Integrated automatic replacement device and system

Abstract

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

Description

Technical Field

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

[0002] Automatic tool changers (ATCs) are a crucial component of modern CNC machining centers. They significantly improve machining efficiency and precision by quickly and accurately changing tools. Currently, ATCs are primarily categorized into three types: turret-type, direct spindle-type with disc-type tool changers, and robotic tool changers with chain-type tool changers. These systems are designed to reduce non-cutting time during machining, improve productivity, and lower production costs.

[0003] However, traditional automatic tool changing systems have several limitations. Tools are typically stored internally, making manual tool replacement difficult and unsuitable for automated industrial production lines. Furthermore, fixed-position tools cannot be flexibly changed based on processing needs, potentially disrupting the machining process. Furthermore, traditional tool changing systems only allow for tool replacement, failing to meet the diverse consumable requirements associated with multifunctional tools. Utility Model Content

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

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

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

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

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

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

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

[0011] In one embodiment, the sand-changing member includes:

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

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

[0014] In one embodiment, the sand storage mechanism includes a plurality of guide rods clamped on the periphery of the new sandpaper. Each new sandpaper is stacked and placed between the guide rods. The motion mechanism can move relative to the guide rods and push the new sandpaper to expose from the second accommodating part along the extending direction of the guide rods.

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

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

[0017] a sand storage tray arranged inside the sand storage mechanism. The new sandpaper abuts against the sand storage tray, and the sand storage tray can move relative to the sand storage mechanism; and

[0018] a driving member arranged inside the housing. The driving member is in transmission connection with the sand storage tray, and the driving member is used to drive the sand storage tray to move towards the outside of the second accommodating part.

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

[0020] In one embodiment, the third accommodating part includes a receiving cavity, a cutter head and a receiving port communicating the receiving cavity with the outside. The cutter head is arranged on one side of the receiving port and is used to remove the old sandpaper on the external tool. The removed old sandpaper falls into the receiving cavity through the receiving port; the sensing element includes a second sensor arranged on the periphery of the receiving port, and the second sensor is used to sense whether it is necessary to replace the old sandpaper on the external tool.

[0021] On the one hand, an integrated automatic replacement system is provided, including:

[0022] A robotic arm for picking up external tools that need to replace consumables and / or sandpaper; and

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

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

[0025] Or, the controller is used to control the robotic arm to drive the external tool to move to the third accommodation part to remove the old sandpaper according to the signal fed back by the sensing element. When the sensing element feeds back that there is no old sandpaper on the external tool, the controller controls the robotic arm to drive the external tool to move to the second accommodation part, and the sandpaper changing member exposes the new sandpaper from the second accommodation part.

[0026] The above-mentioned replacement device and replacement system integrate various functions such as sandpaper changing and consumable replacement in the housing, and each function has its corresponding area, which simplifies the overall structure; the device has a high degree of integration, reducing the occupation of the grinding space; the operations of sandpaper changing and consumable replacement are linked through the control component to realize automatic sandpaper changing and consumable replacement, which can match the automatic grinding production line, speed up the sandpaper changing and consumable replacement speed, and improve the overall grinding efficiency; the space layout is reasonable, optimizing the movement lines of the external tool and the robotic arm, and having sufficient operating space when replacing consumables and sandpaper, without affecting the movement of the robot. Brief Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of the replacement device in an embodiment of the present application.

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

[0029] Figure 3 It is a schematic structural diagram of the sandpaper changing member in an embodiment of the present application;

[0030] Figure 4 It is a schematic structural diagram of the sandpaper changing member with new sandpaper in an embodiment of the present application;

[0031] Figure 5 It is a schematic structural diagram of the third accommodation part and the external tool in an embodiment of the present application;

[0032] Figure 6Schematic diagram of sand replacement of the replacement system in an embodiment of the present application;

[0033] Figure 7 Schematic diagram of consumable replacement of the replacement system in an embodiment of the present application;

[0034] Figure 8 Schematic diagram of the control component in an embodiment of the present application;

[0035] Explanation of the reference numerals in the drawings:

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

[0037] 10. External tool; 20. Robot arm;

[0038] 100. Housing; 101. Body; 102. Base; 110. First accommodating part; 111. Upper cover; 120. Second accommodating part; 130. Third accommodating part; 131. Receiving port; 132. Tool bit;

[0039] 200. Sand replacement component; 210. Sand storage mechanism; 211. Guide rod; 212. Sand storage rack; 213. Flexible blocking member; 220. Movement mechanism; 221. Sand storage tray; 222. Driving member; 223. Silencer; 224. Air inlet and outlet;

[0040] 300. Clamping component;

[0041] 400. Control component; 410. Controller; 420. Sensing element; 421. First sensor; 422. Second sensor; 423. Third sensor; 424. Fourth sensor. Detailed implementation manners

[0042] In order to make the above objects, features and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

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

[0045] In this application, unless otherwise clearly specified and limited, if terms such as "install", "connect", "join", "fix", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In this application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0048] Referring to Figure 1-2 , Figure 1-2 FIG. shows a schematic structural diagram of the integrated automatic replacement device 1 in an embodiment of the present application. The replacement device 1 provided in an embodiment of the present application is used to replace the consumable 2 with an external tool 10. In this embodiment, the external tool 10 is taken as a grinding tool for description. Generally, at least sandpaper is installed on the grinding tool for grinding. For example, in a pneumatic angle grinder, the sandpaper is used by sticking it to the pneumatic angle grinder with Velcro, and the loss is relatively fast. The sandpaper needs to be replaced multiple times during the whole grinding process. The multifunctional grinding tool is also provided with other consumables 2, and the consumables 2 are mainly abrasive consumables 2 (such as flap discs, grinding wheels, milling cutters, etc.). When the life of the consumables 2 of the grinding tool is exhausted or different workpieces need to be ground, different consumables 2 need to be replaced. In order to meet different grinding processes, the consumables 2 and the sandpaper are used alternately by the grinding tool normally.

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

[0050] The above replacement device 1 and replacement system integrate various functions such as sand replacement and consumable 2 replacement in the housing 100, and each function has its corresponding area, simplifying the overall structure; the device has a high degree of integration, reducing the occupation of the grinding space; the operation processes of sand replacement and consumable 2 replacement are linked through the control component 400 to achieve automatic sand and consumable 2 replacement, which can match the automatic grinding production line, speed up the sand and consumable 2 replacement speed, and improve the overall grinding efficiency; the space layout is reasonable, optimizing the moving lines of the external tool 10 and the robotic arm 20, and providing sufficient operating space when replacing the consumable 2 and sandpaper without affecting the movement of the robot.

[0051] The housing 100 is in the shape of a vertical cabinet, and the housing 100 further includes a main body 101, a base 102, and an upper cover 111. Different areas of the main body 101 form the above-mentioned first accommodating portion 110, second accommodating portion 120, and third accommodating portion 130, and corresponding different cavities are also formed inside the main body 101 according to the requirements of the first accommodating portion 110, second accommodating portion 120, and third accommodating portion 130. The first accommodating portion 110, second accommodating portion 120, and third accommodating portion 130 are provided on the same side of the main body 101. The base 102 is provided at the lowermost part of the main body 101, and the base 102 is used to support on the ground, tabletop, etc. A group of forklift holes are provided on the part of the main body 101 close to the base 102 for the fork arms of the forklift to enter, so as to move the entire replacement device 1.

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

[0053] Specifically, the upper cover 111 is located at the uppermost part of the main body 101, and the first accommodating portion 110 is also located above the main body 101. The first sensor 421 is located on the upper cover 111, or near the first accommodating portion 110 and around the upper cover 111. When the external tool 10 approaches the upper cover 111, the first sensor 421 senses the external tool 10, and the upper cover 111 is actively opened through the controller 410, avoiding the need for other actions and manual opening of the cover, achieving full automation. The direct connection between the upper cover 111 and the main body 101 can be a movable connection such as a pivot connection or a sliding connection. The upper cover 111 is connected to a driving member 222 such as a cylinder or a motor to realize opening and closing through the signal of the controller 410.

[0054] The first accommodating portion 110 further includes mounting grooves, and a clamping member 300 is mounted on each mounting groove. Each mounting groove can be arranged side by side in the transverse direction. The clamping member 300 includes elastic clamping arms. There are at least two elastic clamping arms to clamp the consumable 2. After the consumable 2 is taken away, the clamping arms reset under the action of the elastic force. The clamping member 300 and the mounting grooves are located below the upper cover 111. After the upper cover 111 is opened, the clamping structure is exposed.

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

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

[0057] Combined Figure 3 、 4 As shown, Figure 3 、 4 The structure schematic diagram of the sand changing member 200 in an embodiment of the present application is shown. In one embodiment, the sand changing member 200 includes: a sand storage mechanism 210 for storing a plurality of new sandpapers 3; and a moving mechanism 220 connected to the sand storage mechanism 210. The moving mechanism 220 is disposed in the housing 100 and is used to drive the new sandpaper 3 to move relative to the sand storage mechanism 210. The sandpaper wears out quickly, the replacement frequency is higher, and the inventory capacity requirement is higher. A single sand changing member 200 can achieve a sandpaper storage capacity of more than 50 pieces, with a large capacity.

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

[0059] The sand storage mechanism 210 also includes a sand storage rack 212, which supports the guide rods 211 and has a through hole through which the movement mechanism 220 passes. The sand storage rack 212 connects the multiple guide rods 211 so that the space enclosed by the multiple guide rods 211 matches the size of the new sandpaper 3. The guide rods 211 can be configured to be positionally adjustable within the sand storage rack 212. The sand storage rack 212 can be equipped with multiple guide rails around the through hole, allowing the guide rods 211 to move within the rails for position adjustment, allowing the sand storage mechanism 210 to accommodate the storage needs of new sandpaper 3 of various sizes. The shape of the sand storage rack 212 and the shape formed by the multiple guide rods 211 are identical to the shape of the new sandpaper 3 and also match the shape and size of the opening.

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

[0061] Specifically, the length of the guide rod 211 is greater than the thickness of the stacked new sandpaper 3. In the stored state, the new sandpaper 3 does not contact the flexible barrier 213. When the motion mechanism 220 propels the sandpaper, the leading new sandpaper 3 (i.e., the new sandpaper 3 currently in need of replacement) passes over the flexible barrier 213, while the trailing new sandpaper 3 is located within or behind the barrier. The flexible barrier 213 may include a toothed, stepped, or spiny structure to separate adjacent new sandpaper 3. In this embodiment, the flexible barrier 213 is a brush.

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

[0063] Specifically, the sand storage tray 221 is disposed within an area enclosed by a plurality of guide rods 211. When not in the sand replacement state, the sand storage tray 221 is disposed against the sand storage rack 212. One side of the new sandpaper 3 abuts the sand storage tray 221, while the other side is restrained by the flexible blocking member 213, with the edge abutting the guide rods 211. The sand storage tray 221 is connected to the driving member 222 via a through hole, and the peripheral side of the sand storage tray 221 abuts against the side of the sand storage rack 212 facing away from the driving member 222.

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

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

[0066] In one embodiment, as Figure 5 shown, the third accommodating portion 130 includes a receiving cavity, a cutter head 132, and a receiving port 131 communicating the receiving cavity with the outside. The cutter head 132 is disposed on one side of the receiving port 131 and is used to remove the old sandpaper 4 on the external tool 10. The removed old sandpaper 4 falls into the receiving cavity through the receiving port 131; the sensing element 420 includes a third sensor 423 disposed on the periphery of the receiving port 131 for sensing whether it is necessary to replace the old sandpaper 4 on the external tool 10.

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

[0068] The receiving port 131 is located on the surface of the housing 100. The cutter head 132 is disposed below the receiving port 131 and is disposed substantially parallel to the surface of the housing 100. The end of the cutter head 132 can be located within the area of the receiving port 131, that is, the end of the cutter head 132 extends from the edge of the receiving port 131 and extends for a certain distance. When the external tool 10 removes the old sandpaper 4, it moves downward from top to bottom, peels off the old sandpaper 4 through the cutter head 132, and the old sandpaper 4 enters the receiving cavity through the receiving port 131.

[0069] Combined with Figures 6-8 shown, Figures 6-8 shows a schematic diagram of the replacement system and the control assembly 400 in an embodiment of the present application. The integrated automatic replacement device 1 belongs to the integrated automatic replacement system, and the replacement system includes: a robotic arm 20 and the automatic replacement device 1. Among them, the controller 410 is configured to transmit the signal fed back by the sensing element 420 to the robotic arm 20 to adjust the movement trajectory of the external tool 10.

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

[0071] Alternatively, the controller 410 is configured to control the robotic arm 20 to drive the external tool 10 to move to the third accommodation part 130 to remove the old sandpaper 4, and when the sensing element 420 feeds back that there is no old sandpaper 4 on the external tool 10, the controller 410 controls the robotic arm 20 to drive the external tool 10 to move to the second accommodation part 120, and the sand changing member 200 exposes the new sandpaper 3 from the second accommodation part 120.

[0072] Specifically, as Figure 8 shown, the first sensor 421 is configured to sense the approach of the robotic arm 20, and control the opening of the upper cover 111 according to the signal fed back by the first sensor 421. When the robotic arm 20 picks up the external tool 10 and moves to near the receiving port 131 of the third accommodation part 130, the third sensor 423 is configured to sense whether the old sandpaper 4 on the external tool 10 needs to be replaced. If so, the robotic arm 20 picks up the external tool 10 and moves to remove the old sandpaper 4 on the external tool 10 at the cutter head 132. If there is no sandpaper on it, the robotic arm 20 picks up the external tool 10 and moves to the second accommodation part 120. The second sensor 422 is configured to sense whether there is new sandpaper 3 on the sand changing member 200. The controller 410 remotely controls the robotic arm 20 to move to the sand changing member 200 with new sandpaper 3. After the sand changing member 200 transports out the new sandpaper 3, the robotic arm 20 adjusts its position to install the new sandpaper 3. The fourth sensor is configured to sense whether there is consumable 2 on the clamping member 300. After the signal fed back by the fourth sensor, the controller 410 remotely controls the robotic arm 20 to move to the clamping member 300 with consumable 2 and adjusts its position to replace the consumable 2.

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

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

[0075] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0076] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An integrated automatic replacement device, characterized in that, The replacement device includes: A housing, including a first accommodating portion, a second accommodating portion, and a third accommodating portion. The first accommodating portion is used to accommodate the consumable, the second accommodating portion is used to store new sandpapers to be replaced, and the third accommodating portion is used to receive the old sandpapers removed. At least one clamping member, disposed in the first accommodating portion, and the clamping member is used to clamp the consumable. At least one sandpaper replacement member, disposed in the second accommodating portion, and the sandpaper replacement member is used to store the new sandpapers and to move the new sandpapers relative to the housing so as to expose them from the second accommodating portion. And A control assembly, including a sensing element and a controller. The sensing element is used to sense whether there is a consumable on the clamping member and to sense whether the old sandpaper on the external tool needs to be replaced. The controller is used to control the movement of the sandpaper replacement member according to the signal fed back by the sensing element, and the controller is used to transmit the signal fed back by the sensing element to the outside.

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

3. The integrated automatic replacement device according to claim 1, characterized in that, The sandpaper replacement member includes: A sandpaper storage mechanism, used to store a plurality of new sandpapers; and A movement mechanism, connected to the sandpaper storage mechanism, and the movement mechanism is disposed in the housing and is used to drive the new sandpapers to move relative to the sandpaper storage mechanism.

4. The integrated automatic replacement device according to claim 3, characterized in that, The sandpaper storage mechanism includes a plurality of guide rods clamped around the new sandpapers. Each new sandpaper is stacked and placed between the guide rods. The movement mechanism can move relative to the guide rods and push the new sandpapers along the extending direction of the guide rods to expose them from the second accommodating portion.

5. The integrated automatic replacement device according to claim 4, characterized in that, A flexible blocking member is provided at the end of the guide rod. The front new sandpaper in the stacked new sandpapers can pass over the flexible blocking member and be installed on the external tool, and the flexible blocking member can block the rear new sandpapers in the stacked new sandpapers.

6. The integrated automatic replacement device according to claim 3, wherein, The movement mechanism includes: A sandpaper storage tray, disposed in the sandpaper storage mechanism, and the new sandpapers are abutted against the sandpaper storage tray. The sandpaper storage tray can move relative to the sandpaper storage mechanism; and A driving member, disposed in the housing, and the driving member is in transmission connection with the sandpaper storage tray. The driving member is used to drive the sandpaper storage tray to move towards the outside of the second accommodating portion.

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

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

9. An integrated automatic replacement system, characterized in that: Includes: A robotic arm, used to pick up an external tool that needs to replace the consumable and / or sandpaper; And The integrated automatic replacement device according to any one of claims 1-8; wherein, the controller is configured to transmit the signal fed back by the sensing element to the robotic arm to adjust the movement trajectory of the external tool.

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

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