Sand changing device and method for a robotic gantry robot

Abstract

The application discloses a sand changing device and method for a robot truss manipulator, and belongs to the technical field of sandpaper changing equipment. The sand changing device for the robot truss manipulator comprises a rack, a plurality of sand changing barrels arranged on the surface of the rack, and sandpaper stacked and placed in the sand changing barrels, and the surface of any sand changing barrel is fixedly provided with a fixing ring, an air-tight ring is arranged above the fixing ring, the surface of the air-tight ring is rotatably connected with an air-tight rotating ring which is sealed with the air-tight ring, and the top surface of the air-tight rotating ring is correspondingly fixedly provided with two fixing frames. Compared with the traditional partial sand changing equipment, the sand changing device realizes dust cleaning on the bottom surface of the sanding disc and the surface of the new sandpaper to be installed before sand changing, guarantees that the new sandpaper and the sanding disc are more firmly adhered, prevents the sandpaper from falling off the sanding disc in the grinding process, and guarantees the grinding quality of the plate workpiece in the later stage.

Description

Technical Field

[0001] This invention relates to the field of sandpaper changing equipment technology, and more specifically, to a sandpaper changing device and method for a robotic gantry manipulator. Background Technology

[0002] Sandpaper changing equipment is mainly used in industrial automated grinding or polishing production lines. Through mechanical clamping, vacuum adsorption or robot collaboration, it realizes the rapid removal of old sandpaper and the quick clamping of new sandpaper. Its core value is to improve cycle consistency, reduce labor intensity and reduce quality fluctuations.

[0003] Traditional robotic sandpaper changing machines typically use a Velcro structure, directly attaching new sandpaper with its rough, Velcro side to the common area fixed to the grinding disc, thus achieving quick installation and replacement. However, some existing sandpaper changing machines rely on telescopic cylinders for top-pressure application during the actual sandpaper replacement and attachment process. This top-pressure method often fails to ensure even force distribution between the sandpaper and the grinding disc, resulting in localized bulges on the surface of the new sandpaper, or poor adhesion between the edges and the grinding disc, leading to curled edges or loose patches. Uneven adhesion can affect the quality of sanding and the surface finish of the workpiece. Furthermore, sanding generates a large amount of dust, which easily adheres to the sandpaper surface inside the sanding cylinder and the adhesive surface of the sanding disc. If these residues are not thoroughly cleaned before replacing the sandpaper, they will directly damage the adhesive properties of the Velcro, resulting in weak adhesion of the new sandpaper. During sanding, this not only poses a safety hazard of sandpaper falling off but also exacerbates the unevenness of the sanded surface, further affecting the quality of sanding the workpiece. Summary of the Invention

[0004] The purpose of this invention is to provide a sand-changing device for a robotic gantry manipulator, in order to solve the problems mentioned in the background art above: To achieve the above objectives, the present invention provides the following technical solution: A sand-changing device for a robotic gantry manipulator includes a frame and multiple sand-changing cylinders disposed on its surface, as well as sandpaper stacked inside the sand-changing cylinders. A fixing ring is fixedly installed on the surface of each sand-changing cylinder. An airtight ring is disposed above the fixing ring. An airtight rotating ring is rotatably connected to the surface of the airtight ring and seals against it. Two fixing brackets are fixedly installed on the top surface of the airtight rotating ring. Gears are rotatably connected inside each of the two fixing brackets. Cleaning and abrasion cleaning devices are fixedly installed on the missing tooth surfaces of the two missing gears. The dust-generating nozzle and shaft have a pressing roller rotatably connected to the surface of the shaft for pressing the edges of the sandpaper together. Multiple slides are fixedly installed on the surface of the airtight rotating ring. Each slide has a matching L-shaped slide plate slidably connected inside. The top surfaces of the multiple L-shaped slides are fixedly connected to a lifting ring. Two toothed plates that mesh with a missing gear are fixedly installed on the surface of the lifting ring. A robotic arm is provided above the sand-changing cylinder. A sanding disc connected to the sandpaper is fixedly installed on the bottom surface of the robotic arm.

[0005] Preferably, a spring is elastically connected between the carriage and the L-shaped slide plate. One end of the spring is fixedly connected to the inner wall of the carriage, and the other end of the spring is fixedly connected to the L-shaped slide plate. Multiple fixing posts are fixedly connected between the fixing ring and the airtight ring.

[0006] Preferably, an air inlet is fixedly installed on the bottom surface of the airtight ring and communicates with it. One end of the air inlet passes through the fixed ring. An air outlet pipe is provided between the horn-shaped air head and the airtight rotating ring. The air outlet pipe is a flexible hose, and both ends of the air outlet pipe are respectively sealed and communicated with the horn-shaped air head and the airtight rotating ring.

[0007] Preferably, a gear ring is fixedly mounted on the surface of the airtight rotating ring, a mounting frame is fixedly mounted on the surface of the sand changing cylinder, a geared wheel that meshes with the gear ring is rotatably connected above the mounting frame, a micro motor is fixedly mounted on the bottom surface of the mounting frame, and the output end of the micro motor is fixedly connected to the geared wheel.

[0008] Preferably, two crossbeams are fixedly installed on the surface of the sand changing cylinder, and through guide rods are slidably connected to the surfaces of the two crossbeams. A rotating groove is opened on the bottom surface of the lifting ring, and two matching arc blocks are rotatably connected inside the rotating groove. The bottom surfaces of the two arc blocks are fixedly connected to the top surfaces of the two guide rods respectively. A second spring for resetting its movement is sleeved on the surface of the two guide rods. One end of the second spring is fixedly connected to the arc block, and the other end of the second spring is fixedly connected to the crossbeam.

[0009] Preferably, the inner top surface of the frame is provided with multiple circular grooves that communicate with the sand changing cylinder. Each of the circular grooves is provided with a lifting rod that can move vertically up and down. Two trapezoidal blocks are fixedly installed on the surface of the lifting rod. The trapezoidal blocks include a first slope, a vertical plane, and a second slope.

[0010] Preferably, each of the circular grooves has a vertical plate on both sides, each of the vertical plates is fixedly connected to the inner top surface of the frame, each of the vertical plates has a connecting frame fixedly installed on its surface, and each of the connecting frames has a matching wedge block slidably connected inside it. The slope of the wedge block contacts the bottom surface of the guide rod, and a spring is elastically connected between the wedge block and the connecting frame. One end of the spring is fixedly connected to the wedge block, and the other end of the spring is fixedly connected to the inner wall of the connecting frame.

[0011] Preferably, a through-type sliding frame is slidably connected to the surface of any of the vertical plates. One end of the sliding frame is fixedly connected to a wedge block, and the other end of the sliding frame is provided with a roller. Multiple telescopic devices are fixedly installed on the inner bottom surface of the frame. The telescopic ends of the telescopic devices are fixedly connected to the lifting rod. A solenoid valve assembly is fixedly installed on the inner bottom surface of the frame.

[0012] Preferably, a controller is fixedly installed on the surface of the frame, the controller is electrically connected to a micro motor via a wire, a color mark sensor is fixedly installed on the top surface of the frame, a cutting tongue for cutting off old sandpaper is fixedly installed on the top surface of the frame, a sand drop port is opened on the side surface of the frame, and a waste box is provided on one side of the frame, the waste box being located below the sand drop port.

[0013] The sand-changing method used for robotic gantry manipulators comprises the following steps: S1: During the entire extension stroke of the telescopic device, when the first slope of the trapezoidal block contacts the sliding frame, the two missing gears rotate in opposite directions, respectively driving the horn-shaped air head and the pressure roller to rotate 90 degrees. When the vertical plane of the trapezoidal block contacts the sliding frame, the airtight rotating ring follows the gear ring to rotate on the surface of the airtight ring, causing the two fixed frames to rotate, respectively driving the horn-shaped air head and the pressure roller to rotate. At this time, the horn-shaped air head sprays high-pressure gas during its rotational movement to clean the grinding dust on the bottom surface of the sanding disc and the surface of the new sandpaper to be installed. S2: The second slope of the trapezoidal block contacts the sliding frame, and the wedge block resets under the action of the spring. At this time, the two missing gears rotate and reset, which in turn resets the horn air head and the pressing roller. After the horn air head and the pressing roller are reset, the lifting rod continues to move upward, carrying the new sandpaper. At the same time, the end of the robot arm moves downward with the sanding disc, and the new sandpaper is installed on the bottom surface of the sanding disc. S3: During the entire retraction stroke of the telescopic device, the second slope of the trapezoidal block contacts the sliding frame again, enabling the horn-shaped air head and the pressing roller to complete a 90-degree rotation towards each other. The vertical plane of the trapezoidal block contacts the sliding frame. At this time, the micro motor rotates again, causing the gear wheel to rotate, which in turn causes the airtight rotating ring to rotate with the gear ring. The rotation of the airtight rotating ring causes the pressing roller to rotate and roll the new sandpaper on the bottom of the sanding disc. The rotation of the pressing roller flattens the local bulges on the surface of the new sandpaper after it has been applied, and at the same time, it can also make the edge of the new sandpaper fit tightly against the surface of the sanding disc.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1) In the sand-changing device for the robot gantry manipulator, during the entire extension stroke of the telescopic device, when the first slope of the trapezoidal block contacts the sliding frame, the two missing gears rotate in opposite directions, causing the horn-shaped air head and the pressure roller to rotate 90 degrees respectively. When the vertical plane of the trapezoidal block contacts the sliding frame, the airtight rotating ring follows the gear ring and rotates on the surface of the airtight ring, causing the two fixed frames to rotate, causing the horn-shaped air head and the pressure roller to rotate respectively. At this time, during the rotation of the horn-shaped air head, high-pressure gas is ejected to clean the bottom surface of the grinding disc and the surface to be cleaned. The grinding dust on the surface of the new sandpaper is cleaned. When the second slope of the trapezoidal block contacts and disengages from the sliding frame, the horn-shaped air head and the pressure roller complete their reset movement. At this time, the new sandpaper is installed on the bottom surface of the grinding disc. Compared with traditional partial sand changing equipment, this sand changing equipment cleans the dust on the bottom surface of the grinding disc and the surface of the new sandpaper before sanding, ensuring a stronger adhesion between the new sandpaper and the grinding disc. During the grinding process, it prevents the sandpaper from falling off the grinding disc, ensuring the grinding quality of the sheet metal workpiece in the later stage.

[0015] 2) When using the sand changing device for the robot gantry manipulator, during the entire retraction stroke of the telescopic device, the second slope of the trapezoidal block first contacts the sliding frame, realizing that the horn-shaped air head and the pressing roller complete a 90-degree rotation towards each other. The vertical plane of the trapezoidal block contacts the sliding frame. At this time, the micro motor rotates again, driving the gear wheel to rotate, so that the airtight rotating ring follows the gear ring to rotate. The rotation of the airtight rotating ring drives the pressing roller to roll and press the new sandpaper on the bottom surface of the sanding disc. The rotation of the pressing roller flattens the local bulges on the surface of the new sandpaper after it is pasted on, and at the same time, it can also tightly adhere the edge of the new sandpaper to the surface of the sanding disc, solving the problem of local bulges and edge curling after the new sandpaper is pasted on the surface of the sanding disc, thereby ensuring the sandpaper's grinding quality on the workpiece and making the workpiece surface smoother. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the frame and the position of the cutting tongue in this invention; Figure 3 This is a schematic diagram of the position and structure of the frame and telescopic device of the present invention; Figure 4 This is a schematic diagram showing the location of the circular groove in this invention; Figure 5 This is a schematic diagram of the positional structure of the lifting rod and trapezoidal block of the present invention; Figure 6 This is a schematic diagram of the position structure of the connecting frame and wedge block of the present invention; Figure 7 This is a schematic diagram of the missing gear and auger valve position structure of the present invention; Figure 8 This is a schematic diagram of the position structure of the crossbar and guide rod of the present invention; Figure 9 This is a schematic diagram of the position structure of the rotating groove and the arc-shaped block of the present invention; Figure 10 This is a schematic diagram showing the separation of the carriage and the L-shaped sliding plate of the present invention; Figure 11 This is a schematic diagram of the position structure of the airtight rotating ring and the carriage of the present invention; Figure 12 This is a schematic diagram of the cross-section of the airtight ring and the airtight rotating ring of the present invention.

[0017] Explanation of the numbers in the diagram: 1. Frame; 2. Sand changing cylinder; 3. Sandpaper; 4. Fixing ring; 5. Airtight ring; 6. Airtight rotating ring; 7. Fixing bracket; 8. Missing gear; 9. Pneumatic head; 10. Rotating shaft; 11. Pressing roller; 12. Slide; 13. L-shaped slide plate; 14. Lifting ring; 15. Gear plate; 16. Robotic arm end; 17. Grinding disc; 18. Spring 1; 19. Fixing column; 20. Air inlet; 21. Air outlet pipe; 22. Gear ring; 23. Installation. 24. Gear wheel; 25. Micro motor; 26. Horizontal frame; 27. Guide rod; 28. Rotary groove; 29. ​​Arc block; 30. Spring II; 31. Circular groove; 32. Lifting rod; 33. Trapezoidal block; 34. Vertical plate; 35. Connecting frame; 36. Wedge block; 37. Spring III; 38. Sliding frame; 39. Expansion joint; 40. Solenoid valve assembly; 41. Controller; 42. Color mark sensor; 43. Sand cutting tongue; 44. Sand drop outlet; 45. Waste box. Detailed Implementation

[0018] Please see Figure 1 - Figure 12A sand-changing device for a robot gantry manipulator includes a frame 1 and multiple sand-changing cylinders 2 disposed on its surface. The multiple sand-changing cylinders 2 have different sizes and sandpaper 3 stacked inside the sand-changing cylinders 2. The sandpaper 3 is conventional sandpaper 3 in the prior art. A fixing ring 4 is fixedly installed on the surface of each sand-changing cylinder 2. An airtight ring 5 is disposed above the fixing ring 4. An airtight rotating ring 6 is rotatably connected to the surface of the airtight ring 5 and forms a sealed space between it and the airtight ring 6. Two fixing brackets 7 are fixedly installed on the top surface of the airtight rotating ring 6. The two fixing brackets 7 have different heights. The fixing bracket 7 on which the pressure roller 11 is installed is higher than the fixing bracket 7 on which the horn-shaped air head 9 is installed. The interiors of the two fixing brackets 7 are rotatably connected. There are two missing gears 8. Two air nozzles 9 and a rotating shaft 10 are fixedly installed on the missing tooth surfaces of the two missing gears 8, respectively, for cleaning abrasive dust. The air nozzles 9 are designed with a certain tilt angle, allowing them to better clean dust when spraying gas. A pressing roller 11 is rotatably connected to the surface of the rotating shaft 10 to press the edges of the sandpaper 3 together. The rotating design of the pressing roller 11 flattens any local bulges on the surface of the new sandpaper 3 and also tightly presses the edges of the new sandpaper 3 against the surface of the abrasive disc 17. Multiple slides 12 are fixedly installed on the surface of the airtight rotating ring 6. Each slide 12 has a matching L-shaped sliding plate 13 slidably connected inside. The top surfaces of the multiple L-shaped sliding plates 13 are all fixedly connected to a lifting ring 14. The lifting and lowering of the lowering ring 14 causes the toothed plate 15 to move, enabling the horn-shaped air head 9 and the rotating shaft 10 to rotate 90 degrees. Simultaneously, the rotation of the lifting ring 14 causes the toothed plate 15 to rotate, preventing the toothed plate 15 from disengaging from the missing gear 8. Two toothed plates 15, meshing with the missing gear 8, are fixedly installed on the surface of the lifting ring 14. A robotic arm end 16 is provided above the sand changing cylinder 2. The robotic arm end 16 is a conventional robotic arm end 16 in the prior art, and it is mounted on a robot in the prior art. A sanding disc 17, connected to the sandpaper 3, is fixedly installed on the bottom surface of the robotic arm end 16. The sanding disc 17 is a conventional sanding disc 17 in the prior art, and it is used to mount the sandpaper 3. During the entire extension stroke of the telescopic device 39, the trapezoidal block 33... When the first slope of the device contacts the sliding frame 38, the two missing gears 8 rotate in opposite directions, causing the horn-shaped air head 9 and the pressure roller 11 to rotate 90 degrees respectively. When the vertical plane of the trapezoidal block 33 contacts the sliding frame 38, the airtight rotating ring 6 follows the gear ring 22 and rotates on the surface of the airtight ring 5, causing the two fixed frames 7 to rotate, causing the horn-shaped air head 9 and the pressure roller 11 to rotate respectively. At this time, the horn-shaped air head 9 sprays high-pressure gas during its rotation to clean the grinding dust on the bottom surface of the sanding disc 17 and the surface of the new sandpaper 3 to be installed. When the trapezoidal block 33 contacts the sliding frame 38 on the second slope and then disengages, the horn-shaped air head 9 and the pressure roller 11 complete their reset motion. At this time, the new sandpaper 3 is installed on the bottom surface of the sanding disc 17. Compared with traditional partial sand changing equipment, this sand changing equipment performs sand changing before...This process cleans the dust from the bottom surface of the sanding disc 17 and the surface of the new sandpaper 3 to be installed, ensuring a stronger bond between the new sandpaper 3 and the sanding disc 17. During sanding, it prevents the sandpaper 3 from falling off the sanding disc 17, ensuring the sanding quality of the sheet metal workpiece. During the entire retraction stroke of the telescopic device 39, the second slope of the trapezoidal block 33 first contacts the sliding frame 38, allowing the horn-shaped air head 9 and the pressure roller 11 to rotate 90 degrees in opposite directions. Then, the vertical plane of the trapezoidal block 33 contacts the sliding frame 38, at which point the micro motor 25 rotates again. As the gear 24 rotates, the airtight rotating ring 6 follows the gear ring 22. The rotation of the airtight rotating ring 6 causes the pressure roller 11 to rotate, pressing the new sandpaper 3 on the bottom surface of the grinding disc 17. The rotation of the pressure roller 11 flattens any bulges on the surface of the new sandpaper 3 and simultaneously ensures that the edges of the new sandpaper 3 are tightly adhered to the surface of the grinding disc 17. This solves the problems of localized bulges and edge curling that occur after the new sandpaper 3 is adhered to the surface of the grinding disc 17, thus ensuring the grinding quality of the workpiece and resulting in a smoother workpiece surface.

[0019] Please see Figure 9 - Figure 12 A spring 18 is elastically connected between the slide 12 and the L-shaped slide 13. One end of the spring 18 is fixedly connected to the inner wall of the slide 12, and the other end of the spring 18 is fixedly connected to the L-shaped slide 13. Multiple fixing posts 19 are fixedly connected between the fixing ring 4 and the airtight ring 5. The spring 18 is used for the movement reset of the L-shaped slide 13.

[0020] Please see Figure 9 An air inlet 20 is fixedly installed on the bottom surface of the airtight ring 5 and communicates with it. The air inlet 20 is sealed and connected to the air outlet end of the conventional air pump in the prior art. One end of the air inlet 20 passes through the fixed ring 4. An air outlet pipe 21 is provided between the horn-shaped air head 9 and the airtight rotating ring 6. The air outlet pipe 21 is a flexible hose. During the rotation of the horn-shaped air head 9, the air outlet pipe 21 is prevented from being pulled. The two ends of the air outlet pipe 21 are respectively sealed and connected to the horn-shaped air head 9 and the airtight rotating ring 6.

[0021] Please see Figure 7 - Figure 12 A gear ring 22 is fixedly mounted on the surface of the airtight rotating ring 6, and a mounting frame 23 is fixedly mounted on the surface of the sand changing cylinder 2. A gear wheel 24 that meshes with the gear ring 22 is rotatably connected above the mounting frame 23. A micro motor 25 is fixedly mounted on the bottom surface of the mounting frame 23. The micro motor 25 is a conventional micro motor 25 in the prior art. The output end of the micro motor 25 is fixedly connected to the gear wheel 24.

[0022] Please see Figure 5 - Figure 10Two crossbeams 26 are fixedly installed on the surface of the sand changing cylinder 2. A through guide rod 27 is slidably connected to the surface of each crossbeam 26. The guide rod 27 is used to guide the movement of the arc block 29. A rotating groove 28 is opened on the bottom surface of the lifting ring 14. Two matching arc blocks 29 are rotatably connected inside the rotating groove 28. The design of the arc block 29 and the rotating groove 28 allows the lifting ring 14 to move with the lifting block 29 when it rises and falls. The lifting ring 14 can also rotate on the surface of the arc block 29 through the rotating groove 28. The bottom surfaces of the two arc blocks 29 are fixedly connected to the top surfaces of the two guide rods 27 respectively. A second spring 30 is sleeved on the surface of each guide rod 27 for its movement reset. The second spring 30 is used for the movement reset of the guide rod 27. One end of the second spring 30 is fixedly connected to the arc block 29, and the other end of the second spring 30 is fixedly connected to the crossbeam 26.

[0023] Please see Figure 4 The top surface of the frame 1 has multiple circular grooves 31 that are connected to the sand changing cylinder 2. Each circular groove 31 is equipped with a lifting rod 32 that can move vertically up and down. Two trapezoidal blocks 33 are fixedly installed on the surface of the lifting rod 32. The trapezoidal block 33 includes a first slope, a vertical plane and a second slope. The lifting stroke of the trapezoidal block 33 not only cleans the dust on the bottom surface of the sanding disc 17 and the surface of the new sandpaper 3 to be installed, but also flattens the local bulges on the surface of the new sandpaper 3 after it is applied, and can also make the edge of the new sandpaper 3 fit tightly with the surface of the sanding disc 17.

[0024] Please see Figure 4 - Figure 6 Each of the circular grooves 31 has a vertical plate 34 on both sides. Each vertical plate 34 is fixedly connected to the inner top surface of the frame 1. Each vertical plate 34 has a connecting frame 35 fixedly installed on its surface. Each connecting frame 35 has a matching wedge block 36 slidably connected inside it. The slope of the wedge block 36 contacts the bottom surface of the guide rod 27. A spring 37 is elastically connected between the wedge block 36 and the connecting frame 35. One end of the spring 37 is fixedly connected to the wedge block 36, and the other end of the spring 37 is fixedly connected to the inner wall of the connecting frame 35. The spring 37 is used to reset the wedge block 36.

[0025] Please see Figure 3 - Figure 10 Each vertical plate 34 has a through-type sliding frame 38 slidably connected to its surface. One end of the sliding frame 38 is fixedly connected to the wedge block 36, and the other end of the sliding frame 38 is provided with a roller to reduce friction on the trapezoidal block 33. Multiple telescopic devices 39 are fixedly installed on the inner bottom surface of the frame 1. The telescopic devices 39 are conventional electrically controlled push rods in the prior art. The telescopic end of the telescopic device 39 is fixedly connected to the lifting rod 32. A solenoid valve group 40 is fixedly installed on the inner bottom surface of the frame 1. The solenoid valve group 40 is a conventional solenoid valve group 40 in the prior art.

[0026] Please see Figure 1 and Figure 2 A controller 41 is fixedly mounted on the surface of the frame 1. The controller 41 is a conventional programmable control device in the prior art. The controller 41 controls the operation of the electrical equipment and receives electrical signals, which is the prior art and will not be described in detail here. The controller 41 is electrically connected to the micro motor 25 through wires. A color mark sensor 42 is fixedly mounted on the top surface of the frame 1. The color mark sensor 42 is a conventional color mark sensor in the prior art. A cutting tongue 43 for cutting off old sandpaper 3 is fixedly mounted on the top surface of the frame 1. A sand drop port 44 is opened on the side surface of the frame 1. A waste box 45 is provided on one side of the frame 1. The waste box 45 is located below the sand drop port 44 and is used to recycle old sandpaper 3.

[0027] The invention's usage steps are as follows: When using this sandpaper changing device for a robot gantry manipulator, firstly, new sandpaper 3 of different sizes and areas are stacked inside their respective sandpaper changing cylinders 2 (the diameters of the multiple changing cylinders 2 are different), and the new sandpaper 3 is supported inside the changing cylinder 2 by the lifting rod 32. When it is necessary to replace the old sandpaper 3, the existing robot control manipulator end 16 moves towards the changing cylinder 2. The movement of the manipulator end 16 moves the sanding disc 17. During the movement of the sanding disc 17, the color mark sensor 42 works to detect the old sandpaper 3 on the surface of the sanding disc 17. When the old sandpaper 3 is detected on the surface of the sanding disc 17, the manipulator end 16 moves, carrying the sanding disc 17 past the cutting tongue 43. At this time, the cutting tongue 43 cuts the sanding disc 17... The old sandpaper 3 on the surface is removed, and the removed old sandpaper 3 is collected into the waste box 45 through the sandpaper drop 44. When new sandpaper 3 needs to be applied to the sanding disc 17, the sanding disc 17 first moves to the top of the corresponding sanding cylinder 2 and pauses. The controller 41 is operated, and the controller 41 controls the corresponding solenoid valve group 40 to work. At this time, the corresponding telescopic device 39 extends, and the telescopic device 39 extends, moving the lifting rod 32 upward. During the first stage of movement, the lifting rod 32 moves, moving the two trapezoidal blocks 33 upward. During the movement of the two trapezoidal blocks 33, the first slope moves, squeezing the sliding frame 38. The sliding frame 38 moves, moving the wedge block 36 inside the connecting frame 35, squeezing the spring 37. The movement of the wedge block 36 also squeezes the guide rod 27 upward. The two guide rods 27 move upward, causing the two arc-shaped blocks 29 to move upward as well. The movement of the two arc-shaped blocks 29 lifts the lifting ring 14 upward. The movement of the lifting ring 14 causes multiple L-shaped sliding plates 13 to move inside the slide frame 12, compressing the spring 18. The upward movement of the lifting ring 14 also causes the two toothed plates 15 to move upward. The movement of the two toothed plates 15 causes the two missing gears 8 to rotate in opposite directions. The rotation of the two missing gears 8 causes the horn-shaped air head 9 and the pressure roller 11 to rotate respectively. When the horn-shaped air head 9 and the pressure roller 11 rotate 90 degrees, the vertical plane of the trapezoidal block 33 is in contact with the end of the sliding frame 38. As the telescopic device 39 continues to extend, it causes the lifting rod 32 to move upward. During the second stage of movement, the vertical plane of the trapezoidal block 33 does not align with the sliding frame 38 again. During compression, air is pumped into the inlet nozzle 20 using a conventional air pump (not shown in the diagram). The gas inside the inlet nozzle 20 enters the sealed space between the airtight ring 5 and the airtight rotating ring 6, and then exits from the outlet pipe 21 on the surface of the airtight rotating ring 6. The gas inside the outlet pipe 21 enters the horn-shaped air head 9, and finally exits from both ends of the horn-shaped air head 9. At this time, the micro motor 25 is activated, and its rotation drives the gear wheel 24 to rotate. The gear wheel 24, in turn, drives the gear ring 22 to rotate, causing the airtight rotating ring 6 to rotate on the surface of the airtight ring 5 along with the gear ring 22. The rotation of the airtight rotating ring 6 drives the two fixed frames 7 to rotate, which in turn drive the horn-shaped air head 9 and the pressing roller 11 to rotate respectively.The airtight rotating ring 6 rotates, causing the slide 12 to rotate as well. The slide 12 rotates, causing the L-shaped slide plate 13 to rotate. The L-shaped slide plate 13 rotates, causing the lifting ring 14 to rotate on the surfaces of the two arc-shaped blocks 29. Since the sanding disc 17 is paused above the corresponding sanding cylinder 2, the horn-shaped air head 9 sprays high-pressure gas during its rotation to clean the sanding dust from the bottom surface of the sanding disc 17 and the surface of the new sandpaper 3 to be installed. After cleaning, the micro motor 25 stops working. During the third stage of movement, the lifting rod 32 continues to move upward, causing the trapezoidal block 33 to move. At this time, the second slope of the trapezoidal block 33... Contacting the sliding frame 38, the wedge block 36 resets under the action of spring 37. At this time, the guide rod 27 resets under the action of spring 30, causing the arc block 29 to reset as well (the arc block 29 does not disengage from the rotating groove 28). The reset of the arc block 29 causes the lifting ring 14 to reset, which in turn causes the two toothed plates 15 to move and reset. At this time, the two missing gears 8 rotate and reset, causing the horn air head 9 and the pressing roller 11 to reset. After the horn air head 9 and the pressing roller 11 have reset, the lifting rod 32 continues to move upward, causing the new sandpaper 3 to move. At the same time, the end of the robot arm 16 moves downward with the grinding disc 17. When the top layer After the new sandpaper 3 moves upward and comes into contact with the surface of the sanding disc 17, the sanding disc 17 moves upward to reset. At the same time, the telescopic device 39 retracts, causing the lifting rod 32 to move downward to reset. The sanding disc 17 moves upward back to its initial parking position, stopping the movement of the robot arm end 16. The lifting rod 32 moves downward to reset, causing the trapezoidal block 33 to move. First, the second slope of the trapezoidal block 33 presses against the sliding frame 38. After being pressed, the sliding frame 38 rotates 90 degrees in the same direction as the above-mentioned horn-shaped air head 9 and pressure roller 11. When the vertical plane of the trapezoidal block 33 contacts the sliding frame 38, the sandpaper... The air nozzle 9 and the pressing roller 11 rotate 90 degrees towards each other. The robotic arm end 16 moves, causing the abrasive disc 17 to contact the surface of the pressing roller 11. At this time, the micro motor 25 rotates again, causing the gear wheel 24 to rotate, making the airtight rotating ring 6 rotate with the gear ring 22. The rotation of the airtight rotating ring 6 causes the pressing roller 11 to rotate, pressing the new sandpaper 3 on the bottom surface of the abrasive disc 17 (at this moment, the air nozzle 9 stops spraying gas). The rotation of the pressing roller 11 flattens the local bulges on the surface of the new sandpaper 3 after it has been applied, and at the same time, it can also make the edges of the new sandpaper 3 fit tightly against the surface of the abrasive disc 17.

[0028] During the entire extension stroke of the telescopic device 39, when the first slope of the trapezoidal block 33 contacts the sliding frame 38, the two missing gears 8 rotate in opposite directions, respectively rotating the horn-shaped air head 9 and the pressure roller 11 by 90 degrees. When the vertical plane of the trapezoidal block 33 contacts the sliding frame 38, the airtight rotating ring 6 follows the gear ring 22 and rotates on the surface of the airtight ring 5, causing the two fixed frames 7 to rotate, respectively rotating the horn-shaped air head 9 and the pressure roller 11. At this time, during the rotation of the horn-shaped air head 9, high-pressure gas is ejected to polish the bottom surface of the sanding disc 17 and the surface of the new sandpaper 3 to be installed. During the cleaning of grinding dust, when the trapezoidal block 33 contacts and detaches from the sliding frame 38 on its second slope, the horn-shaped air head 9 and the pressure roller 11 complete their reset motion. At this time, the new sandpaper 3 is installed on the bottom surface of the grinding disc 17. Compared with traditional partial sand changing equipment, this sand changing equipment cleans the dust on the bottom surface of the grinding disc 17 and the surface of the new sandpaper 3 to be installed before sand changing, ensuring that the new sandpaper 3 adheres more firmly to the grinding disc 17. During the grinding process, it prevents the sandpaper 3 from falling off the grinding disc 17, ensuring the grinding quality of the plate workpiece in the later stage.

[0029] During the entire retraction stroke of the telescopic device 39, the second slope of the trapezoidal block 33 first contacts the sliding frame 38, enabling the horn-shaped air head 9 and the pressing roller 11 to rotate 90 degrees in opposite directions. The vertical plane of the trapezoidal block 33 then contacts the sliding frame 38. At this time, the micro motor 25 rotates again, causing the toothed wheel 24 to rotate, which in turn causes the airtight rotating ring 6 to rotate with the toothed ring 22. The rotation of the airtight rotating ring 6 causes the pressing roller 11 to rotate and roll the new sandpaper 3 on the bottom surface of the sanding disc 17. The rotation of the pressing roller 11 flattens the local bulges on the surface of the new sandpaper 3 after it has been applied, and at the same time, it can also make the edge of the new sandpaper 3 fit tightly against the surface of the sanding disc 17. This solves the problem of local bulges and edge curling after the new sandpaper 3 is applied to the surface of the sanding disc 17, thereby ensuring the sandpaper 3's polishing quality on the workpiece and making the workpiece surface smoother.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sand changing device for a robotic gantry manipulator, comprising a frame (1) and a plurality of sand changing cylinders (2) disposed on its surface, and sandpaper (3) stacked inside the sand changing cylinders (2), characterized in that: A fixing ring (4) is fixedly installed on the surface of any of the sand changing cylinders (2). An airtight ring (5) is provided above the fixing ring (4). An airtight rotating ring (6) is rotatably connected to the surface of the airtight ring (5) and seals it. Two fixing brackets (7) are fixedly installed on the top surface of the airtight rotating ring (6). A missing gear (8) is rotatably connected inside the two fixing brackets (7). A horn-shaped air head (9) for cleaning abrasive dust and a rotating shaft (10) are fixedly installed on the missing tooth surface of the two missing gears (8). A rotating shaft (10) is rotatably connected to the surface of the rotating shaft (10) for removing the edge of the sandpaper (3). The pressing roller (11) is pressed together. Multiple slides (12) are fixedly installed on the surface of the airtight rotating ring (6). Each slide (12) is slidably connected to an L-shaped slide plate (13) that matches it. The top surfaces of the multiple L-shaped slide plates (13) are fixedly connected to a lifting ring (14). The surface of the lifting ring (14) is fixedly installed with two toothed plates (15) that mesh with the missing gear (8). A robotic arm end (16) is provided above the sand changing cylinder (2). A sanding disc (17) connected to the sandpaper (3) is fixedly installed on the bottom surface of the robotic arm end (16).

2. The sand changing device for a robotic gantry manipulator according to claim 1, characterized in that: A spring (18) is elastically connected between the slide (12) and the L-shaped slide (13). One end of the spring (18) is fixedly connected to the inner wall of the slide (12), and the other end of the spring (18) is fixedly connected to the L-shaped slide (13). Multiple fixing posts (19) are fixedly connected between the fixing ring (4) and the airtight ring (5).

3. The sand changing device for a robotic gantry manipulator according to claim 2, characterized in that: An air inlet (20) is fixedly installed on the bottom surface of the airtight ring (5) and communicates with it. One end of the air inlet (20) passes through the fixed ring (4). An air outlet pipe (21) is provided between the horn air head (9) and the airtight rotating ring (6). The air outlet pipe (21) is a flexible hose, and both ends of the air outlet pipe (21) are respectively sealed and connected to the horn air head (9) and the airtight rotating ring (6).

4. The sand changing device for a robotic gantry manipulator according to claim 3, characterized in that: A gear ring (22) is fixedly installed on the surface of the airtight rotating ring (6), and a mounting frame (23) is fixedly installed on the surface of the sand changing cylinder (2). A gear wheel (24) that meshes with the gear ring (22) is rotatably connected above the mounting frame (23). A micro motor (25) is fixedly installed on the bottom surface of the mounting frame (23), and the output end of the micro motor (25) is fixedly connected to the gear wheel (24).

5. The sand changing device for a robotic gantry manipulator according to claim 4, characterized in that: Two crossbars (26) are fixedly installed on the surface of the sand changing cylinder (2). A through guide rod (27) is slidably connected to the surface of the two crossbars (26). A rotating groove (28) is opened on the bottom surface of the lifting ring (14). Two matching arc blocks (29) are rotatably connected inside the rotating groove (28). The bottom surfaces of the two arc blocks (29) are fixedly connected to the top surfaces of the two guide rods (27). A second spring (30) for resetting its movement is sleeved on the surface of the two guide rods (27). One end of the second spring (30) is fixedly connected to the arc block (29), and the other end of the second spring (30) is fixedly connected to the crossbar (26).

6. The sand changing device for a robotic gantry manipulator according to claim 1, characterized in that: The inner top surface of the frame (1) is provided with multiple circular grooves (31) that are connected to the sand changing cylinder (2). Each of the circular grooves (31) is provided with a lifting rod (32) that can move vertically up and down. Two trapezoidal blocks (33) are fixedly installed on the surface of the lifting rod (32). The trapezoidal block (33) includes a first slope, a vertical plane, and a second slope.

7. The sand changing device for a robotic gantry manipulator according to claim 6, characterized in that: Each of the circular grooves (31) is provided with a vertical plate (34) on both sides. Each of the vertical plates (34) is fixedly connected to the inner top surface of the frame (1). Each of the vertical plates (34) is fixedly installed with a connecting frame (35). Each of the connecting frames (35) is slidably connected with a matching wedge block (36). The slope of the wedge block (36) is in contact with the bottom surface of the guide rod (27). A spring three (37) is elastically connected between the wedge block (36) and the connecting frame (35). One end of the spring three (37) is fixedly connected to the wedge block (36), and the other end of the spring three (37) is fixedly connected to the inner wall of the connecting frame (35).

8. The sand changing device for a robotic gantry manipulator according to claim 7, characterized in that: A through-type sliding frame (38) is slidably connected to the surface of any of the vertical plates (34). One end of the sliding frame (38) is fixedly connected to the wedge block (36), and the other end of the sliding frame (38) is provided with a roller. Multiple telescopic devices (39) are fixedly installed on the inner bottom surface of the frame (1). The telescopic end of the telescopic device (39) is fixedly connected to the lifting rod (32). A solenoid valve group (40) is fixedly installed on the inner bottom surface of the frame (1).

9. The sand changing device for a robotic gantry manipulator according to claim 8, characterized in that: A controller (41) is fixedly installed on the surface of the frame (1). The controller (41) is electrically connected to a micro motor (25) via a wire. A color mark sensor (42) is fixedly installed on the top surface of the frame (1). A cutting tongue (43) for cutting off old sandpaper (3) is fixedly installed on the top surface of the frame (1). A sand drop port (44) is opened on the side surface of the frame (1). A waste box (45) is provided on one side of the frame (1). The waste box (45) is located below the sand drop port (44).

10. A sand-changing method for a robotic gantry manipulator, using the sand-changing device for a robotic gantry manipulator according to any one of claims 1-9, characterized in that, Includes the following steps: S1: During the entire extension stroke of the telescopic device (39), when the first slope of the trapezoidal block (33) contacts the sliding frame (38), the two missing gears (8) rotate towards each other, respectively driving the horn air head (9) and the pressing roller (11) to rotate 90 degrees. When the vertical plane of the trapezoidal block (33) contacts the sliding frame (38), the airtight rotating ring (6) follows the gear ring (22) to rotate on the surface of the airtight ring (5), causing the two fixed frames (7) to rotate, respectively driving the horn air head (9) and the pressing roller (11) to rotate. At this time, the horn air head (9) sprays high-pressure gas during the rotational movement to clean the grinding dust on the bottom surface of the grinding disc (17) and the surface of the new sandpaper (3) to be installed. S2: The second slope of the trapezoidal block (33) contacts the sliding frame (38), and the wedge block (36) resets under the action of the spring three (37). At this time, the two missing gears (8) rotate and reset, carrying the horn air head (9) and the pressing roller (11) to reset. After the horn air head (9) and the pressing roller (11) are reset, the lifting rod (32) continues to move upward, carrying the new sandpaper (3) to move. At the same time, the end of the robot arm (16) carries the sanding disc (17) downward, and the new sandpaper (3) is installed on the bottom surface of the sanding disc (17). S3: During the entire retraction of the telescopic device (39), the second slope of the trapezoidal block (33) contacts the sliding frame (38) again, realizing that the horn air head (9) and the pressing roller (11) complete the opposite rotation of 90 degrees. The vertical plane of the trapezoidal block (33) contacts the sliding frame (38). At this time, the micro motor (25) rotates again, driving the toothed wheel (24) to rotate, so that the airtight rotating ring (6) follows the toothed ring (22) to rotate. The airtight rotating ring (6) rotates, driving the pressing roller (11) to rotate and roll the new sandpaper (3) on the bottom surface of the sanding disc (17). The pressing roller (11) rotates to flatten the local bulges on the surface of the new sandpaper (3) after it is pasted. At the same time, it can also tightly adhere the edge of the new sandpaper (3) to the surface of the sanding disc (17).

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