Grinding tool automatic replacement method and system suitable for grinding equipment

Abstract

The invention discloses an automatic grinding tool replacing method and system suitable for grinding equipment. The grinding tool automatic replacement method suitable for the grinding equipment comprises the steps that a control part controls an operation part to move to a current grinding tool falling position and controls a current grinding tool to fall off from the operation part; the control part controls the operation part to move to a standby grinding tool replacement position, and the standby grinding tool replacement position is the position, corresponding to the standby grinding tool supporting mechanism, of the operation part; the control part controls the operation part to adjust the posture so that the posture of the operation part can adapt to the standby grinding tool supporting mechanism. The working part obtains the standby grinding tool from the standby grinding tool supporting mechanism; and the control part controls the operation part to move to an operation position. According to the method and system, automatic replacement of the grinding tool of the grinding equipment is achieved, the intelligent degree of the automatic replacement process is improved, and higher replacement efficiency is achieved.

Description

Technical Field

[0001] This invention relates to the field of polishing technology, and in particular to an automatic grinding tool changing method and system suitable for polishing equipment. Background Technology

[0002] Grinding equipment is often used in conjunction with industrial robots, particularly in the automotive and aerospace industries, where it has gained widespread application and significantly improved the efficiency of grinding and polishing operations. However, in practice, grinding tools, being high-frequency consumable parts, are still primarily replaced manually. This not only leads to frequent interruptions in grinding operations and inconsistent replacement accuracy but also introduces quality fluctuations and safety hazards due to differences in operator skill. The efficiency bottleneck and additional costs associated with manual tool changes severely restrict the continuity and automation level of the grinding process.

[0003] Therefore, there is an urgent need for an efficient method and system for automatic grinding tool replacement suitable for grinding equipment, in order to minimize manual intervention, ensure continuous operation, realize fully automatic grinding tool replacement, improve the working efficiency of grinding equipment, and be suitable for continuous grinding operation scenarios. This is also a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and system for automatic grinding tool replacement suitable for grinding equipment, so as to realize fully automatic grinding tool replacement for grinding equipment.

[0005] To achieve the above objectives, the present invention provides an automatic grinding tool replacement method suitable for grinding equipment, characterized in that the grinding equipment includes: a working unit, a control unit, and a spare grinding tool support mechanism; the working unit is provided with a current grinding tool, and the working unit uses the current grinding tool to perform grinding operations; the spare grinding tool support mechanism supports the spare grinding tool; the method includes: the control unit controlling the working unit to move to the current grinding tool detachment position, and controlling the current grinding tool to detach from the working unit; the control unit controlling the working unit to move to the spare grinding tool replacement position, the spare grinding tool replacement position being the position of the working unit corresponding to the spare grinding tool support mechanism; the control unit controlling the working unit to adjust its posture so that the posture of the working unit is adapted to the spare grinding tool support mechanism; the working unit acquiring the spare grinding tool from the spare grinding tool support mechanism; and the control unit controlling the working unit to move to the working position.

[0006] Optionally, the working unit includes a tension adjustment mechanism that can be driven to extend or shorten; the current abrasive is fitted onto the tension adjustment mechanism; controlling the current abrasive to detach from the working unit: the tension adjustment mechanism contracts, the current abrasive is in a relaxed state, and the current abrasive detaches from the tension adjustment mechanism under the action of gravity; the control unit controls the working unit to adjust its posture by: after the tension adjustment mechanism contracts, the control unit controls the tension adjustment mechanism to align with the spare abrasive; the working unit obtains the spare abrasive from the spare abrasive support mechanism by: the tension adjustment mechanism expands, fitting the spare abrasive onto the tension adjustment mechanism, and being in a tensioned state.

[0007] Optionally, the tension adjustment mechanism includes a driving wheel and a driven wheel, and the current mold is fitted on the driving wheel and the driven wheel; the contraction of the tension adjustment mechanism includes shortening the distance between the driving wheel and the driven wheel; the expansion of the tension adjustment mechanism includes increasing the distance between the driving wheel and the driven wheel.

[0008] Optionally, the spare abrasive support mechanism includes a guide tensioning part, which includes a guide tensioning mechanism. When the spare abrasive is fitted onto the guide tensioning mechanism, the guide tensioning part is in an expanded state. The automatic replacement method further includes: after the tension adjustment mechanism expands, the guide tensioning part contracts. The contraction of the guide tensioning part includes: shortening the relative distance between the guide tensioning mechanism and the tensioning mechanism.

[0009] Optionally, the spare grinding tool support mechanism includes: a spare grinding tool placement platform, and the guide tensioning mechanism is disposed on the spare grinding tool placement platform; the guide tensioning mechanism can extend or retract relative to the spare grinding tool placement platform, and when the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning mechanism extends out of the spare grinding tool placement platform; the automatic grinding tool replacement method further includes: after the guide tensioning mechanism retracts, the guide tensioning mechanism retracts relative to the spare grinding tool placement platform.

[0010] Optionally, the spare grinding tool support mechanism is further provided with a detachment mating part. At the current grinding tool detachment position, the detachment mating part touches the current grinding tool. The automatic replacement method further includes: controlling the current grinding tool to detach from the working part includes: controlling the working part to move in the detachment mating direction so that the detachment mating part applies pressure to the current grinding tool to assist the current grinding tool to detach.

[0011] Optionally, the working part includes a tension adjustment mechanism, and the current grinding tool is sleeved on the tension adjustment mechanism; the detachment fitting part is an L-shaped lever, and the spare grinding tool support mechanism includes a spare grinding tool placement platform and a guide tensioning mechanism on which the spare grinding tool is sleeved; one end of the L-shaped lever is connected to the spare grinding tool placement platform, and the other end of the L-shaped lever extends out of the spare grinding tool placement platform; at the current grinding tool detachment position, one end of the L-shaped lever extends into a position that can block the relative movement between the current grinding tool and the tension adjustment mechanism.

[0012] Optionally, the spare grinding tool support mechanism is further provided with a first photoelectric monitoring mechanism, which monitors the placement status of the spare grinding tool on the spare grinding tool support mechanism. The method further includes: the first photoelectric monitoring mechanism generating a first signal indicating whether the spare grinding tool is mounted on the spare grinding tool support mechanism, and sending the first signal to the control unit; the control unit determining whether to control the operation unit to move to the replacement position of the spare grinding tool based on the first signal.

[0013] Optionally, there are multiple spare grinding tool support mechanisms, and the method further includes: the control unit confirms the replacement position of the spare grinding tool based on the first photoelectric detection signal; the replacement position of the spare grinding tool is selected from the position of the spare grinding tool support mechanism where the spare grinding tool exists.

[0014] Optionally, the work unit is further provided with a second photoelectric monitoring mechanism, which monitors the current placement status of the grinding tool on the work unit. The method further includes: the second photoelectric monitoring mechanism generating a second signal indicating whether the current grinding tool is mounted on the work unit, and sending the second signal to the control unit; the control unit determining whether to control the work unit to move to the replacement position of the spare grinding tool based on the second signal.

[0015] Optionally, the working unit includes a tension adjustment mechanism that can be driven to extend or retract. The tension adjustment mechanism includes a first support portion, which is provided with a driving wheel and a driving wheel drive portion. The driving wheel drive portion is adapted to drive the driving wheel to rotate. The first support portion is connected to a second support portion, which is provided with a sliding drive portion adapted to drive a driven wheel support portion to slide relative to the second support portion. The driven wheel support portion is slidably connected to the second support portion. The driven wheel support portion includes a connecting portion and a rotating portion, with the rotating portion rotatably connected to the connecting portion. The driven wheel is mounted on the rotating part; the driven wheel can be driven away from or near the driving wheel, and the current grinding wheel is sleeved on the driving wheel and the driven wheel; the spare grinding wheel support mechanism includes: a spare grinding wheel placement platform, a guide tensioning part, a disengagement fitting part, a first photoelectric monitoring mechanism, and a second photoelectric monitoring mechanism; the guide tensioning part includes a guide tensioning mechanism, which is disposed on the spare grinding wheel placement platform; when the spare grinding wheel is sleeved on the guide tensioning mechanism, the guide tensioning part is in an expanded state; the guide tensioning mechanism can extend or retract relative to the spare grinding wheel placement platform. When the spare grinding tool is mounted on the guide tensioning mechanism, the guide tensioning mechanism extends out of the spare grinding tool placement platform; the detachment fitting part is disposed on the spare grinding tool support mechanism, and at the current grinding tool detachment position, the detachment fitting part touches the current grinding tool; the first photoelectric monitoring mechanism monitors the placement status of the spare grinding tool on the spare grinding tool support mechanism; the second photoelectric monitoring mechanism monitors the placement status of the current grinding tool on the working part; there are multiple grinding tool support mechanisms; controlling the current grinding tool to detach from the working part includes: the driven wheel being driven to approach the driving wheel, and the current grinding tool... In a relaxed state, the control unit controls the working part to move in the disengagement direction, so that the disengagement part applies pressure to the current abrasive, assisting the current abrasive to disengage from the working part; the control unit controls the working part to adjust its posture, including: after the tension adjustment mechanism retracts, the control unit controls the tension adjustment mechanism to align with the spare abrasive; the working part obtains the spare abrasive from the spare abrasive support mechanism, including: the tension adjustment mechanism expands, the driven wheel is driven away from the driving wheel, the spare abrasive is fitted on the driven wheel and the driving wheel, and the spare abrasive is in a tensioned state; The method further includes: the second photoelectric monitoring mechanism generating a second signal indicating whether the current grinding tool is fitted on the working part, and sending the second signal to the control unit; the control unit determining whether to control the working part to move to the replacement position of the spare grinding tool based on the second signal; the first photoelectric monitoring mechanism generating a first signal indicating whether the spare grinding tool is fitted on the spare grinding tool support mechanism, and sending the first signal to the control unit; the control unit determining whether to control the working part to move to the replacement position of the spare grinding tool based on the first signal; the control unit confirming the replacement position of the spare grinding tool based on the first signal; the replacement position of the spare grinding tool is selected from the position of the spare grinding tool support mechanism where the spare grinding tool exists; after the tension adjustment mechanism expands, the guide tensioning part contracts, shortening the relative distance of the guide tensioning mechanism; after the guide tensioning mechanism contracts, the guide tensioning mechanism retracts relative to the spare grinding tool placement platform.

[0016] The present invention also provides a polishing system, characterized in that it includes the polishing device according to any one of claims 1-11, wherein the polishing device is configured to be applied to the automatic grinding tool changing method according to any one of claims 1-11.

[0017] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects: Through the above steps, the automatic replacement of grinding tools in the work section is realized, covering the entire process of automatically removing the current grinding tool and automatically acquiring the spare grinding tool. No manual intervention is required in the grinding tool replacement process of the grinding equipment, realizing full automation of grinding tool replacement and improving production efficiency.

[0018] By controlling the contraction and expansion of the tension adjustment mechanism, the posture of the working part is adjusted to facilitate the subsequent acquisition of spare grinding tools. This achieves control over the detachment of the current grinding tool and the acquisition of spare grinding tools, simplifies the system structure of the grinding equipment, and significantly improves the efficiency and controllability of the grinding tool replacement process.

[0019] By controlling the distance between the driving wheel and the driven wheel to achieve the contraction and expansion of the tension adjustment mechanism, the mechanical structure of grinding wheel replacement is simplified, the work efficiency of the grinding wheel replacement process is improved, and the overall reliability of the automated grinding system is enhanced.

[0020] By expanding the tension adjustment mechanism and then contracting the guide tensioning part, it is ensured that the guide tensioning part is contracted only after the work part has successfully supported the spare grinding tool. This avoids the risk of grinding tool falling, tilting, or getting stuck due to premature removal of the guide tensioning part, and greatly improves the certainty and reliability of the automatic grinding tool replacement process.

[0021] By retracting the guide tensioning mechanism and then further retracting it relative to the mold placement platform, the guide tensioning mechanism actively avoids obstacles, freeing up unobstructed operating space for subsequent actions such as lifting and translating after the work unit obtains the mold. This effectively prevents interference between the guide tensioning mechanism and the work unit or the mold, and helps to ensure the smooth execution of the automatic changeover process.

[0022] By controlling the movement of the working part towards the detachment mating direction, the detachment mating part applies pressure to the current grinding wheel. The detachment mating part provides additional, directional mechanical assistance for the current grinding wheel to detach, which can further ensure that the current grinding wheel can be reliably and completely separated from the working part each time it is replaced, effectively avoiding subsequent operation failures caused by the failure of the old current grinding wheel to detach successfully.

[0023] By receiving the first signal from the first photoelectric monitoring mechanism, the configuration of the spare grinding tools on the spare grinding tool support mechanism can be monitored, thereby improving the level of intelligence in the automatic replacement process.

[0024] By controlling the operation department to confirm the replacement position of the spare grinding tool from the multi-station spare grinding tool support mechanism, the entire grinding operation process can be automatically replaced with spare grinding tools, which significantly improves the continuity and efficiency of grinding operations, reduces manual intervention and downtime, and extends the service life of grinding equipment.

[0025] By receiving a second signal from the second photoelectric monitoring mechanism, the current grinding tool configuration on the work section can be monitored. This can prevent the replacement process from being started incorrectly when the current grinding tool has not fallen off, prevent the current grinding tool from having an adverse effect on the subsequent replacement of the spare grinding tool, reduce ineffective operations, and improve grinding efficiency.

[0026] This invention provides an automatic grinding wheel replacement method suitable for grinding equipment. Through the cooperation of the control unit and the sensing mechanism, it achieves high efficiency, reliability, and intelligence in the entire process of replacing spare grinding wheels. The design of the rotating part and connecting part on the working part enables the adjustment and determination of the grinding wheel position, thereby allowing for better acquisition of spare grinding wheels during replacement. The control unit, in conjunction with the tensioning adjustment mechanism and the guide tensioning part, works together to detach the current grinding wheel and acquire the spare grinding wheel. The guide tensioning mechanism can actively retract, creating safe space for subsequent operations. The photoelectric monitoring mechanism set on the spare grinding wheel support mechanism and the working part provides real-time feedback on the grinding wheel's storage and position status, enabling the control unit to verify and make decisions on the grinding wheel status, effectively preventing misoperation. The mechanical assistance of the detachment mating part overcomes the stickiness of the current grinding wheel, ensuring complete separation. By acquiring the spare grinding wheel on the multi-station spare grinding wheel support mechanism, the continuity of grinding operations is significantly improved. This method achieves fully automatic grinding wheel replacement for grinding equipment, significantly improving the automation level, operational safety, and maintenance convenience of continuous grinding operations.

[0027] The present invention also provides a grinding system that realizes the automatic removal of the current grinding tool and the automatic acquisition of the spare grinding tool, improves the automation and integration of the grinding operation process, realizes more efficient automated grinding operation, improves grinding operation efficiency, and reduces labor costs. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a polishing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a spare mold support mechanism according to an embodiment of the present invention; Figure 3 This is a structural side view of a spare mold support mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a working unit in an embodiment of the present invention; Figure 5 This is a diagram showing the relative position of the working part and the spare mold support mechanism when the working part is in the current mold detachment position according to an embodiment of the present invention. Figure 6 This is a relative position diagram of a portion of the working part and the spare mold support mechanism when the working part is in the spare mold replacement position according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a multi-station spare grinding tool support mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of an automatic grinding tool changing method suitable for grinding equipment according to an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating a specific implementation of an automatic grinding tool changing method suitable for grinding equipment according to an embodiment of the present invention.

[0029] Figure label: Spare grinding tool support mechanism 1; spare grinding tool placement platform 101; support part 102; bearing part 103; first guide tensioning part 104; drive device 105; second guide tensioning part 106; tension drive part 107; first photoelectric monitoring mechanism 108; detachment mating part 109; Operating section 2; First support section 201; Drive wheel 202; Drive wheel drive section 203; Second support section 204; Sliding drive section 205; Driven wheel support section 206; Connecting section 2061; Rotating section 2062; Driven wheel 207; Second photoelectric monitoring mechanism 208; Control Unit 3. Detailed Implementation

[0030] To make the above-mentioned objectives, features and beneficial effects of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Reference Figures 1-7 This invention provides a grinding device comprising a working unit, a control unit, the working unit mounted on the control unit, and a spare grinding wheel support mechanism for storing spare grinding wheels. The control unit can control the working unit to move to a specific position and adjust its posture, thereby controlling the working unit to detach the current grinding wheel, acquire a spare grinding wheel, and perform operations at a specific position, thus realizing automatic grinding wheel replacement and improving production efficiency.

[0032] It is understandable that the current grinding wheel and the spare grinding wheel are merely distinctions in the state of use of the grinding wheel; both can be the same grinding wheel. The current grinding wheel and the spare grinding wheel can be soft strip grinding wheels or hard grinding wheels.

[0033] In the grinding apparatus, the spare grinding wheel support mechanism includes a guide tensioning part. The guide tensioning part is a mechanism for supporting the grinding wheel, including a guide tensioning mechanism. As the guide tensioning mechanism expands and contracts, its outer diameter for supporting the grinding wheel increases or decreases accordingly, resulting in the spare grinding wheel being in a tensioned or relaxed state. In a specific embodiment, the guide tensioning mechanism may include multiple components, and contraction of the guide tensioning mechanism can reduce the distance between the multiple components. Alternatively, the guide tensioning mechanism may contract in other ways to reduce the outer diameter of the supporting grinding wheel, and vice versa. It is understood that when the spare grinding wheel is fitted onto and supported by the guide tensioning mechanism, the spare grinding wheel is in a tensioned state, and the guide tensioning part is in an expanded state.

[0034] The guide tensioning mechanism can extend or retract relative to the grinding wheel placement platform. When a spare grinding wheel is mounted on the guide tensioning mechanism, the guide tensioning mechanism extends out of the spare grinding wheel placement platform. It can be understood that "extending out of the spare grinding wheel placement platform" means that the guide tensioning mechanism protrudes above the plane of the spare grinding wheel placement platform. "Retracting relative to the spare grinding wheel placement platform" means reducing the height of the tensioning mechanism protruding from the spare grinding wheel placement platform, or placing it completely below the plane of the spare grinding wheel placement platform.

[0035] Continue to refer to Figure 2This is a schematic diagram of a spare grinding tool support mechanism provided in an embodiment of the present invention. In the spare grinding tool support mechanism 1, the spare grinding tool placement platform 101 can be fixedly installed on the ground, equipment base, or other locations via a support part 102. The bearing part 103 is spatially opposite to the spare grinding tool placement platform 101 and the two are connected by a drive device 105. Under the driving action of the drive device 105, the bearing part 103 can move in a direction closer to or away from the spare grinding tool placement platform 101. Specifically, both the bearing part 103 and the spare grinding tool placement platform 101 can be plate-shaped platforms. The bearing part 103 can be located on the lower side of the spare grinding tool placement platform 101, and the two can be spatially parallel to each other.

[0036] The guide tensioning part may include a guide tensioning mechanism, which may include a first guide tensioning part 104 and a second guide tensioning part 106. A spare abrasive tool may be fitted onto the first guide tensioning part 104 and the second guide tensioning part 106. The first guide tensioning part 104 may be mounted on a support part 103, located on the side of the support part 103 facing the spare abrasive tool placement platform 101. The second guide tensioning part 106 may be fixedly mounted on the telescopic drive end of a tensioning drive part 107, which may be mounted on the support part 103 and located on the side of the support part 103 facing the spare abrasive tool placement platform 101. Under the drive of the tensioning drive part 107, the second guide tensioning part 106 may move in a direction closer to or farther from the first guide tensioning part 104.

[0037] Under the driving action of the drive device 105, the first guide tensioning part 104, the tensioning drive part 107, and the second guide tensioning part 106 can all move synchronously relative to the spare grinding tool placement platform 101 together with the support part 103. For example, when the drive support part 103 of the drive device 105 moves away from the spare grinding tool placement platform 101, the height of the first guide tensioning part 104 and the second guide tensioning part 106 protruding from the spare grinding tool placement platform 101 also decreases accordingly, or they are completely below the plane of the spare grinding tool placement platform 101, realizing the retraction of the guide tensioning mechanism relative to the grinding tool placement platform 101.

[0038] Specifically, the spare grinding tool placement platform 101 can be set parallel to the horizontal ground, and the first guide tensioning part 104 and the second guide tensioning part 106 can be set perpendicular to the horizontal ground. The spare grinding tool is supported by the first guide tensioning part 104 and the second guide tensioning part 106 in the horizontal direction and is subjected to gravity in the vertical direction. Therefore, the spare grinding tool is in a stable state and does not deform.

[0039] Specifically, the direction of movement of the telescopic drive end of the tension drive unit 107 can be perpendicular to the direction of movement of the drive device 105 driving the bearing unit 103. Here, "perpendicular" should be interpreted broadly, referring not only to a strictly geometrical perpendicular relationship of 90 degrees, but also to "approximate perpendicular" or "basic perpendicular" relationships that are permissible in actual manufacturing, assembly, and use and can achieve the technical effects of this application.

[0040] In one embodiment, the spare grinding tool support mechanism may further be provided with a detachable fitting part, one end of which can be connected to the spare grinding tool support mechanism, and the other end of which can extend out of the spare grinding tool support mechanism. When the current grinding tool on the working part needs to be replaced, the control unit can control the working part to move to the current grinding tool detachment position, and move along the direction of the pressure from the other end of the detachable fitting part, so that the current grinding tool fitted on it is subjected to the pressure from the other end of the detachable fitting part, thereby smoothly detaching from the working part.

[0041] Specifically, the detachment fitting part can be an L-shaped lever, one end of which is connected to the spare mold placement platform, and the other end extends out of the mold placement platform. At the current mold detachment position, one end of the L-shaped lever extends into a position that can block the relative movement between the current mold and the working part.

[0042] In one embodiment, the spare mold support mechanism may also be provided with a first photoelectric monitoring mechanism, which is fixedly installed on the spare mold support mechanism.

[0043] Specifically, the first photoelectric monitoring mechanism 108 can be fixedly installed on the other side of the support part 102 of the spare grinding tool placement platform 101, that is, the side of the spare grinding tool placement platform 101 used to support the spare grinding tool. The first photoelectric monitoring mechanism 108 can generate a first signal indicating whether a spare grinding tool is fitted on the spare grinding tool support mechanism. When a spare grinding tool is fitted on the spare grinding tool support mechanism, it will block the optical path of the first photoelectric monitoring mechanism. The first signal of the first photoelectric monitoring mechanism 108 can be a signal indicating "grind tool present", and conversely, it can be a signal indicating "grind tool absent", which can realize the monitoring of the spare grinding tool configuration on the spare grinding tool support mechanism 1.

[0044] In one embodiment, there can be multiple spare grinding tool support mechanisms. These multiple spare grinding tool support mechanisms can be arranged in parallel adjacent to each other, and each spare grinding tool support mechanism can be equipped with a spare grinding tool. A detachable fitting part can be provided on the outermost spare grinding tool support mechanism of the row of spare grinding tool support mechanisms. One end of the detachable fitting part is connected to the spare grinding tool support mechanism, and the other end extends out of the spare grinding tool support mechanism and points to the outside of the multiple spare grinding tool support mechanisms.

[0045] For details, please continue to refer to... Figure 7This is a schematic diagram of a multi-station spare grinding tool support mechanism according to an embodiment of the present invention. It is understood that this diagram only shows four spare grinding tool support mechanisms, but the number of spare grinding tool support mechanisms can be increased or decreased according to actual operational needs, and is not limited to four. When continuous grinding operations are required, the control unit can control the operation unit to obtain spare grinding tools from different spare grinding tool support mechanisms each time based on the second signal from the second photoelectric monitoring mechanism, thereby realizing automatic replacement of spare grinding tools throughout the entire grinding operation process, significantly improving the continuity and efficiency of the grinding operation, and reducing manual intervention and downtime.

[0046] In one embodiment, the work unit may also be equipped with a second photoelectric monitoring mechanism, which can be fixedly installed on the work unit. The second photoelectric monitoring mechanism can monitor the current grinding tool configuration on the work unit, reduce unnecessary operations, and improve grinding efficiency.

[0047] For details, please continue to refer to... Figure 4 The second photoelectric monitoring mechanism 208 can be fixedly installed on the same side of the first support part 201 of the working part 2, where the drive wheel 202 is located. The second photoelectric monitoring mechanism 208 can generate a second signal indicating whether the current grinding tool is fitted on the working part 2. When the current grinding tool is fitted on the working part, the light path of the second photoelectric monitoring mechanism 208 can be blocked. The second signal of the second photoelectric monitoring mechanism 208 can be a signal indicating "grind tool present", and vice versa, it can be a signal indicating "grind tool absent". The control unit 3 determines whether to control the working part 2 to move to the spare grinding tool replacement position based on the second signal. When the second signal is a signal indicating "grind tool present", it means that the removal of the current grinding tool has not been completed. The control unit 3 determines that it cannot control the working part 2 to move to the spare grinding tool replacement position and can repeat the step of removing the current grinding tool. When the second signal is a signal indicating "grind tool absent", it means that the removal of the current grinding tool has been completed. The control unit 3 determines that it can control the working part 2 to move to the spare grinding tool replacement position.

[0048] In the grinding device, the working section includes a tension adjustment mechanism. The tension adjustment mechanism may include a first support section, which may be equipped with a driving wheel and a driving wheel drive section. The driving wheel drive section is adapted to drive the driving wheel to rotate. The first support section may be connected to a second support section, which may be equipped with a sliding drive section adapted to drive a driven wheel support section to slide relative to the second support section. The driven wheel support section may be slidably connected to the second support section. The driven wheel support section may include a connecting section and a rotating section. The rotating section may be rotatably connected to the connecting section, and the driven wheel may be mounted on the rotating section. The driven wheel can be driven away from or near the driving wheel, and the grinding wheel is currently fitted onto the driving wheel and the driven wheel.

[0049] Continue to refer to Figure 4 This is a schematic diagram of the structure of a working unit according to an embodiment of the present invention. In the working unit 2, the driving wheel 202 can be installed on one side of the first support part 201, and the driving wheel drive part 203 can be installed on the other side of the first support part 201 to drive the driving wheel 202 to rotate. The second support part 204 can be connected to the first support part 201. The second support part 204 can be provided with a sliding drive part 205, which can drive the driven wheel support part 206 to slide relative to the second support part 204. The driven wheel support part 206 can be slidably connected to the second support part 204. The driven wheel support part 206 can include a connecting part 2061 and a rotating part 2062. The rotating part 2062 can be rotatably connected to the connecting part 2061, and the driven wheel 207 can be installed on the rotating part 2062. The grinding wheel can be mounted on the working unit 2 with the support of the driven wheel 207 and the driving wheel 202.

[0050] Specifically, the second support portion 202 can be arranged perpendicularly to the first support portion 201, and the drive wheel 202 can be disposed on the top of the first support portion 201. The drive wheel drive portion 203 can be a motor or any drive device, as long as it can drive the drive wheel 202 to rotate. The sliding drive portion 205 can be a cylinder or any drive device, as long as it can drive the driven wheel support portion 206 to slide.

[0051] When the working unit 2 needs to detach the current grinding tool installed on the driven wheel 207 and the driving wheel 202, the sliding drive unit 205 can drive the driven wheel support unit 206 to slide relative to the second support unit 204, reducing the distance between the driven wheel 207 and the driving wheel 202. The current grinding tool installed on the driven wheel 207 and the driving wheel 202 changes from a tensioned state to a relaxed state. In the relaxed state, the current grinding tool is no longer supported by the driven wheel 207 and the driving wheel 202, and can fall off the tension adjustment mechanism under the action of gravity, realizing the separation of the current grinding tool from the working unit 2.

[0052] When the work unit 2 needs to obtain a spare grinding tool installed on the spare grinding tool support mechanism 1, the work unit 2 can move to the spare grinding tool replacement position under the control of the control unit 3. The spare grinding tool replacement position refers to a specific position that the control unit controls the work unit to reach in order to realize the replacement task of replacing the spare grinding tool from the spare grinding tool support mechanism to the work unit. At this specific position, the work unit corresponds to the spare grinding tool support mechanism, and the spare grinding tool support mechanism at this specific position is the designated spare grinding tool support mechanism used to realize the spare grinding tool replacement in the future, and the spare grinding tool is stored on it.

[0053] The control unit 3 can control the working unit 2 so that its driven wheel 207 and driving wheel 202 extend into the outer diameter of the spare grinding tool. The sliding drive unit 205 can drive the driven wheel support unit 206 to slide in a direction away from the sliding drive unit 205. The distance between the driven wheel 207 and driving wheel 202 mounted on the driven wheel support unit 206 also increases accordingly. The spare grinding tool is supported by the driven wheel 207 and driving wheel 202, and is fitted onto the driven wheel 207 and driving wheel 202 in a tensioned state. The working unit 2 realizes the acquisition of the spare grinding tool.

[0054] During operation, the spare grinding wheel may shift due to a misalignment between the driven wheel 207 and the drive wheel 202's axle. This can be addressed by rotating the rotating part 2062, changing its relative position to the connecting part 2061, thereby adjusting the axle direction of the driven wheel 207. For example, depending on the actual shift, the rotating part 2062 can be rotated clockwise or counterclockwise relative to the connecting part 2061 to align the axle of the driven wheel 207 on the rotating part 2062 with the axle of the drive wheel 202. This allows for adjustment and determination of the grinding wheel's position, and also enables better retrieval of spare grinding wheels when replacing them.

[0055] This invention provides an automatic grinding tool replacement method suitable for grinding equipment. The grinding equipment includes a working part, a control part for controlling the movement of the working part, and a spare grinding tool support mechanism for supporting spare grinding tools. The automatic replacement method includes: S11, the control unit controls the operation unit to move to the current mold removal position, and controls the current mold to detach from the operation unit; S12, the control unit controls the operation unit to move to the spare grinding tool replacement position, which is the position of the operation unit corresponding to the spare grinding tool support mechanism; S13, the control unit controls the operation unit to adjust its posture so that the posture of the operation unit is adapted to the standby mold support mechanism; S14, the operations department obtains a spare grinding tool from the spare grinding tool support mechanism; S15, the control unit controls the operation unit to move to the operation position.

[0056] Figure 8 This is a schematic diagram of an automatic grinding wheel replacement method suitable for grinding equipment according to an embodiment of the present invention. Through the above steps, the automatic grinding wheel replacement method suitable for grinding equipment provided by the present invention can realize the automatic replacement of grinding wheels on the work section, covering the entire process of automatically removing the current grinding wheel and automatically acquiring a spare grinding wheel. No manual intervention is required in the grinding wheel replacement process of the grinding equipment, achieving full automation of grinding wheel replacement and improving production efficiency.

[0057] In step S11, the control unit can control the work unit to move to the current grinding wheel removal position. At the current grinding wheel removal position, the control unit can control the current grinding wheel to be removed from the work unit, completing the removal of the current grinding wheel in the automatic replacement process, so that the subsequent work unit can obtain a spare grinding wheel. The current grinding wheel removal position refers to the specific position that the control unit controls the work unit to reach in order to perform the removal task of the current grinding wheel. At this position, the control unit controls the current grinding wheel to be removed from the work unit. Setting the current grinding wheel removal position is beneficial to improving production efficiency.

[0058] In one embodiment, the current grinding tool can be detached from the working part by disconnecting the connection between the current grinding tool and the working part. Specifically, the connection can be the driven wheel and the driving wheel of the working part. The current grinding tool separates from the driven wheel and the driving wheel of the working part, thus detaching from the working part. The sliding drive unit can drive the driven wheel support unit to slide relative to the second support unit, reducing the distance between the driven wheel and the driving wheel. The current grinding tool mounted on the driven wheel and the driving wheel changes from a tensioned state to a relaxed state. In the relaxed state, the current grinding tool is no longer supported and limited by the driven wheel and the driving wheel, thereby achieving the detachment of the current grinding tool.

[0059] In step S12, the control unit can control the operation unit to move to the spare grinding tool replacement position. At the spare grinding tool replacement position, the operation unit corresponds to the spare grinding tool support mechanism so as to obtain the spare grinding tool later. The spare grinding tool replacement position refers to the specific position that the control unit controls the operation unit to reach in order to realize the replacement task of replacing the spare grinding tool from the spare grinding tool support mechanism to the operation unit. At this specific position, the operation unit corresponds to the spare grinding tool support mechanism. The spare grinding tool support mechanism at this specific position is the designated spare grinding tool support mechanism used to realize the spare grinding tool replacement later, and the spare grinding tool is stored on it.

[0060] In one embodiment, the control unit may move the operation unit above the spare grinding tool placement platform of the spare grinding tool support mechanism so as to subsequently retrieve the spare grinding tool from the spare grinding tool support mechanism.

[0061] In step S13, the control unit can control the working unit to adjust its posture so that the adjusted posture of the working unit is adapted to the spare grinding tool support mechanism so as to obtain the spare grinding tool in the future.

[0062] In one embodiment, adjusting the posture of the working part can be done by adjusting the posture of the mechanism for acquiring the spare grinding tool. For example, the direction of the mechanism for acquiring the spare grinding tool on the working part can be adjusted so that the mechanism faces the spare grinding tool. Alternatively, the relative positions of the driven wheel and the driving wheel on the working part can be adjusted to reduce the relative distance between the driven wheel and the driving wheel so that the driven wheel and the driving wheel can simultaneously fall into the inner side of the outer diameter of the spare grinding tool, so that the spare grinding tool can be acquired subsequently through the cooperation of the driven wheel and the driving wheel.

[0063] In step S14, the work unit can obtain a spare grinding tool from the spare grinding tool support mechanism. Obtaining the spare grinding tool can be done by gripping, fitting, inserting, or otherwise acquiring the grinding tool, or by fixing the spare grinding tool to the work unit in other ways so that the spare grinding tool can move with the work unit. For example, the driven wheel and the driving wheel can be simultaneously inserted into the inner diameter of the spare grinding tool, driving the driven wheel away from the driving wheel to increase the distance between the driven wheel and the driving wheel. The spare grinding tool is supported by the driven wheel and the driving wheel and is tensioned and fitted onto them, thereby achieving the acquisition of the spare grinding tool.

[0064] In step S15, the control unit can control the operation unit to move, eventually moving it to the operation position for subsequent grinding operations. The operation position refers to the specific location that the operation unit needs to reach in order to perform a predetermined grinding operation on the target object. The specific meaning of this position depends on the specific type of operation, but its core is to meet the spatial relationship required to complete the grinding operation. For example, the control unit can directly move the operation unit to the operation position, or first control the operation unit to move it above the spare abrasive placement platform of the spare abrasive support mechanism so that there is a non-intersecting space between it and the spare abrasive placement platform, and then move it to the operation position.

[0065] In specific implementation, the working unit may include a tension adjustment mechanism that can be driven to extend or shorten, with the current grinding tool fitted onto the tension adjustment mechanism. Step S11, controlling the current grinding tool to detach from the working unit, may include the tension adjustment mechanism retracting, causing the current grinding tool to relax and detach from the tension adjustment mechanism under gravity. Step S13, controlling the working unit to adjust its posture, may include the tension adjustment mechanism retracting and then aligning with the spare grinding tool. Step S14, the working unit obtaining the spare grinding tool from the spare grinding tool support mechanism, may include the tension adjustment mechanism expanding, fitting the spare grinding tool onto the tension adjustment mechanism, and the spare grinding tool being in a tensioned state. This achieves control over the detachment of the current grinding tool and the acquisition of the spare grinding tool, simplifying the system structure of the grinding equipment and significantly improving the efficiency and controllability of the grinding tool replacement process.

[0066] In one embodiment, the tension adjustment mechanism can be a mechanism for supporting the grinding wheel, which can support both the current grinding wheel and the standby grinding wheel. It is understood that the current grinding wheel and the standby grinding wheel are merely distinctions regarding the state of use of the grinding wheel; they can both be the same grinding wheel.

[0067] Contraction of the tension adjustment mechanism reduces the outer diameter of the abrasive mold it supports, thereby loosening the mold. For example, the tension adjustment mechanism may include multiple components, and contraction can reduce the distance between these components. Alternatively, the tension adjustment mechanism can contract in other ways to reduce the outer diameter of the abrasive mold. Expansion of the tension adjustment mechanism increases the distance between the components. Alternatively, the tension adjustment mechanism can expand in other ways to increase the outer diameter of the abrasive mold.

[0068] Specifically, the contraction and expansion of the tension adjustment mechanism can be active contraction or expansion of the tension adjustment mechanism, or passive contraction or expansion of the elastic component based on the compression of the abrasive. The abrasive can be a strip-shaped soft abrasive or a hard abrasive.

[0069] In one embodiment, the tension adjustment mechanism is aligned with the spare grinding tool by extending a corresponding component, such as the tension adjustment mechanism, into the spare grinding tool to obtain it. Specifically, when the tension adjustment mechanism is aligned with the spare grinding tool, there can be a safety margin between them. For example, the minimum straight-line distance between the tension adjustment mechanism and the spare grinding tool in the front-back and left-right directions can be greater than or equal to 3 mm.

[0070] In practical implementation, the tension adjustment mechanism may include a driving wheel and a driven wheel. The current grinding tool can be fitted onto the driving wheel and the driven wheel. Changes in the relative distance between the driving wheel and the driven wheel can affect the state of the current grinding tool fitted onto it. In the automatic replacement method, contracting the tension adjustment mechanism may include shortening the distance between the driving wheel and the driven wheel. After the tension adjustment mechanism contracts, the current grinding tool fitted onto it is in a relaxed state. In the automatic replacement method, expanding the tension adjustment mechanism may include increasing the distance between the driving wheel and the driven wheel. After the tension adjustment mechanism expands, the current grinding tool fitted onto it is in a tensioned state. By changing the distance between the driving wheel and the driven wheel in the tension adjustment mechanism, the state of the current grinding tool or the spare grinding tool fitted onto the tension adjustment mechanism can be adjusted. This makes it easier for the current grinding tool to detach from the tension adjustment mechanism after contraction, and also facilitates the automatic replacement of the spare grinding tool onto the tension adjustment mechanism by expanding it. The structural design of the drive wheel and driven wheel simplifies the mechanical structure of grinding wheel replacement, which helps to improve the efficiency of the grinding wheel replacement process and enhance the overall reliability of the automated grinding system.

[0071] In one embodiment, see further. Figure 4The tension adjustment mechanism may include a driving wheel 202 and a driven wheel 207. Reducing the distance between the driving wheel 202 and the driven wheel 207 can cause the tension adjustment mechanism to contract, and the current grinding wheel fitted on the driving wheel 202 and the driven wheel 207 will be in a relaxed state. Increasing the distance between the driving wheel 202 and the driven wheel 207 can cause the tension adjustment mechanism to expand, and the current grinding wheel fitted on the driving wheel 202 and the driven wheel 207 will be in a tensioned state.

[0072] In specific implementation, the spare grinding tool support mechanism may include a guide tensioning part, which may include a guide tensioning mechanism for fitting the spare grinding tool. When the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning part is in an expanded state. The automatic replacement method may also include the expansion of the tension adjustment mechanism followed by the contraction of the guide tensioning part. The contraction of the guide tensioning part may be a reduction in the relative distance between the guide tensioning mechanism and the spare grinding tool.

[0073] In one embodiment, the guide tensioning part may be located on the spare grinding tool support mechanism, including a guide tensioning mechanism, on which the spare grinding tool is sleeved. After the tension adjustment mechanism expands, the spare grinding tool is supported by the tension adjustment mechanism and separates from the guide tensioning mechanism. It is understood that at this time, the tension adjustment mechanism provides a larger outer diameter limiting support for the spare grinding tool, and the guide tensioning mechanism no longer provides support for the spare grinding tool.

[0074] After the tensioning adjustment mechanism expands, the guide tensioning section can retract by shortening the relative distance between the guide tensioning mechanism and the guide tensioning section. After the guide tensioning section retracts, the relative distance between the guide tensioning mechanism and the guide tensioning mechanism is reduced, further relieving the guide tensioning mechanism of its support for the spare grinding wheel. This avoids the risk of grinding wheel falling, tilting, or jamming due to premature removal of the guide tensioning section, greatly improving the certainty and reliability of the automatic grinding wheel replacement process.

[0075] In specific implementation, the spare grinding tool support mechanism may include a spare grinding tool placement platform, and a guide tensioning mechanism is disposed on the spare grinding tool placement platform. The guide tensioning mechanism can extend or retract relative to the grinding tool placement platform. When the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning mechanism extends out of the spare grinding tool placement platform; the automatic replacement method may also include retracting the guide tensioning mechanism relative to the grinding tool placement platform after the guide tensioning mechanism retracts.

[0076] It is understandable that "the guide tensioning mechanism extends out of the spare mold placement platform" can mean that the guide tensioning mechanism protrudes above the plane of the spare mold placement platform. "Retracting relative to the spare mold placement platform" can mean reducing the height of the tensioning mechanism protruding from the spare mold placement platform, or placing it completely below the plane of the spare mold placement platform.

[0077] The retraction of the guide tensioning mechanism relative to the mold placement platform provides unobstructed operating space for subsequent actions such as lifting and translating after the work unit obtains the mold. It can effectively prevent interference between the guide tensioning mechanism and the work unit or the mold, and help to ensure the smooth execution of the automatic change process.

[0078] In one embodiment, reference continues Figure 2 In specific implementation, in the spare abrasive support mechanism 1, the spare abrasive placement platform 101 can be fixedly installed on the ground, equipment base, or other locations via the support part 102. The bearing part 103 can be spatially opposite to the spare abrasive placement platform 101, and the two can be connected via a drive device 105. Under the driving action of the drive device 105, the bearing part 103 can move in a direction closer to or away from the spare abrasive placement platform 101. The guide tensioning part includes a guide tensioning mechanism, which can include a first guide tensioning part 104 and a second guide tensioning part 106. The spare abrasive is sleeved on the first guide tensioning part 104 and the second guide tensioning part 106. The first guide tensioning part 104 can be installed on the bearing part 103, located on the side of the bearing part 103 facing the spare abrasive placement platform 101. The second guide tensioning part 106 can be fixedly installed on the telescopic drive end of the tensioning drive part 107. The tensioning drive part 107 can be installed on the support part 103, located on the side of the support part 103 facing the spare mold placement platform 101. Under the drive of the tensioning drive part 107, the second guide tensioning part 106 can move in a direction close to or away from the first guide tensioning part 104.

[0079] Under the driving action of the drive device 105, the first guide tensioning part 104, the tensioning drive part 107, and the second guide tensioning part 106 can move synchronously relative to the spare grinding tool placement platform 101 together with the support part 103. For example, when the drive support part 103 of the drive device 105 moves away from the spare grinding tool placement platform 101, the height of the first guide tensioning part 104 and the second guide tensioning part 106 protruding from the spare grinding tool placement platform 101 also decreases accordingly, or is completely below the plane of the spare grinding tool placement platform 101, realizing the retraction of the guide tensioning mechanism relative to the grinding tool placement platform 101. The direction of movement of the extension and retraction drive end of the tensioning drive part 107 can be perpendicular to the direction of movement of the drive support part 103 of the drive device 105. The perpendicularity here should be interpreted broadly, which not only refers to the strict 90-degree geometric perpendicular relationship, but also includes the "approximate perpendicularity" or "basic perpendicularity" relationship that is allowed in actual manufacturing, assembly, and use and can achieve the technical effect of this application.

[0080] In specific implementation, the spare grinding wheel support mechanism may also be equipped with a detachment mating part, allowing the current grinding wheel to contact the detachment mating part at the current grinding wheel detachment position. Step S11, controlling the current grinding wheel to detach from the working part, may further include controlling the working part to move in the direction of the detachment mating part, so that the detachment mating part applies pressure to the current grinding wheel, assisting the current grinding wheel to detach from the working part. The detachment mating part provides additional, directional mechanical assistance for the current grinding wheel detachment, further ensuring that the current grinding wheel can be reliably and completely separated from the working part each time it is replaced, effectively avoiding subsequent operational failures caused by the old current grinding wheel failing to detach successfully.

[0081] In one embodiment, one end of the detachable fitting part can be connected to a spare grinding tool support mechanism, and the other end extends out of the spare grinding tool support mechanism. When the current grinding tool on the working part needs to be replaced, the control unit can control the working part to move to the current grinding tool detachment position, and then control the working part to move along the detachment fitting direction. The current grinding tool fitted on the working part is hindered by the pressure at the other end of the detachable fitting part and cannot move synchronously with the working part along the detachment fitting direction, thereby successfully separating from the working part and detaching from the working part. It is understood that the detachment fitting direction is related to the shape of the detachable fitting part and the current state of the grinding tool. It is a direction that is conducive to the detachable fitting part applying pressure to the current grinding tool to hinder the synchronous movement of the current grinding tool and the working part. In some cases, it can be the opposite direction of the grinding tool's detachment direction. For example, if the detachable fitting part is a clamping tool, the detachment fitting direction can be a direction that is conducive to the function of the clamping tool, such as a direction perpendicular to the clamping plate, or a direction opposite to the clamping jaw.

[0082] In one embodiment, the detachment engagement part can be an L-shaped lever, one end of which can be connected to a spare grinding tool placement platform, and the other end can extend out of the grinding tool placement platform. At the current grinding tool detachment position, one end of the L-shaped lever can extend into a position that can block the relative movement between the current grinding tool and the working part. When the working part moves in the detachment engagement direction, the end of the L-shaped lever that blocks the relative movement between the current grinding tool and the working part can apply pressure to the current grinding tool. At this time, the direction of pressure can be the same as the detachment direction of the grinding tool, that is, the detachment engagement direction is opposite to the detachment direction of the grinding tool. The L-shaped lever hinders the synchronous movement of the current grinding tool and the working part, which can cause the current grinding tool to detach from the working part.

[0083] In specific implementation, a first photoelectric monitoring mechanism can be installed on the spare grinding tool support mechanism to monitor the placement status of the spare grinding tool thereon. The automatic replacement method can also include: the first photoelectric monitoring mechanism generating a first signal indicating whether a spare grinding tool is mounted on the spare grinding tool support mechanism, and sending the first signal to the control unit; the control unit determines whether to control the operating unit to move to the spare grinding tool replacement position based on the first signal. When a spare grinding tool is mounted on the spare grinding tool support mechanism, the control unit determines based on the first signal sent by the first photoelectric monitoring mechanism that it can control the operating unit to move to the spare grinding tool replacement position of the spare grinding tool support mechanism, and then can continue to execute step S12; when no spare grinding tool is mounted on the spare grinding tool support mechanism, the control unit determines based on the first signal sent by the first photoelectric monitoring mechanism that it cannot control the operating unit to move to the spare grinding tool replacement position of the spare grinding tool support mechanism. If a new spare grinding tool is subsequently mounted on the spare grinding tool support mechanism, this step can be repeated. It enables monitoring of the spare grinding tool configuration on the spare grinding tool support mechanism and feeds back the spare grinding tool configuration information to the control department, enabling the control department to intelligently judge and execute automatic replacement operations, thereby improving the intelligence level of the automatic replacement process.

[0084] In one embodiment, a first photoelectric monitoring mechanism can be disposed on a spare mold support mechanism. This mechanism can generate a first signal indicating whether a spare mold is mounted on the spare mold support mechanism and send this first signal to the control unit. For example, when a spare mold is mounted on the spare mold support mechanism, it will block the light path of the first photoelectric monitoring mechanism. The first signal from the first photoelectric monitoring mechanism can be a signal indicating "mold present," or conversely, a signal indicating "no mold present." The control unit can determine whether to control the operation unit to move to the spare mold replacement position based on the first signal. If the first signal received by the control unit indicates "mold present," it determines that the operation unit can be controlled to move to the spare mold replacement position on the spare mold support mechanism, and step S12 can be continued to control the operation unit to move. If the first signal received by the control unit indicates "no mold present," it determines that the operation unit cannot be controlled to move to the spare mold replacement position on the spare mold support mechanism, and the spare mold will no longer be retrieved from the spare mold support mechanism.

[0085] Specifically, the first photoelectric monitoring mechanism can be a photoelectric sensor, or any device that can monitor the placement status of the spare mold on the spare mold support mechanism and generate a monitoring signal.

[0086] In practical implementation, the grinding equipment can include multiple spare grinding wheel support mechanisms. The automatic replacement method can also include: the control unit can confirm the replacement position of the spare grinding wheel based on the first photoelectric detection signal. The replacement position of the spare grinding wheel can be selected from the position of the spare grinding wheel support mechanism where the spare grinding wheel exists. This realizes the automatic replacement of spare grinding wheels throughout the entire grinding operation, significantly improving the continuity and efficiency of the grinding operation, reducing manual intervention and downtime, and extending the service life of the grinding equipment.

[0087] In one embodiment, the grinding equipment may include multiple spare grinding tool support mechanisms. Each spare grinding tool support mechanism sends its own first signal to the control unit. Based on the received multiple first signals, the control unit can identify the spare grinding tool support mechanism that stores the spare grinding tool among the multiple spare grinding tool support mechanisms, and can select one of the spare grinding tool support mechanism positions as the spare grinding tool replacement position.

[0088] For specific details, please refer to Figure 7 This is a schematic diagram of a multi-station spare grinding tool support mechanism according to an embodiment of the present invention. It is understood that this multi-station spare grinding tool support mechanism only shows four spare grinding tool support mechanisms, but this number can be increased or decreased according to actual operational needs, and is not limited to four. For example, if the first photoelectric signal received by the control unit indicates that the spare grinding tool support mechanism located on the outer side and equipped with an L-shaped lever does not have a spare grinding tool on it, while the first photoelectric detection signals from the other three spare grinding tool support mechanisms indicate that a spare grinding tool is on it, then the control unit can select one of the other three spare grinding tool support mechanisms as the spare grinding tool support mechanism for subsequent acquisition of the spare grinding tool, thereby confirming the spare grinding tool replacement position.

[0089] In specific implementation, a second photoelectric monitoring mechanism can also be installed on the work unit to monitor the current placement status of the grinding tool on the work unit. The automatic replacement method can also include: the second photoelectric monitoring mechanism can generate a second signal indicating whether the current grinding tool is mounted on the work unit, and send the second signal to the control unit; the control unit can determine whether to control the work unit to move to the spare grinding tool replacement position based on the second signal. When the current grinding tool is not mounted on the work unit, the control unit can determine based on the second signal sent by the second photoelectric monitoring mechanism that it can control the work unit to move to the spare grinding tool replacement position, and then continue to execute step S12; when the current grinding tool is mounted on the work unit, the control unit can determine based on the second signal sent by the second photoelectric monitoring mechanism that the current grinding tool removal process has not yet been completed, and it cannot control the work unit to move to the spare grinding tool replacement position. At this time, the current grinding tool removal step can be repeated, for example, step S11 "the control unit controls the work unit to move to the current grinding tool removal position, and controls the current grinding tool to remove from the work unit". It enables the monitoring and confirmation of the current grinding tool configuration in the work area, avoiding the erroneous initiation of the replacement process when the current grinding tool has not been removed, preventing the current grinding tool from having an adverse impact on the subsequent replacement of the spare grinding tool, reducing ineffective operations, and improving the efficiency of grinding operations.

[0090] In one embodiment, reference may be made to Figures 4-5 The second photoelectric monitoring mechanism 208 can be installed on the work unit 2. It can generate a second signal indicating whether the current grinding tool is mounted on the work unit 2 and send the second signal to the control unit 3. For example, when the current grinding tool is mounted on the work unit 2, that is, when the current grinding tool has not yet been removed from the work unit 2, the current grinding tool can block the light path of the second photoelectric monitoring mechanism 208. The second signal generated by the second photoelectric monitoring mechanism 208 can be a signal indicating "grind tool present", and conversely, it can be a signal indicating "grind tool absent". The control unit 3 determines whether to control the work unit 2 to move to the spare grinding tool replacement position based on the second signal. If the second signal received by the control unit 3 is a signal indicating "grind tool absent", it means that the removal of the current grinding tool has been completed. The control unit 3 determines that it can control the work unit 2 to move to the spare grinding tool replacement position, and can then continue to execute step S12 to control the work unit to move and prepare for obtaining the spare grinding tool. If the second signal received by the control unit 3 is a signal indicating "a grinding tool is present", it means that the removal of the current grinding tool has not been completed. The control unit 3 determines that it cannot control the operation unit 2 to move to the replacement position of the spare grinding tool, and can repeat the step of removing the current grinding tool, such as step S11.

[0091] Specifically, the second photoelectric monitoring mechanism can be a photoelectric sensor, or any device that can monitor the current placement status of the mold on the work section and generate a monitoring signal.

[0092] Please refer to Figure 9This invention illustrates a specific embodiment of an automatic grinding tool changing method suitable for grinding equipment. The grinding equipment may include: a working unit, a control unit, the working unit mounted on the control unit, and a spare grinding tool support mechanism for storing spare grinding tools. The control unit can control the working unit to move to a specific position and can control the working unit to adjust its posture, thereby controlling the working unit to detach the current grinding tool, acquire a spare grinding tool, and perform operations at a specific position. It is understood that the current grinding tool and the spare grinding tool are merely distinctions based on the grinding tool's usage state; both can be the same grinding tool. The current grinding tool and the spare grinding tool can be strip-shaped soft grinding tools or hard grinding tools.

[0093] The working part may include a tension adjustment mechanism. This tension adjustment mechanism may include a first support part, which is provided with a driving wheel and a driving wheel drive part, the driving wheel drive part being adapted to drive the driving wheel to rotate; the first support part is connected to a second support part, the second support part being provided with a sliding drive part, the sliding drive part being adapted to drive a driven wheel support part to slide relative to the second support part, the driven wheel support part being slidably connected to the second support part; the driven wheel support part includes a connecting part and a rotating part, the rotating part being rotatably connected to the connecting part, the driven wheel being mounted on the rotating part; the driven wheel can be driven away from or near the driving wheel, and the current grinding wheel is fitted onto the driving wheel and the driven wheel.

[0094] The spare grinding tool support mechanism may include a spare grinding tool placement platform, a guide tensioning part, a disengagement fitting part, a first photoelectric monitoring mechanism, and a second photoelectric monitoring mechanism. The guide tensioning part can be a mechanism for supporting the grinding tool, which may include a guide tensioning mechanism disposed on the spare grinding tool placement platform. As the guide tensioning mechanism expands and contracts, its outer diameter for supporting the grinding tool increases or decreases accordingly, resulting in the spare grinding tool being in a tensioned or relaxed state. Specifically, the guide tensioning mechanism may include multiple components, and contraction of the guide tensioning mechanism may reduce the distance between the multiple components. Alternatively, the guide tensioning mechanism may contract in other ways to reduce the outer diameter of the supporting grinding tool, and vice versa. It is understood that when the spare grinding tool is fitted onto and supported by the guide tensioning mechanism, the spare grinding tool is in a tensioned state, and the guide tensioning part is in an expanded state. The guide tensioning mechanism may extend or retract relative to the grinding tool placement platform. When the guide tensioning mechanism is fitted with the spare grinding tool, the guide tensioning mechanism extends beyond the spare grinding tool placement platform. It is understandable that "the guide tensioning mechanism extending out of the spare grinding tool placement platform" can mean that the guide tensioning mechanism protrudes above the plane of the spare grinding tool placement platform. "Retracting relative to the spare grinding tool placement platform" can mean reducing the height of the tensioning mechanism protruding from the spare grinding tool placement platform, or placing it completely below the plane of the grinding tool placement platform. The first photoelectric monitoring mechanism can be installed on the spare grinding tool support mechanism to monitor the placement status of the spare grinding tool thereon; the second photoelectric monitoring mechanism can be installed on the operating section to monitor the current placement status of the grinding tool thereon.

[0095] The following combination Figure 9 A detailed description of a specific implementation of an automatic grinding tool changing method suitable for grinding equipment according to an embodiment of the present invention is provided below: In step S211, the control unit can control the working unit to move to the current grinding wheel detachment position, the driven wheel on the working unit can be driven to approach the driving wheel, and the current grinding wheel is in a relaxed state; the control unit can control the working unit to move in the detachment engagement direction so that the detachment engagement part applies pressure to the current grinding wheel to assist the current grinding wheel to detach from the working unit.

[0096] Specifically, the connection between the current grinding wheel and the working part can be the driven wheel and the driving wheel of the working part. After the control unit moves the working part to the current grinding wheel detachment position, the sliding drive unit can drive the driven wheel support to slide relative to the second support to reduce the distance between the driven wheel and the driving wheel. The current grinding wheel installed on the driven wheel and the driving wheel changes from a tensioned state to a relaxed state. In the relaxed state, the current grinding wheel is no longer supported and limited by the driven wheel and the driving wheel, thereby disconnecting the current grinding wheel from the working part and realizing the detachment of the current grinding wheel.

[0097] The control unit can control the working part to move along the disengagement direction. The current grinding tool, which is fitted onto the working part, is hindered by the pressure at the other end of the disengagement part and cannot move synchronously with the working part along the disengagement direction, thus successfully separating from and detaching from the working part. For example, the disengagement direction can be a vertically upward direction perpendicular to the horizontal plane. The disengagement part can provide a vertically downward pressure perpendicular to the horizontal plane to the current grinding tool. After the current grinding tool, which is mounted on the driven wheel and the driving wheel, changes from a tensioned state to a relaxed state, it is subjected to gravity and the pressure provided by the disengagement part, and can then detach from the working part and fall to the ground.

[0098] In step S212, the second photoelectric monitoring mechanism can generate a second signal indicating whether the current grinding tool is mounted on the work unit, and send the second signal to the control unit. Specifically, when the current grinding tool is mounted on the work unit, that is, when the current grinding tool has not yet been removed from the work unit, the current grinding tool will block the light path of the second photoelectric monitoring mechanism. The second signal generated by the second photoelectric monitoring mechanism can be a signal indicating "grind tool present", and conversely, it can be a signal indicating "grind tool absent". This second signal is sent to the control unit, which can realize the monitoring of the current grinding tool configuration on the work unit.

[0099] In step S213, the control unit can determine whether to control the work unit to move to the spare grinding tool replacement position based on the second signal. Specifically, when the current grinding tool is not mounted on the work unit, the control unit determines, based on the second signal sent by the second photoelectric monitoring mechanism, that it can control the work unit to move to the spare grinding tool replacement position, and then can continue to execute step S214; when the current grinding tool is mounted on the work unit, the control unit determines, based on the second signal sent by the second photoelectric monitoring mechanism, that the current grinding tool removal process has not yet been completed, and cannot control the work unit to move to the spare grinding tool replacement position. In this case, the current grinding tool removal step can be repeated, for example, returning to step S211 to re-execute the corresponding steps. This achieves monitoring and confirmation of the current grinding tool configuration on the work unit, avoiding the erroneous initiation of the replacement operation process when the current grinding tool has not been removed, preventing the current grinding tool from adversely affecting the subsequent replacement of the spare grinding tool, reducing invalid operations, and improving the efficiency of the grinding operation.

[0100] In step S214, the first photoelectric monitoring mechanism can generate a first signal indicating whether a spare grinding tool is mounted on the spare grinding tool support mechanism, and send the first signal to the control unit. Specifically, when a spare grinding tool is mounted on the spare grinding tool support mechanism, the optical path of the first photoelectric monitoring mechanism can be blocked. The first signal of the first photoelectric monitoring mechanism can be a signal indicating "grind present", and conversely, it can be a signal indicating "no grinding tool". The first signal is sent to the control unit, which can realize the monitoring of the spare grinding tool configuration on the spare grinding tool support mechanism.

[0101] In step S215, the control unit can determine whether to control the operation unit to move to the spare grinding tool replacement position based on the first signal. When a spare grinding tool is mounted on the spare grinding tool support mechanism, the control unit determines, based on the first signal sent by the first photoelectric monitoring mechanism, that it can control the operation unit to move to the spare grinding tool replacement position on the spare grinding tool support mechanism, and can then continue to execute step S216; when no spare grinding tool is mounted on the spare grinding tool support mechanism, the control unit determines, based on the first signal sent by the first photoelectric monitoring mechanism, that it cannot control the operation unit to move to the spare grinding tool replacement position on the spare grinding tool support mechanism. In this case, the monitoring steps of the first photoelectric monitoring mechanism can be repeated, for example, returning to step S214. This achieves monitoring of the spare grinding tool configuration on the spare grinding tool support mechanism and feeds back the spare grinding tool configuration information to the control unit, enabling the control unit to intelligently judge and execute automatic replacement operations, thus improving the intelligence level of the automatic replacement process.

[0102] In step S216, the control unit can confirm the replacement position of the spare grinding tool based on the first signal. The replacement position is selected from the location of a spare grinding tool support mechanism where a spare grinding tool is located. The grinding equipment may include multiple spare grinding tool support mechanisms. In the preceding step S215, each spare grinding tool support mechanism can send its own first signal to the control unit. Based on the received multiple first signals, the control unit can confirm the specific spare grinding tool support mechanism containing the spare grinding tool and select one of these mechanisms as the replacement position. Specifically, when all spare grinding tool support mechanisms contain spare grinding tools, the control unit can sequentially acquire the spare grinding tools during continuous operation. For example, the spare grinding tool can be acquired from the first spare grinding tool support mechanism first, and then from the second spare grinding tool support mechanism second.

[0103] In step S217, the control unit can control the work unit to move to the spare grinding tool replacement position of the spare grinding tool support mechanism determined in the previous step. The spare grinding tool replacement position is the location corresponding to the work unit and the spare grinding tool support mechanism, so as to subsequently obtain the spare grinding tool. The spare grinding tool replacement position refers to a specific location reached by the control unit to realize the replacement task of moving the spare grinding tool from the spare grinding tool support mechanism to the work unit. At this specific location, the work unit corresponds to the spare grinding tool support mechanism, and the spare grinding tool support mechanism at this specific location is the designated spare grinding tool support mechanism used for subsequent spare grinding tool replacement, on which the spare grinding tool is stored. Specifically, the control unit can move the work unit above the spare grinding tool placement platform of the spare grinding tool support mechanism so as to subsequently obtain the spare grinding tool from the spare grinding tool support mechanism.

[0104] In step S218, after the tension adjustment mechanism retracts, the control unit can control the tension adjustment mechanism to align with the spare grinding tool so that the posture of the working unit is adapted to the spare grinding tool support mechanism. Specifically, to align the tension adjustment mechanism with the spare grinding tool, a corresponding component, such as the tension adjustment mechanism, can be inserted into the spare grinding tool to obtain it. When aligning the tension adjustment mechanism with the spare grinding tool, there can be a safety margin between them. For example, the minimum straight-line distance between the tension adjustment mechanism and the spare grinding tool in the front-back and left-right directions can be greater than or equal to 3 mm.

[0105] In step S219, the tension adjustment mechanism expands, driving the driven wheel on the working part away from the driving wheel, thus allowing the spare grinding tool to be fitted onto the driven and driving wheels. At this time, the spare grinding tool is in a tensioned state. When the driven wheel is driven away from the driving wheel, the distance between the driving and driven wheels increases, causing the tension adjustment mechanism to expand. The spare grinding tool located outside the driven and driving wheels becomes tensioned as the distance between them increases, and is fitted onto the driven and driving wheels, thus achieving the acquisition of the spare grinding tool. The structural design of the driving and driven wheels helps improve the operational efficiency of the grinding tool replacement process and enhances the overall reliability of the automated grinding system.

[0106] In step S220, after the tensioning adjustment mechanism expands, the guide tensioning part can retract, shortening the relative distance between the guide tensioning mechanism and the platform. After the guide tensioning mechanism retracts, it can retract relative to the spare grinding tool placement platform. Retracting relative to the spare grinding tool placement platform can mean reducing the height of the tensioning mechanism protruding from the spare grinding tool placement platform, or placing it completely below the plane of the spare grinding tool placement platform. The retraction of the guide tensioning mechanism relative to the grinding tool placement platform provides unobstructed operating space for subsequent actions such as lifting and translating after the work unit obtains the grinding tool. It can effectively prevent interference between the guide tensioning mechanism and the work unit or the grinding tool, and facilitates the smooth execution of the automatic changeover process.

[0107] In step S221, the control unit can control the working unit to move to the working position for subsequent grinding operations. Specifically, the control unit can directly move the working unit to the working position, or first control the working unit to move it above the spare abrasive placement platform of the spare abrasive support mechanism so that there is a non-intersecting space between it and the spare abrasive placement platform, and then move it to the working position.

[0108] Through the above steps, an integrated control and sensing mechanism enables efficient, reliable, and intelligent replacement of spare grinding tools. The position of the rotating part relative to the connecting part on the rotating work unit allows for adjustment and determination of the grinding tool's position, thus facilitating the retrieval of spare grinding tools during replacement. The control unit, in coordination with the tensioning adjustment mechanism and the guide tensioning part, achieves the detachment of the current grinding tool and the retrieval of the spare grinding tool. The guide tensioning mechanism can actively retract, creating safe space for subsequent operations. Photoelectric monitoring mechanisms located on the spare grinding tool support mechanism and the work unit provide real-time feedback on the grinding tool's storage and location status, enabling the control unit to verify and make decisions regarding the grinding tool's status, effectively preventing misoperation. Mechanical assistance from the detachment mating part overcomes the stickiness of the current grinding tool, ensuring complete separation. Retrieving spare grinding tools from the multi-station spare grinding tool support mechanism significantly improves the continuity of grinding operations. This achieves fully automated grinding tool replacement for the grinding equipment, significantly enhancing the automation level, operational safety, and maintenance convenience of continuous grinding operations.

[0109] The present invention also provides a polishing system, a polishing device employing any of the above methods, wherein the polishing device is configured to be applied to the automatic grinding tool changing method of any of the above methods, so as to realize the automatic changing of grinding tools.

[0110] The grinding system provided by this invention realizes the automatic removal of the current grinding tool and the automatic acquisition of the spare grinding tool, which improves the automation and integration of the grinding operation process, realizes more efficient automated grinding operation, improves grinding operation efficiency, and reduces labor costs.

[0111] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0112] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment herein. The phrase appearing in various places in the specification does not necessarily refer to the same embodiment, nor is it limited to mutually exclusive, independent, or alternative embodiments. Those skilled in the art will understand that the embodiments herein can be combined with other embodiments without causing structural conflicts.

[0113] The described methods can be performed in different orders than those described, and various steps can be added, omitted, or combined. Furthermore, features described in some examples can be combined with other examples.

[0114] In this description, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," etc., should be interpreted broadly, referring to movable connections, fixed connections, or integration. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this application based on the specific circumstances.

[0115] In this description, terms such as "upper," "lower," "left," "right," "lateral," "longitudinal," "height," "length," and "width," which indicate orientation or positional relationships, are intended to accurately describe the embodiments and simplify the description, rather than limiting the parts or structures involved to have a specific orientation, or to be installed or operated in a specific orientation, and should not be construed as limiting the embodiments in this document.

[0116] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method for automatically changing grinding tools suitable for grinding equipment, characterized in that, The grinding equipment includes: a working unit, a control unit, and a spare grinding tool support mechanism; The work unit is equipped with a current grinding tool, and the work unit uses the current grinding tool to perform grinding operations; The spare grinding tool support mechanism supports the spare grinding tool; The method includes: The control unit controls the working unit to move to the current mold removal position and controls the current mold to detach from the working unit; The control unit controls the working unit to move to the spare grinding tool replacement position, which is the position of the working unit corresponding to the spare grinding tool support mechanism; The control unit controls the working unit to adjust its posture so that the posture of the working unit is adapted to the spare mold support mechanism; The work unit obtains the spare grinding tool from the spare grinding tool support mechanism; The control unit controls the operation unit to move to the operation position.

2. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 1, characterized in that: The working unit includes a tension adjustment mechanism that can be driven to extend or shorten; the current mold is fitted onto the tension adjustment mechanism. The control of the current grinding tool to detach from the working part is as follows: the tension adjustment mechanism retracts, the current grinding tool is in a relaxed state, and the current grinding tool detaches from the tension adjustment mechanism under the action of gravity; The control unit controls the working unit to adjust its posture, including: after the tension adjustment mechanism retracts, the control unit controls the tension adjustment mechanism to align with the spare mold; The process of obtaining the spare abrasive from the spare abrasive support mechanism by the operation unit includes: the tension adjustment mechanism expanding, and the spare abrasive being fitted onto the tension adjustment mechanism in a tensioned state.

3. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 2, characterized in that, The tension adjustment mechanism includes a driving wheel and a driven wheel, and the current grinding wheel is sleeved on the driving wheel and the driven wheel; The tension adjustment mechanism retraction includes: shortening the distance between the driving wheel and the driven wheel; The expansion of the tension adjustment mechanism includes increasing the distance between the driving wheel and the driven wheel.

4. The automatic grinding tool changing method suitable for grinding equipment according to claim 2, characterized in that, The spare abrasive support mechanism includes: a guide tensioning part, the guide tensioning part including a guide tensioning mechanism, and when the spare abrasive is sleeved on the guide tensioning mechanism, the guide tensioning part is in an expanded state; The automatic replacement method further includes: After the tension adjustment mechanism expands, the guide tensioning part contracts; The contraction of the guide tensioning part includes: shortening the relative distance of the guide tensioning mechanism.

5. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 4, characterized in that, The spare grinding tool support mechanism includes: a spare grinding tool placement platform, and a guide tensioning mechanism disposed on the spare grinding tool placement platform; the guide tensioning mechanism can extend or retract relative to the spare grinding tool placement platform, and when the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning mechanism extends out of the spare grinding tool placement platform; The automatic grinding tool replacement method further includes: after the guide tensioning mechanism retracts, the guide tensioning mechanism retracts relative to the spare grinding tool placement platform.

6. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 1, characterized in that, The spare grinding wheel support mechanism is also provided with a detachable fitting part, which contacts the current grinding wheel at the current detached position. The automatic replacement method further includes: The control of the current grinding tool to detach from the working part includes: controlling the working part to move in the detachment engagement direction so that the detachment engagement part applies pressure to the current grinding tool to assist the current grinding tool to detach.

7. The automatic grinding tool changing method suitable for grinding equipment according to claim 6, characterized in that, The working unit includes a tension adjustment mechanism, and the current grinding mold is fitted onto the tension adjustment mechanism; The detachment fitting part is an L-shaped lever. The spare grinding tool support mechanism includes a spare grinding tool placement platform and a guide tensioning mechanism on which the spare grinding tool is sleeved. One end of the L-shaped lever is connected to the spare grinding tool placement platform, and the other end of the L-shaped lever extends out of the spare grinding tool placement platform. At the current grinding tool detachment position, one end of the L-shaped lever extends into a position that can block the relative movement between the current grinding tool and the tensioning adjustment mechanism.

8. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 1, characterized in that: The spare grinding tool support mechanism is also equipped with a first photoelectric monitoring mechanism, which monitors the placement status of the spare grinding tool on the spare grinding tool support mechanism. The method further includes: The first photoelectric monitoring mechanism generates a first signal indicating whether the spare mold is fitted on the spare mold support mechanism, and sends the first signal to the control unit; The control unit determines whether to control the operation unit to move to the replacement position of the spare mold based on the first signal.

9. A method for automatic grinding tool changing suitable for grinding equipment according to claim 8, characterized in that, The method further includes: the control unit confirms the replacement position of the spare grinding tool based on the first photoelectric detection signal; the replacement position of the spare grinding tool is selected from the position of the spare grinding tool support mechanism where the spare grinding tool exists.

10. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 1, characterized in that: The work unit is also equipped with a second photoelectric monitoring mechanism, which monitors the current mold placement status on the work unit. The method further includes: The second photoelectric monitoring mechanism generates a second signal indicating whether the current mold is fitted on the working part, and sends the second signal to the control unit; The control unit determines whether to control the operation unit to move to the replacement position of the spare mold based on the second signal.

11. The automatic grinding wheel replacement method suitable for grinding equipment according to claim 1, characterized in that: The working unit includes a tension adjustment mechanism that can be driven to extend or shorten. The tension adjustment mechanism includes a first support portion, which is provided with a driving wheel and a driving wheel drive portion. The driving wheel drive portion is adapted to drive the driving wheel to rotate. The first support portion is connected to a second support portion, which is provided with a sliding drive portion adapted to drive a driven wheel support portion to slide relative to the second support portion. The driven wheel support portion is slidably connected to the second support portion. The driven wheel support portion includes a connecting portion and a rotating portion, which is rotatably connected to the connecting portion. The driven wheel is mounted on the rotating portion. The driven wheel can be driven away from or near the driving wheel, and the current grinding wheel is fitted on the driving wheel and the driven wheel; The spare grinding tool support mechanism includes: a spare grinding tool placement platform, a guide tensioning part, a detachment fitting part, a first photoelectric monitoring mechanism, and a second photoelectric monitoring mechanism; the guide tensioning part includes a guide tensioning mechanism disposed on the spare grinding tool placement platform; when the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning part is in an expanded state; the guide tensioning mechanism can extend or retract relative to the spare grinding tool placement platform, and when the spare grinding tool is fitted onto the guide tensioning mechanism, the guide tensioning mechanism extends beyond the spare grinding tool placement platform; the detachment fitting part is disposed on the spare grinding tool support mechanism, and at the current grinding tool detachment position, the detachment fitting part contacts the current grinding tool; the first photoelectric monitoring mechanism monitors the placement status of the spare grinding tool on the spare grinding tool support mechanism; the second photoelectric monitoring mechanism monitors the placement status of the current grinding tool on the working part; The grinding wheel support mechanism comprises multiple components; The control of the current abrasive tool to detach from the working part includes: the driven wheel being driven to approach the driving wheel, the current abrasive tool being in a relaxed state, and the control unit controlling the working part to move in the disengagement direction, so that the disengagement part applies pressure to the current abrasive tool to assist the current abrasive tool to detach from the working part; The control unit controls the working unit to adjust its posture, including: after the tension adjustment mechanism retracts, the control unit controls the tension adjustment mechanism to align with the spare mold; The operation unit obtains the spare abrasive from the spare abrasive support mechanism by: the tension adjustment mechanism expanding, the driven wheel being driven away from the driving wheel, the spare abrasive being fitted onto the driven wheel and the driving wheel, and the spare abrasive being in a tensioned state; The method further includes: The second photoelectric monitoring mechanism generates a second signal indicating whether the current mold is fitted on the working part, and sends the second signal to the control unit; the control unit determines whether to control the working part to move to the replacement position of the spare mold based on the second signal; The first photoelectric monitoring mechanism generates a first signal indicating whether the spare grinding tool is fitted on the spare grinding tool support mechanism, and sends the first signal to the control unit; the control unit determines whether to control the working unit to move to the spare grinding tool replacement position based on the first signal. The control unit confirms the replacement position of the spare grinding tool based on the first signal; the replacement position of the spare grinding tool is selected from the position of the spare grinding tool support mechanism where the spare grinding tool exists; After the tension adjustment mechanism expands, the guide tensioning part contracts, shortening the relative distance between the guide tensioning mechanism and the guide tensioning mechanism; after the guide tensioning mechanism contracts, the guide tensioning mechanism retracts relative to the spare mold placement platform.

12. An automatic grinding wheel changing system suitable for grinding equipment, characterized in that, Including the grinding equipment as described in any one of claims 1-11, The grinding equipment is configured to be used in the automatic grinding tool changing method according to any one of claims 1-11.

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