Automatic abrasive paper tearing device and method

Abstract

The invention discloses an automatic abrasive paper tearing device and method, and relates to the technical field of grinding equipment, the automatic abrasive paper tearing device comprises an abrasive paper tearing platform, a negative pressure paper suction bin and a tearing line, the negative pressure paper suction bin is installed on the lower side of the abrasive paper tearing platform, and a distance measuring column used for measuring the distance of abrasive paper is arranged in the negative pressure paper suction bin; the two ends of the tearing line are connected with the locking mechanisms correspondingly, the locking mechanisms are installed on the sliding rail assembly, and the sliding rail assembly is used for driving the tearing line to move back and forth in the horizontal direction so as to tear abrasive paper. Through combination of accurate distance reading, back-and-forth tearing and negative pressure stripping, the problem of abrasive paper tearing failure caused by different abrasive paper and grinding disc working conditions is solved, and abrasive paper replacement stability and reliability are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, and in particular to an automatic sandpaper tearing device and method. Background Art

[0002] In the robot automatic grinding operation, sandpaper, as a consumable material, needs to be replaced regularly. Depending on the different grinding products and sandpaper models, the maximum sandpaper replacement frequency can reach 2 minutes each time. In order to improve the efficiency of automated operations, automated mechanisms are often used to replace sandpaper. In the current existing automatic sandpaper replacement system, although the sandpaper tearing device can realize the peeling of sandpaper, there are problems such as low success rate and damage to the grinding disc. In particular, when the edge of the sandpaper after use is prone to curling, folding, wear, and compression deformation of the grinding disc, the existing sandpaper tearing device cannot effectively tear off the sandpaper.

[0003] For example: CN107199508A discloses an intelligent sandpaper replacement device for robot grinding and polishing, including a sandpaper stripping device and a sandpaper sticking device; the sandpaper stripping device includes a cutting plate, a parallel bearing mechanism and a frame structure, the sandpaper sticking device includes a profile storage mechanism, a detection mechanism and a slider guide mechanism, and the profile storage mechanism includes a sandpaper retaining ring, a lower support plate, a support rod, a tray and a mounting plate; this scheme has the problem that the cutting plate will get stuck on the grinding disc, thereby causing destructive damage to the grinding disc, and there is also the problem that the cutting plate cuts into the sandpaper surface, and the sandpaper cannot be effectively torn off. CN110576390A discloses a sandpaper replacement device for injection molding grinding equipment, including a bearing mounting plate, a recovery device is provided at the bottom of the bearing mounting plate, a material receiving barrel is provided at the top of the bearing mounting plate, a sensor is installed on the left wall of the material receiving barrel, a replacement column is vertically fixed on the right side, and a stripping air claw is installed on the left wall of the replacement column; the stripping air claw still has the problem of damaging the grinding disc and being unable to strip the sandpaper. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automatic sandpaper tearing device and method, which solves the problem of sandpaper tearing failure caused by different sandpaper and grinding disc working conditions through the combination of precise distance reading, reciprocating tearing and negative pressure peeling, and ensures the stability and reliability of sandpaper replacement.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides an automatic sandpaper tearing device, comprising:

[0007] Tear sandpaper platform;

[0008] A negative pressure paper suction bin is installed on the lower side of the sandpaper tearing platform, and a distance measuring column for measuring the distance of the sandpaper is provided in the negative pressure paper suction bin;

[0009] The tearing line has two ends respectively connected with locking mechanisms, and the locking mechanisms are installed on a slide rail assembly, and the slide rail assembly is used to drive the tearing line to move back and forth in a horizontal direction to tear off the sandpaper.

[0010] As a further implementation, the slide rail assembly is connected to a lifting mechanism, and the lifting mechanism is used to adjust the tear line height according to the sandpaper distance.

[0011] As a further implementation, at least two distance measuring columns are provided along the inner wall of the negative pressure paper suction bin, and the center of the distance measuring column and the center of the negative pressure paper suction bin are located on the same horizontal line.

[0012] As a further implementation, the distance measuring column includes a column body, and a distance sensor is installed on the top of the column body.

[0013] As a further implementation, slide rail assemblies are symmetrically arranged on both sides of the negative pressure paper suction bin, and the arrangement direction of the slide rail assemblies is perpendicular to the tearing line direction.

[0014] As a further implementation method, the suction port and side wall of the negative pressure paper suction bin are distributed with a plurality of negative pressure holes;

[0015] The side wall of the negative pressure paper suction bin is connected to an air suction port, and the air suction port is used to connect to an air extraction device.

[0016] As a further implementation, a correction track is provided on one side of the negative pressure paper suction bin, and the correction track is used to correct the position of the grinding disc so that the grinding disc and the negative pressure paper suction bin are aligned.

[0017] In a second aspect, the present invention further provides an automatic sandpaper tearing method, using the automatic sandpaper tearing device, comprising:

[0018] After the grinding head is placed on the upper side of the negative pressure paper suction bin, the sandpaper is sucked by the negative pressure;

[0019] The distance post measures the sandpaper distance;

[0020] The tearing line moves from the first side to the second side of the negative pressure paper suction bin, and then moves from the second side to the first side, and the sandpaper is torn off by the reciprocating motion of the tearing line;

[0021] The torn sandpaper is sucked into the negative pressure paper suction bin.

[0022] As a further implementation method, when the sandpaper distance measured by the distance measuring column and the normal sandpaper distance are greater than a minimum threshold, the tear line height is adjusted by the lifting mechanism.

[0023] As a further implementation, the normal sandpaper distances measured by the two distance measuring posts are D1 and D2 respectively, and the deformed sandpaper distances measured by the two distance measuring posts are d1 and d2 respectively;

[0024] Wherein, d = D1-d1 or d = D2-d2;

[0025] d is the difference between the normal sandpaper distance and the deformed sandpaper distance measured by any distance measuring column, and m is the minimum threshold. When d>m, the lifting mechanism is started to adjust the tear line position.

[0026] As a further implementation method, during the initial operation, the tear line is moved to the first side through the slide rail assembly, and the grinding head is translated from the second side to the upper side of the negative pressure paper suction bin through the correction track.

[0027] The beneficial effects of the present invention are as follows:

[0028] (1) The tearing line of the present invention can tear sandpaper back and forth under the action of the locking mechanism and the slide rail assembly, thereby achieving effective peeling of the sandpaper; and in combination with the negative pressure, before the sandpaper tearing operation is performed, the effective negative pressure can provide effective tension to the sandpaper, so that the subsequent tearing line can more easily enter between the sandpaper and the grinding disc. At the same time, when the sandpaper tearing operation is performed, the negative pressure can timely and effectively peel off the sandpaper at the position where the tearing line passes; when the sandpaper tearing operation is completed, the sandpaper is directly sucked into the bottom of the negative pressure paper suction bin by the negative pressure, thereby avoiding the influence on the next sandpaper tearing operation.

[0029] (2) The present invention sets a distance measuring column in the negative pressure paper suction bin. The distance measuring column measures the distance of the sandpaper based on the distance sensor. The distance of the sandpaper in the normal state and the deformed state is measured and compared with the minimum threshold to obtain the corresponding difference. The tear line height is fine-tuned according to the difference to ensure that the tear line can smoothly enter between the grinding disc and the sandpaper. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 is an axonometric view of the present invention according to one or more embodiments;

[0032] Figure 2 is a top view of the present invention according to one or more embodiments;

[0033] Figure 3 is a side view of the present invention according to one or more embodiments.

[0034] Among them, 1-grinding head, 2-sandpaper tearing platform, 3-slide rail, 4-locking mechanism, 5-tearing line, 6-correction track, 7-negative pressure paper suction bin, 8-negative pressure hole, 9-distance measuring column, 10-air suction port, 11-lifting mechanism. DETAILED DESCRIPTION

[0035] For the convenience of description, the words "up", "down", "left" and "right" appearing in the present invention only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] Embodiment 1:

[0037] This embodiment provides an automatic sandpaper tearing device, which combines accurate distance reading, reciprocating tearing and negative pressure peeling to solve the problem of sandpaper tearing failure caused by different sandpaper and grinding disc working conditions, thereby ensuring the stability and reliability of sandpaper replacement; Figure 1-Figure 3 As shown, the automatic sandpaper tearing device mainly includes a sandpaper tearing platform 2, a negative pressure paper suction bin 7, a tearing line 5, a locking mechanism 4, and a slide rail assembly. The sandpaper tearing platform 2 serves as a bearing platform, and the negative pressure paper suction bin 7 is fixed to the lower side of the sandpaper tearing platform 2. The two ends of the tearing line 5 are connected to the locking mechanism 4, and the tearing line 5 is tightened by the locking mechanism 4. The locking mechanism 4 is installed on the upper side of the slide rail assembly, and the movement of the tearing line 5 is realized through the slide rail assembly.

[0038] In a horizontal plane, the slide rail assembly is arranged in a transverse direction, and the tear line 5 is arranged in a longitudinal direction, that is, the tear line 5 can move in a direction perpendicular to its tensioning direction.

[0039] Specifically, Figure 2 and Figure 3 As shown, the slide rail assembly is symmetrically arranged on both sides of the negative pressure paper suction bin 7, and the distance between the two slide rail assemblies is greater than the outer diameter of the negative pressure paper suction bin 7 to ensure that the length of the tear line 5 is greater than the length of the sandpaper. In order to achieve fine adjustment of the height direction of the tear line 5, a lifting mechanism 11 is also arranged on the lower side of the sandpaper tearing platform 2. In this embodiment, a lifting mechanism 11 is connected to each end of the slide rail assembly to ensure that the slide rail assembly remains balanced while adjusting the position of the tear line 5.

[0040] The sandpaper tearing platform 2 is provided with a mounting groove for mounting the slide rail assembly, and similarly, the mounting groove also facilitates the adjustment of the slide rail assembly. The lifting mechanism 11 can be any mechanism that can provide linear motion, for example, the lifting mechanism 11 uses a cylinder, and the cylinder body of the cylinder is fixed to the sandpaper tearing platform 2 through a connecting plate; or, the lifting mechanism 11 uses a hydraulic cylinder, etc.

[0041] The slide rail assembly includes a slide rail 3 and a slider mounted on the slide rail 3; a locking mechanism 4 is fixed on the slider. The locking mechanism 4 can clamp the end of the tear line 5, and the locking mechanism 4 can be implemented in the form of a locking nut, a clamping claw, etc., which can be selected according to actual requirements as long as the tear line 5 can be effectively fixed.

[0042] The surface of the tear line 5 is relatively smooth, and the tension of the tear line 5 can be adjusted by the locking mechanisms 4 on both sides, and the height of the tear line 5 can be adjusted by the slide rail assembly and the lifting mechanism 11. In this embodiment, the diameter of the tear line 5 is less than 0.5 mm, and it can effectively enter between the sandpaper and the grinding disc. Even if the edge of the sandpaper is folded or worn, it will not affect the tear line 5 from entering between the sandpaper and the grinding disc.

[0043] according to Figure 2 In the direction shown, the slide rail assembly is arranged at the front and rear sides of the negative pressure paper suction bin 7, and a correction track 6 is arranged on the left side of the negative pressure paper suction bin 7. There are two correction tracks 6, and a correction area is formed between the two correction tracks 6. The left section of the correction track 6 is an inclined section, and the right section is a horizontal section. The correction area is gradually reduced from left to right by the inclined section of the correction track 6. The distance between the horizontal sections is consistent with the width of the grinding disc at the end of the grinding head 1. When tearing sandpaper, since the grinding disc at the end of the grinding head 1 is generally an eccentric disc, the grinding head 1 first completely fits the surface of the sandpaper tearing platform 2 and enters from the left side of the correction track 6 to correct the position of the grinding disc, so that the grinding disc maintains this position to enter the subsequent sandpaper tearing action.

[0044] During the initial operation, the tearing line 5 first moves to the right side (first side) of the negative pressure paper suction bin 7 to avoid the grinding head 1; during operation, the tearing line 5 first moves from the right side to the left side (second side) of the negative pressure paper suction bin 7, and then moves from the left side to the right side of the negative pressure paper suction bin 7; that is, the tearing of the sandpaper is achieved by the two back and forth movements of the tearing line 5.

[0045] like Figure 2 As shown, the negative pressure paper suction bin 7 is a hollow columnar structure as a whole, and a closed annular chamber is formed between the inner and outer walls of the negative pressure paper suction bin 7. The top of the negative pressure paper suction bin 7 is a suction port connected to the sandpaper tearing platform 2, and the suction port is flush with the sandpaper tearing platform 2. The inner diameter of the negative pressure paper suction bin 7 is slightly larger than the diameter of the grinding disc, so that the grinding disc can be docked with the negative pressure paper suction bin 7.

[0046] An air inlet 10 is provided on the outer wall of the negative pressure paper suction bin 7, and the air inlet 10 is connected to an air suction device such as a vacuum pump; the number of air inlets 10 can be selected according to requirements, for example, one, two or more air inlets 10 can be provided. Multiple groups of negative pressure holes 8 are evenly distributed along the annular direction on the inner wall of the negative pressure paper suction bin 7, and each group is provided with multiple negative pressure holes 8 along the axial direction of the negative pressure paper suction bin 7, and multiple negative pressure holes 8 are evenly distributed along the annular direction at the suction port; the suction device, the air inlet 10 and the negative pressure holes 8 form an adsorption effect on the sandpaper.

[0047] like Figure 2 As shown, a distance measuring column 9 is provided at the inner wall of the negative pressure paper suction bin 7, and the distance of the sandpaper is measured by the distance measuring column 9 to monitor whether the grinding disc is compressed and deformed. When deformation occurs, the height of the tear line 5 can be adjusted to ensure smooth tearing of the sandpaper. The distance measuring column 9 includes a column and a distance sensor, and an arc groove is provided on the top of the column, and the distance sensor is installed in the arc groove; the main function of the column is to protect the distance sensor and prevent the sandpaper from covering the surface of the distance sensor and causing the distance sensor to fail to work normally.

[0048] Since sandpaper is prone to the following situations: curling of the sandpaper edge, folding of the sandpaper edge, wear of the sandpaper edge, and compression deformation of the sandpaper disc, and the compression deformation of the sandpaper disc is a gradual process; therefore, at least two distance measuring columns 9 are provided on the inner wall of the negative pressure paper suction bin 7 to detect the edge state of the sandpaper. This embodiment uses two distance measuring columns 9 as an example for detailed description: the center line of the two distance measuring columns 9 and the negative pressure paper suction bin 7 is located on the same horizontal line, that is, the above center line is parallel to the setting direction of the slide rail assembly.

[0049] It can be understood that, in the embodiment, a distance measuring column 9 can also be added on the above-mentioned horizontal line.

[0050] The sandpaper tearing movement of this embodiment is mainly the tear line 5 moving from right to left and from left to right, with a total of two sandpaper tearing movements. When one side of the sandpaper edge is curled, even if the tear line 5 cannot effectively enter the middle of the sandpaper and the grinding disc, the sandpaper can be effectively torn off through another sandpaper tearing movement in the opposite direction. In addition, negative pressure holes 8 are distributed on the upper surface and inner surface of the negative pressure paper suction bin 7 of this embodiment. Before the sandpaper tearing operation is performed, the negative pressure can provide effective tension to the sandpaper, so that the subsequent tear line 5 can more easily enter between the sandpaper and the grinding disc. At the same time, when the sandpaper tearing operation is performed, the negative pressure can timely and effectively peel off the sandpaper where the tear line 5 passes. When the sandpaper tearing operation is completed, the sandpaper is directly sucked into the bottom of the negative pressure paper suction bin 7 by the negative pressure, avoiding the influence on the next sandpaper tearing operation.

[0051] Embodiment 2:

[0052] This embodiment provides an automatic sandpaper tearing method, using the automatic sandpaper tearing device described in Embodiment 1, and the specific method is as follows:

[0053] Before tearing the sandpaper, according to the different working conditions of the sandpaper and the grinding disc, it can be mainly divided into the following situations: the edge of the sandpaper curls, the edge of the sandpaper folds, the edge of the sandpaper wears, and the grinding disc is compressed and deformed, and the compression deformation of the grinding disc is a gradual process. When the sandpaper is in a normal state, the distances of the sandpaper measured by the distance sensors on both sides are D1 and D2 respectively, and the thickness of the sandpaper is h. When the grinding disc is compressed and deformed, the data measured by the distance sensors are d1 and d2 respectively; the lifting mechanism 11 adjusts the height of the tearing line 5 according to the difference between the distance of the deformed sandpaper measured by any one of the distance sensors and the distance of the normal sandpaper.

[0054] Among them, D1 - d1 = d < h or D2 - d2 = d < h;

[0055] For the above difference, a minimum threshold m is preset in advance. When d > m, it is considered that the grinding disc has been compressed and deformed, and then the lifting mechanism 11 will move up and down according to d to adjust the position of the tearing line 5.

[0056] During the initial operation, the tearing line 5 moves to the rightmost side along with the slider on the slide rail 3, and the grinding head 1 translates from the left calibration track 6 to directly above the negative pressure paper suction bin 7. The negative pressure paper suction bin 7 starts to apply negative pressure, and the distance sensor inside the ranging column 9 measures the distance between the sandpaper on the surface of the grinding disc and the distance sensor. According to the measurement result, the position of the tearing line 5 is further adjusted to ensure that the tearing line 5 is located in the middle of the sandpaper and the grinding disc.

[0057] After the position is adjusted, the tearing line 5 moves from the right side of the negative pressure paper suction bin 7 to the left side of the negative pressure paper suction bin 7. After waiting for a certain period of time (such as 1 s), it then moves from the left side of the negative pressure paper suction bin 7 to the right side. The torn sandpaper is sucked into the negative pressure paper suction bin 7, and the grinding head 1 moves away, completing the sandpaper tearing movement.

[0058] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic sandpaper tearing device, characterized in that: include: Tear sandpaper platform; A negative pressure paper suction bin is installed on the lower side of the sandpaper tearing platform, and a distance measuring column for measuring the distance of the sandpaper is provided in the negative pressure paper suction bin; The tearing line has two ends respectively connected with locking mechanisms, and the locking mechanisms are installed on a slide rail assembly, and the slide rail assembly is used to drive the tearing line to move back and forth in a horizontal direction to tear off the sandpaper.

2. The automatic sandpaper tearing device according to claim 1, characterized in that: The slide rail assembly is connected to a lifting mechanism, and the lifting mechanism is used to adjust the tear line height according to the sandpaper distance.

3. The automatic sandpaper tearing device according to claim 2, characterized in that: At least two distance measuring columns are arranged along the inner wall of the negative pressure paper suction bin, and the center of the distance measuring column and the center of the negative pressure paper suction bin are located on the same horizontal line.

4. An automatic sandpaper tearing device according to claim 2 or 3, characterized in that: The distance measuring column comprises a column body, and a distance sensor is installed on the top of the column body.

5. An automatic sandpaper tearing device according to claim 1 or 2, characterized in that: Slide rail assemblies are symmetrically arranged on both sides of the negative pressure paper suction bin, and the arrangement direction of the slide rail assemblies is perpendicular to the tearing line direction.

6. The automatic sandpaper tearing device according to claim 1, characterized in that: The suction port and side wall of the negative pressure paper suction bin are distributed with a plurality of negative pressure holes; The side wall of the negative pressure paper suction bin is connected to an air suction port, and the air suction port is used to connect to an air extraction device.

7. The automatic sandpaper tearing device according to claim 1, characterized in that: A correction track is provided on one side of the negative pressure paper suction bin, and the correction track is used to correct the position of the grinding disc so that the grinding disc and the negative pressure paper suction bin are aligned.

8. A method for automatically tearing sandpaper, characterized in that: The automatic sandpaper tearing device according to any one of claims 1 to 7 comprises: After the grinding head is placed on the upper side of the negative pressure paper suction bin, the sandpaper is sucked by the negative pressure; The distance post measures the sandpaper distance; The tear line moves from the first side of the negative pressure paper suction bin to the second side, and then moves from the second side to the first side, and the sandpaper is torn off by the reciprocating motion of the tear line; wherein the first side is the opposite side of the negative pressure paper suction bin where the grinding head is pushed into the negative pressure paper suction bin; The torn sandpaper is sucked into the negative pressure paper suction bin.

9. The automatic sandpaper tearing method according to claim 8, characterized in that: When the sandpaper distance measured by the distance measuring column and the normal sandpaper distance are greater than the minimum threshold, the tear line height is adjusted through the lifting mechanism.

10. The automatic sandpaper tearing method according to claim 9, characterized in that: The normal sandpaper distances measured by the two distance measuring posts are D1 and D2 respectively, and the deformed sandpaper distances measured by the two distance measuring posts are d1 and d2 respectively; Wherein, d = D1-d1 or d = D2-d2; d is the difference between the normal sandpaper distance and the deformed sandpaper distance measured by any distance measuring column, and m is the minimum threshold. When d>m, the lifting mechanism is started to adjust the tear line position.

11. The automatic sandpaper tearing method according to claim 8, characterized in that: During the initial operation, the tear line moves to the first side through the slide rail assembly, and the grinding head moves horizontally from the second side to the upper side of the negative pressure paper suction bin through the correction track.

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