changing member 200 is provided in the second accommodating portion 120, and the sand changing member 200 is used to store the new sandpaper 3 and to move the new sandpaper 3 relative to the housing 100 to be exposed from the second accommodating portion 120. The control component 400 includes a sensing element 420 and a controller 410. The sensing element 420 is used to sense whether there is a consumable 2 on the clamping member 300 and to sense whether the old sandpaper 4 on the external tool 10 needs to be replaced. The controller 410 is used to control the movement of the sand changing member 200 according to the signal fed back by the sensing element 420. The controller 410 is used to transmit the signal fed back by the sensing element 420 to the outside.

[0050] The above-mentioned replacement device 1 and replacement system integrate multiple functions such as sand changing and consumable material 2 changing in the shell 100, and each function has its own corresponding area, which simplifies the overall structure; the device is highly integrated and reduces the occupation of the grinding space; the operation process of sand changing and consumable material 2 changing is linked through the control component 400 to realize automatic sand changing and consumable material 2 changing, which can match the automated grinding production line, speed up the sand changing and consumable material 2 changing speed, and improve the overall grinding efficiency; the spatial layout is reasonable, so that the movement line of the external tool 10 and the robot arm 20 is optimized, and there is sufficient operating space when replacing the consumable 2 and sandpaper, which does not affect the robot movement.

[0051] The housing 100 is in the form of a vertical cabinet, and further comprises a body 101, a base 102 and an upper cover 111. Different areas of the body 101 form the above-mentioned first accommodating portion 110, the second accommodating portion 120 and the third accommodating portion 130, and corresponding different cavities are formed in the body 101 according to the requirements of the first accommodating portion 110, the second accommodating portion 120 and the third accommodating portion 130. The first accommodating portion 110, the second accommodating portion 120 and the third accommodating portion 130 are arranged on the same side of the body 101. The base 102 is arranged at the bottom of the body 101, and the base 102 is used to be supported on the ground, a table, etc. A group of forklift holes are provided in the part of the body 101 close to the base 102, for the fork arm of the forklift to enter so as to move the replacement device 1 as a whole.

[0052] In one embodiment, the first accommodating portion 110 includes a first accommodating cavity formed by the housing 100 and an upper cover 111 for closing the first accommodating cavity, the sensing element 420 includes a first sensor 421 for sensing the approach of the external tool 10, and the controller 410 is used to control the upper cover 111 to open according to the signal fed back by the first sensor 421. After taking away the consumable 2, the controller 410 controls the upper cover 111 to close to prevent the dust generated by grinding from contaminating the new consumable 2 in the warehouse. The spindle speed is high and the operation accuracy requirement is high, and the upper cover 111 can effectively prevent dust from the handle of the consumable 2.

[0053] Specifically, the upper cover 111 is located at the top of the body 101, and the first receiving portion 110 is also located above the body 101. The first sensor 421 is located on the upper cover 111, or is located near the first receiving portion 110 and around the upper cover 111. When the external tool 10 approaches the upper cover 111, the first sensor 421 senses the external tool 10, and actively opens the upper cover 111 through the controller 410, avoiding the need for other actions and manual opening of the cover, thereby achieving full automation. The direct connection between the upper cover 111 and the body 101 can be an active connection in the form of a pivot connection, a sliding connection, etc. The upper cover 111 is connected to a drive member 222 such as a cylinder or a motor to achieve opening and closing through a signal from the controller 410.

[0054] The first accommodating portion 110 further includes an installation groove, each of which is provided with a clamping member 300, and each of the installation grooves can be arranged in parallel in the horizontal direction. The clamping member 300 includes an elastic clamping arm, and at least two elastic clamping arms are provided to clamp the consumable 2. When the consumable 2 is removed, the clamping arm is reset under the elastic force. The clamping member 300 and the installation groove are located below the upper cover 111. After the upper cover 111 is opened, the clamping structure is exposed.

[0055] The sensing element 420 includes a fourth sensor disposed in the first accommodating cavity, and the fourth sensor is used to sense whether there is a consumable 2 on the clamping member 300. The controller 410 is used to control the external tool 10 to move to the clamping member 300 with the consumable 2 according to the signal feedback from the fourth sensor, and adjust the position to replace the consumable 2.

[0056] In one embodiment, the second accommodating portion 120 is disposed below the first accommodating portion 110, the second accommodating portion 120 includes an opening and a second accommodating cavity independent of the first accommodating cavity, the sand changing component 200 is disposed in the second accommodating cavity, and can make the new sandpaper 3 relatively exposed from the opening. The shape of the opening of the second accommodating portion 120 is the same as the shape of the new sandpaper 3.

[0057] As shown in Figures 3 and 4, Figures 3 and 4 show the structural schematic diagram of the sand changing component 200 in one embodiment of the present application. In one embodiment, the sand changing component 200 includes: a sand storage mechanism 210 for storing a plurality of new sandpapers 3; and a motion mechanism 220 connected to the sand storage mechanism 210, and the motion mechanism 220 is arranged in the housing 100, and is used to drive the new sandpaper 3 to move relative to the sand storage mechanism 210. Sandpaper wears out quickly, the replacement frequency is higher, and the inventory capacity requirement is higher. A single sand changing component 200 can realize a sandpaper storage capacity of more than 50 pieces, and has a large capacity.

[0058] In one embodiment, the sand storage mechanism 210 includes a plurality of guide rods 211 clamped on the sides of the new sandpaper 3, each of the new sandpaper 3 is stacked and placed between the guide rods 211, and the moving mechanism 220 can move relative to the guide rods 211 and push the new sandpaper 3 to emerge from the second accommodating portion 120 along the extension direction of the guide rods 211.

[0059] The sand storage mechanism 210 further includes a sand storage rack 212, which supports the guide rod 211 and is provided with a through hole through which the motion mechanism 220 passes. The sand storage rack 212 connects a plurality of guide rods 211 so that the space enclosed by the plurality of guide rods 211 matches the size of the new sandpaper 3. The guide rods 211 can be configured to be positionally adjusted on the sand storage rack 212, and the sand storage rack 212 can be provided with a plurality of guide rails on the periphery of the through hole so that the guide rods 211 can move in the guide rails to achieve position adjustment, so that the sand storage mechanism 210 can adapt to the storage requirements of new sandpaper 3 of various sizes. The shape of the sand storage rack 212 and the shape enclosed by the plurality of guide rods 211 are the same as the shape of the new sandpaper 3, and also match the shape and size of the opening.

[0060] In one embodiment, a flexible barrier 213 is provided at the end of the guide rod 211, and the front new sandpaper 3 in the stack of new sandpapers 3 can pass over the flexible barrier 213 and be installed to the external tool 10, and the flexible barrier 213 can block the rear new sandpaper 3 in the stack of new sandpapers 3.

[0061] Specifically, the length of the guide rod 211 is greater than the thickness of the stacked new sandpaper 3. In the storage state, the new sandpaper 3 will not touch the flexible blocking member 213. When the motion mechanism 220 pushes the sandpaper to move, the front new sandpaper 3 (i.e., the new sandpaper 3 that needs to be replaced at the moment) passes over the flexible blocking member 213, and the rear new sandpaper 3 is located in the blocking member or behind the blocking member. The flexible blocking member 213 particularly includes a tooth-shaped, step-shaped, or multi-thorny structure to achieve the function of separating adjacent new sandpapers 3. In this embodiment, the flexible blocking member 213 is a brush.

[0062] In one embodiment, the motion mechanism 220 includes: a sand storage tray 221, which is arranged in the sand storage mechanism 210, and the new sandpaper 3 is arranged against the sand storage tray 221, and the sand storage tray 221 can move relative to the sand storage mechanism 210; and a driving member 222, which is arranged in the shell 100, and the driving member 222 is transmission-connected to the sand storage tray 221, and the driving member 222 is used to drive the sand storage tray 221 to move toward the outside of the second accommodating portion 120.

[0063] Specifically, the sand storage tray 221 is arranged in an area surrounded by a plurality of guide rods 211. In the non-sand changing state, the sand storage tray 221 is arranged against the sand storage frame 212, one side of the new sandpaper 3 is against the sand storage tray 221, and the other side is limited by the flexible blocking member 213, and the edge is against the guide rod 211. The sand storage tray 221 is connected to the driving member 222 through a through hole transmission, and the peripheral side of the sand storage tray 221 is arranged against the side of the sand storage frame 212 away from the driving member 222.

[0064] The driving member 222 is arranged on the side of the sand storage rack 212 away from the guide rod 211. In this embodiment, the driving member 222 is a cylinder, and the driving member 222 also includes a muffler 223 and an air inlet and outlet 224. The air outlet of the driving member 222 needs to discharge air when changing sandpaper, and return air when reloading new sandpaper 3. The air inlet and outlet 224 is an open port for deflation and suction of the cylinder, and the muffler 223 can reduce the noise of air inlet and outlet.

[0065] In one embodiment, the sensing element 420 includes a second sensor 422, and the second sensor 422 is used to sense whether there is new sandpaper 3 on the sand changing component 200, and the controller 410 is used to transmit the signal fed back by the sensing element 420 to the outside to adjust the motion trajectory of the external tool 10. The second sensor 422 is provided in the motion mechanism 220 or the sand storage mechanism 210.

[0066] In one embodiment, as shown in FIG. 5 , the third accommodating portion 130 includes a receiving cavity, a cutter head 132, and a receiving port 131 connecting the receiving cavity and the outside, the cutter head 132 is disposed on one side of the receiving port 131, and is used to remove the old sandpaper 4 on the external tool 10, and the removed old sandpaper 4 falls into the receiving cavity through the receiving port 131; the sensing element 420 includes a third sensor 423 disposed on the side of the receiving port 131, and the third sensor 423 is used to sense whether the old sandpaper 4 on the external tool 10 needs to be replaced.

[0067] Specifically, the third accommodating portion 130 is arranged below the first accommodating portion 110, and the receiving cavity of the second accommodating portion 120 is independent of the first accommodating cavity and the second accommodating cavity. The third accommodating portion 130 can be arranged in parallel with the second accommodating portion 120 to facilitate the replacement of new sandpaper 3 after removing the old sandpaper 4.

[0068] The receiving opening 131 is located on the surface of the housing 100, and the cutter head 132 is disposed at the lower side of the receiving opening 131, substantially parallel to the surface of the housing 100, and the end of the cutter head 132 may be located in the region of the receiving opening 131, that is, the end of the cutter head 132 extends from the edge of the receiving opening 131. When the external tool 10 removes the old sandpaper 4, it moves from top to bottom, and the old sandpaper 4 is peeled off by the cutter head 132, and the old sandpaper 4 enters the receiving cavity through the receiving opening 131.

[0069] 6-8, which show schematic diagrams of a replacement system and a control component 400 in an embodiment of the present application, the integrated automatic replacement device 1 belongs to the integrated automatic replacement system, and the replacement system includes: a robot arm 20 and an automatic replacement device 1. The controller 410 is used to transmit the signal fed back by the sensing element 420 to the robot arm 20 to adjust the motion trajectory of the external tool 10.

[0070] In one embodiment, the controller 410 is used to control the robot arm 20 to drive the external tool 10 to move to the clamping member 300 where the consumable 2 is located according to the signal fed back by the sensing element 420;

[0071] Alternatively, the controller 410 is used to control the robotic arm 20 to drive the external tool 10 to move to the third accommodating portion 130 to remove the old sandpaper 4 according to the signal fed back by the sensing element 420. When the sensing element 420 feeds back that there is no old sandpaper 4 on the external tool 10, the controller 410 controls the robotic arm 20 to drive the external tool 10 to move to the second accommodating portion 120, and the sand changing component 200 exposes the new sandpaper 3 from the second accommodating portion 120.

[0072] Specifically, as shown in FIG8 , the first sensor 421 is used to sense the approach of the robot arm 20, and the upper cover 111 is controlled to open according to the signal fed back by the first sensor 421. When the robot arm 20 picks up the external tool 10 and moves to the vicinity of the receiving port 131 of the third accommodating portion 130, the third sensor 423 is used to sense whether the old sandpaper 4 on the external tool 10 needs to be replaced. If necessary, the robot arm 20 picks up the external tool 10 and moves, and removes the old sandpaper 4 on the external tool 10 at the cutter head 132. If there is no sandpaper on it, the robot arm 20 picks up the external tool 10 and moves to the second accommodating portion 120. The second sensor 422 is used to sense whether there is new sandpaper 3 on the sand changing component 200. The controller 410 remotely controls the robot arm 20 to move to the sand changing component 200 with new sandpaper 3. After the sand changing component 200 transports the new sandpaper 3, the robot arm 20 adjusts its position and installs the new sandpaper 3. The fourth sensor is used to sense whether there is consumable 2 on the clamping member 300. After the fourth sensor feedbacks a signal, the controller 410 remotely controls the robot arm 20 to move to the clamping member 300 with the consumable 2 and adjusts the position to replace the consumable 2.

[0073] It can be understood that the first sensor 421, the second sensor 422, the third sensor 423 and the fourth sensor may include but are not limited to ultrasonic sensors, laser sensors, infrared sensors and radar sensors, and are selected according to the needs of the situation.

[0074] It can be understood that when the upper cover 111 and the sand changing component 200 are driven by a cylinder, the changing device 1 is also provided with a filter pressure regulating valve and a solenoid valve. The filter pressure regulating valve is used to remove impurities in the compressed air and adjust the air pressure. The solenoid valve is connected to the control component 400 to cooperate in controlling the above-mentioned cylinder.

[0075] 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.

[0076] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An integrated automatic replacement device, characterized in that: The replacement device comprises: The housing comprises a first accommodating portion, a second accommodating portion and a third accommodating portion, wherein the first accommodating portion is used to accommodate consumables, the second accommodating portion is used to store new sandpaper to be replaced, and the third accommodating portion is used to receive the replaced old sandpaper; At least one clamping member, disposed in the first accommodating portion, the clamping member being used to clamp the consumable material; at least one sand-changing member disposed in the second accommodation portion, the sand-changing member being used to store the new sandpaper and to move the new sandpaper relative to the housing so as to be exposed from the second accommodation portion; and The control component includes a sensing element and a controller, wherein the sensing element is used to sense whether there are consumables on the clamping member and to sense whether old sandpaper on the external tool needs to be replaced, the controller is used to control the movement of the sand changing member according to the signal fed back by the sensing element, and the controller is used to transmit the signal fed back by the sensing element to the outside.

2. The integrated automatic replacement device according to claim 1, characterized in that: The first accommodating portion includes a first accommodating cavity formed by the shell and an upper cover for closing the first accommodating cavity, the sensing element includes a first sensor for sensing the approach of an external tool, and the controller is used to control the opening of the upper cover according to a signal fed back by the first sensor.

3. The integrated automatic replacement device according to claim 1, characterized in that: The sand changing component comprises: A sand storage mechanism for storing a plurality of new sandpapers; and The motion mechanism is connected to the sand storage mechanism. The motion mechanism is arranged in the shell and is used to drive the new sandpaper to move relative to the sand storage mechanism.

4. The integrated automatic replacement device according to claim 3, characterized in that: The sand storage mechanism includes a plurality of guide rods clamped on the peripheral sides of new sandpaper, each of the new sandpaper is stacked and placed between the guide rods, and the moving mechanism can move relative to the guide rods and push the new sandpaper to emerge from the second accommodating portion along the extension direction of the guide rods.

5. The integrated automatic replacement device according to claim 4, characterized in that: A flexible blocking member is provided at the end of the guide rod, and the leading new sandpaper in the stack of new sandpapers can be mounted to the external tool over the flexible blocking member, and the flexible blocking member can block the trailing new sandpaper in the stack of new sandpapers.

6. The integrated automatic changing device according to claim 3, characterized in that: The motion mechanism comprises: a sand storage tray, disposed in the sand storage mechanism, the new sandpaper being disposed against the sand storage tray, and the sand storage tray being movable relative to the sand storage mechanism; and A driving member is disposed in the housing, the driving member is drivingly connected to the sand storage tray, and the driving member is used to drive the sand storage tray to move toward the outside of the second accommodating portion.

7. The integrated automatic changing device according to claim 1, characterized in that: The sensing element includes a second sensor, and the second sensor is used to sense whether there is new sandpaper on the sand-changing component. The controller is used to transmit the signal fed back by the sensing element to the outside to adjust the movement trajectory of the external tool.

8. The integrated automatic changing device according to claim 1, characterized in that: The third accommodating portion includes a receiving cavity, a cutter head, and a receiving port connecting the receiving cavity and the outside. The cutter head is arranged on one side of the receiving port and is used to remove the old sandpaper on the external tool. The removed old sandpaper falls into the receiving cavity through the receiving port. The sensing element includes a third sensor arranged on the peripheral side of the receiving port, and the third sensor is used to sense whether the old sandpaper on the external tool needs to be replaced.

9. An integrated automatic replacement system, characterized in that: include: A robotic arm to pick up external tools that need to have consumables and / or sandpaper replaced; and An integrated automatic replacement device as described in any one of claims 1 to 8; wherein the controller is used to transmit the signal fed back by the sensing element to the robotic arm to adjust the motion trajectory of the external tool.

10. The integrated automatic replacement system according to claim 9, characterized in that: The controller is used to control the robot arm to drive the external tool to move to the clamping member with consumables according to the signal fed back by the sensing element; Alternatively, the controller is used to control the robotic arm to drive the external tool to move to the third accommodating portion to remove old sandpaper based on the signal fed back by the sensing element. When the sensing element feeds back that there is no old sandpaper on the external tool, the controller controls the robotic arm to drive the external tool to move to the second accommodating portion, and the sand changing component exposes the new sandpaper from the second accommodating portion.

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