An automatic sand changing station

Abstract

This utility model discloses an automatic sandpaper changing station, including a storage mechanism. The storage mechanism includes a storage component and a pushing component. The storage component has a storage bin for stacking and storing sandpaper. One end of the storage bin is a discharge end. At least one limiting rod extends along the stacking direction inside the storage bin. One end of the limiting rod is fixed, and the other end is suspended inside the discharge end. The limiting rod is used to lock the circumferential posture of the sandpaper through a through hole in the sandpaper. The pushing component is used to move the sandpaper in the storage bin towards the discharge end. In the sandpaper stacking and storage bin, the circumferential posture of the sandpaper is positioned by the limiting rod through the through hole in the sandpaper. When the grinding head picks up the sandpaper, it is only necessary to control the grinding head to move to the discharge end of the storage bin according to the set rotation posture. The pushing component pushes the sandpaper in the storage bin towards the discharge end, thereby pushing the sandpaper. At this time, the front end of the sandpaper is accurately attached to the grinding head.

Description

Technical Field

[0001] This utility model relates to the technical field of grinding equipment, and in particular to an automatic sand changing station. Background Technology

[0002] On automated sanding production lines, robotic arms drive grinding heads to sand the products being processed. Generally, to avoid reducing sanding quality, the sandpaper used needs to be replaced after a period of use. Modern sanding heads are equipped with dust extraction functions, meaning several dust extraction ports are evenly distributed in a ring on the end face of the grinding head, and corresponding through-holes are also provided on the sandpaper for airflow. Although some devices on the market can automatically change the sandpaper, current devices struggle to accurately attach the sandpaper to the sanding surface during replacement, ensuring the through-holes on the sandpaper align with the dust extraction ports on the grinding head. This results in misalignment between the grinding head and the sandpaper, affecting the sanding effect. Utility Model Content

[0003] The purpose of this utility model is to provide an automatic sand changing station to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0004] The technical solution adopted to solve the above-mentioned technical problems is as follows:

[0005] This utility model provides an automatic sand changing station, suitable for sandpaper with through holes and grinding heads with dust suction ports. The automatic sand changing station includes:

[0006] The storage mechanism includes at least one storage component and a pushing component. The storage component has a storage channel for stacking and storing sandpaper. One end of the storage channel is a discharge end. At least one limiting rod extends inside the storage channel along the stacking direction. One end of the limiting rod is fixedly installed in the storage channel, and the other end is suspended in the discharge end. The limiting rod is used to lock the circumferential posture of the sandpaper through a through hole. The pushing component is used to move the sandpaper in the storage channel toward the discharge end.

[0007] The beneficial effects of this automatic sand changing station are:

[0008] In use, sandpaper is stacked and stored in the storage bin. The circumferential orientation of the sandpaper is positioned by a limit rod through a through hole in the sandpaper. When the grinding head picks up the sandpaper, it is only necessary to control the grinding head to move to the discharge end of the storage bin according to the set rotation posture. The pushing component pushes the sandpaper in the storage bin toward the discharge end to push the sandpaper. At this time, the front end of the sandpaper is accurately attached to the grinding head.

[0009] As a further improvement to the above technical solution, the material storage mechanism further includes a material blocking component, which is located at the discharge end and is used to open and close the discharge end.

[0010] As a further improvement to the above technical solution, the automatic sand changing station also includes a vertical frame, with multiple material storage components distributed along the vertical direction on the two vertical sidewalls of the frame facing away from each other. All the material storage channels extend in a direction perpendicular to the vertical direction, and all the discharge ends face the same direction.

[0011] As a further improvement to the above technical solution, the material storage assembly includes a material storage rack, the material storage channel is disposed inside the material storage rack, the material storage rack is detachably installed on the frame, and the material pushing assembly and the material blocking assembly are installed on the frame.

[0012] As a further improvement to the above technical solution, the material blocking assembly includes a material blocking rotating structure mounted on the frame, a material blocking frame that is pulsatorically connected to the material blocking rotating structure, and a material blocking plate mounted on the end of the material blocking frame away from the material blocking rotating structure. The material blocking rotating structure is used to drive the material blocking frame to rotate. The rotation trajectory of the material blocking frame includes a material blocking position where the material blocking plate is located at the discharge end and a discharge position radially away from the discharge end.

[0013] As a further improvement to the above technical solution, the pushing assembly is located at the end of the storage bin channel away from the discharge end. The pushing assembly includes a pushing frame located at the end of the storage bin channel away from the discharge end, a pushing drive structure mounted on the pushing frame, and a pushing plate that is pulsatorically connected to the pushing drive structure. One end of the pushing frame is hinged to the frame, and the other end of the pushing frame is detachably connected to the end of the storage bin channel away from the discharge end, so that the pushing plate is disposed in the storage bin channel. The pushing drive structure is used to drive the pushing plate to move toward the discharge end.

[0014] As a further improvement to the above technical solution, the storage rack is slidably inserted into the frame from the pushing assembly toward the blocking assembly, and the pushing rack is used to lock the storage rack.

[0015] As a further improvement to the above technical solution, a pusher plate is provided in the storage bin channel and is slidably arranged along the axial direction. The pusher plate has at least one through hole, the limiting rod passes through the through hole, and the pusher plate abuts against the end face of the pusher plate away from the discharge end.

[0016] As a further improvement to the above technical solution, the grinding head performs grinding by eccentric rotation. The automatic sand changing station also includes a sand tearing mechanism, which is used to tear off the sandpaper on the grinding head. The sand tearing mechanism includes an eccentric positioning component and a sand tearing clamping component. The sand tearing clamping component includes a clamping platform and a sand tearing clamp plate arranged opposite each other, and a sand tearing clamping drive structure that is pulverically connected to the sand tearing clamp plate. One end of the sand tearing clamp plate along a first direction is provided with a sand tearing insertion end for insertion between the sandpaper and the grinding head. The sand tearing clamping drive structure is used to drive the sand tearing insertion end toward the clamping platform. The table moves to clamp the sandpaper between the tearing clamp and the table. The eccentric positioning component includes an eccentric positioning block and an eccentric buffer structure. The eccentric positioning block is slidably disposed along the first direction. One end of the eccentric positioning block, which is disposed in the same direction as the tearing insertion end, is provided with a V-shaped eccentric positioning groove. The two inner walls of the V-shaped eccentric positioning groove are used to abut against the outer peripheral wall of the grinding head. The tearing insertion end is disposed in the eccentric positioning groove. The eccentric buffer structure is used to provide the eccentric positioning block with a first positioning buffer force along the first direction to push the grinding head to a set eccentric posture.

[0017] As a further improvement to the above technical solution, the dust suction port on the grinding head is eccentrically set, and the automatic sand changing station also includes a sandpaper identification mechanism and a rotation identification mechanism. The sandpaper identification mechanism is used to identify whether the grinding head is attached with sandpaper, and the rotation identification mechanism is used to identify the circumferential position of the dust suction port relative to the center of the grinding head.

[0018] The sandpaper identification mechanism includes a color sensor, which uses color to distinguish whether sandpaper is attached to the grinding head;

[0019] The rotary recognition mechanism includes a recognition platform and at least one micro switch disposed on the recognition platform. The recognition platform has a recognition center that is concentrically disposed with the center of the grinding head. The micro switch is eccentrically disposed with respect to the recognition center. The micro switch is used to recognize the dust suction port on the grinding head.

[0020] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0022] Figure 1 This is a schematic diagram of the structure of one embodiment of the sandpaper provided by this utility model;

[0023] Figure 2 This is a schematic diagram of an embodiment of the grinding head provided by this utility model;

[0024] Figure 3 This is a schematic diagram of an embodiment of the automatic sand changing station provided by this utility model;

[0025] Figure 4 This is a schematic diagram of an embodiment of the material storage mechanism provided by this utility model. Figure 1 ;

[0026] Figure 5 This is a schematic diagram of an embodiment of the material storage mechanism provided by this utility model. Figure 2 ;

[0027] Figure 6 This is a schematic diagram of an embodiment of the sand-tearing mechanism provided by this utility model;

[0028] Figure 7 This is a side view of an embodiment of the sand-tearing mechanism provided by this utility model;

[0029] Figure 8 yes Figure 7 Sectional view of section AA;

[0030] Figure 9 This is a schematic diagram of the positioning and cooperation of the grinding head and the eccentric positioning block in one embodiment of the sand-tearing mechanism provided by this utility model;

[0031] Figure 10 This is a front view of an embodiment of the sandpaper recognition mechanism and the rotary recognition mechanism provided by this utility model;

[0032] Figure 11 This utility model provides a sandpaper identification mechanism and a rotation identification mechanism, and one embodiment of which is a schematic diagram of sandpaper identification and rotation posture identification of the grinding head.

[0033] Figure 12 This is a cross-sectional view of the combined and connected components of one embodiment of the robot's execution end provided by this utility model.

[0034] Icon labels:

[0035] 100 grit sandpaper; 110 grit through hole;

[0036] Grinding head 200; Dust suction port 210;

[0037] Material storage mechanism 300; material storage assembly 310; material storage channel 311; discharge end 3111; material storage rack 312; end plate 3121; connecting rod 3122; limit rod 313; pusher plate 314; pusher assembly 320; pusher frame 321; pusher drive structure 322; pusher plate 323; baffle assembly 330; baffle rotation structure 331; baffle frame 332; baffle plate 333;

[0038] 400 racks;

[0039] 500; 510; 511; 511; 5111; 512; 520; 521; 522; 5221; 523; 524; 525; 526; 527; 528; 529; 520; 521; 522; 5221; 523;

[0040] Sandpaper recognition mechanism 600; Color sensor 610;

[0041] Rotary recognition mechanism 700; recognition stage 710; micro switch 720; recognition positioning block 730; recognition positioning groove 731; recognition buffer structure 740;

[0042] Grinding drive mechanism 800; eccentric drive shaft 810; grinding rotation drive structure 820;

[0043] Locking mechanism 900; locking block 910; locking drive cylinder 920. Detailed Implementation

[0044] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0045] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0046] In the description of this utility model, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or their sequential relationship.

[0047] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0048] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this utility model, not all embodiments.

[0049] The automatic sand changing station of this utility model is suitable for sandpaper 100 with through holes 110 and grinding heads 200 with dust suction ports 210, such as... Figure 1 As shown, the sandpaper 100 has multiple through holes 110 spaced apart circumferentially, such as... Figure 2 As shown, the end face of the grinding head 200 has multiple dust suction ports 210 distributed circumferentially. When attaching sandpaper 100, the dust suction ports 210 on the grinding head 200 need to be aligned with the through holes 110 on the sandpaper 100 to ensure that the grinding head 200 can absorb dust during grinding.

[0050] like Figure 3 As shown, the automatic sand changing station includes a storage mechanism 300 for storing sandpaper 100. In order to increase the storage capacity of sandpaper 100 and to enable uninterrupted replacement of sandpaper 100, the storage mechanism 300 in this embodiment is provided with multiple components.

[0051] The storage mechanism 300 includes a storage component 310 and a pushing component 320. The storage component 310 is provided with a storage channel 311 for stacking and storing sandpaper 100. One end of the storage channel 311 is a discharge end 3111. In this embodiment, the storage component 310 includes a storage rack 312, and the storage channel 311 is located in the storage rack 312.

[0052] To reduce the floor space required, this embodiment of the automatic sand changing station also includes a vertical frame 400. Multiple storage components 310 are distributed vertically along the two opposing vertical sidewalls of the frame 400. All storage channels 311 extend perpendicular to the vertical direction, and all discharge ends 3111 face the same direction. Specifically, multiple storage racks 312 are installed on the left and right sides of the frame 400, while the storage channels 311 are arranged in the front-to-back direction. Sandpaper 100 is stacked and stored in the storage channels 311 in the front-to-back direction. The discharge ends 3111 of all storage channels 311 face the same direction to facilitate the retrieval of sandpaper 100. In this embodiment, the discharge ends 3111 of the storage channels 311 face forward.

[0053] The storage rack 312 in this embodiment includes two annular end plates 3121 and a plurality of connecting rods 3122 arranged at intervals along the circumference. The front and rear ends of the plurality of connecting rods 3122 are respectively connected to the two end plates 3121 to form a storage channel 311 extending along the front and rear.

[0054] In this embodiment, the pushing component 320 is used to move the sandpaper 100 in the storage bin 311 toward the discharge end 3111, thereby realizing the automatic output of the sandpaper 100.

[0055] When storing and installing sandpaper 100, the through holes 110 on sandpaper 100 need to correspond one-to-one with the dust suction ports 210 on grinding head 200. Therefore, the circumferential orientation of sandpaper 100 needs to be defined when storing it. Figure 4 and Figure 5 As shown, the storage compartment 311 of this embodiment is provided with at least one limiting rod 313. The limiting rod 313 extends in the front-back direction. The rear end of the limiting rod 313 is fixedly connected to the rear end plate 3121. When storing sandpaper 100, the through hole 110 on the sandpaper 100 passes through the limiting rod 313 to position and store the sandpaper 100.

[0056] In use, sandpaper 100 is stacked and stored in storage compartment 311. Through the through hole 110 on the sandpaper 100, the limiting rod 313 is inserted to position the circumferential posture of the sandpaper 100. When the grinding head 200 picks up the sandpaper 100, it is only necessary to control the grinding head 200 to move to the discharge end 3111 of the storage compartment 311 according to the set rotation posture. The pushing component 320 pushes the sandpaper 100 in the storage compartment 311 towards the discharge end 3111 to push the sandpaper 100. At this time, the front end of the sandpaper 100 is accurately attached to the grinding head 200.

[0057] Furthermore, the storage mechanism 300 of this embodiment also includes a baffle assembly 330, which is located at the discharge end 3111. The baffle assembly 330 is used to open and close the discharge end 3111. In this embodiment, the baffle assembly 330 is disposed at the front end of the storage channel 311, while the push assembly 320 is disposed at the rear end of the storage channel 311. When taking sandpaper 100, the grinding head 200 is placed at the front side of the storage channel 311, and then the storage channel 311 is opened by the baffle assembly 330. The sandpaper 100 is pushed forward by the push assembly 320 so that the foremost sandpaper 100 is attached to the grinding head 200.

[0058] In order to achieve rapid filling of sandpaper 100, the storage rack 312 of this embodiment is detachably installed on the frame 400, while the pusher assembly 320 and the stop assembly 330 are installed on the frame 400. When it is necessary to fill sandpaper 100, the storage rack 312 is removed for operation.

[0059] The material blocking assembly 330 in this embodiment includes a material blocking rotating structure 331 mounted on the frame 400, a material blocking frame 332 connected to the material blocking rotating structure 331, and a material blocking plate 333 mounted on the end of the material blocking frame 332 away from the material blocking rotating structure 331. The material blocking rotating structure 331 is used to drive the material blocking frame 332 to rotate. The rotation trajectory of the material blocking frame 332 includes a material blocking position where the material blocking plate 333 is located at the discharge end 3111 and a discharge position radially away from the discharge end 3111. It can be understood that the rotation axis of the material blocking frame 332 is arranged in the same direction as the storage channel 311 and is located on the outer periphery of the storage channel 311, so as to drive the material blocking plate 333 to rotate to the front end and outer periphery of the storage channel 311, so as to realize the opening and closing of the front end of the storage channel 311, which does not interfere with the assembly and disassembly of the storage frame 312.

[0060] The pushing assembly 320 includes a pushing frame 321, a pushing drive structure 322 mounted on the pushing frame 321, and a pushing plate 323 that is driveably connected to the pushing drive structure 322. One end of the pushing frame 321 is hinged to the frame 400, and the other end of the pushing frame 321 is detachably connected to the end of the storage channel 311 away from the discharge end 3111, so that the pushing plate 323 is located in the storage channel 311. The pushing drive structure 322 is used to drive the pushing plate 323 to move towards the discharge end 3111. The pushing drive structure 322 drives the pushing plate 323 to move back and forth along the storage channel 311 to push the sandpaper 100. When the pushing frame 321 rotates to the position where the storage frame 312 is separated, the pushing plate 323 rotates to the outer periphery of the storage channel 311, without interfering with the assembly and disassembly of the storage frame 312.

[0061] In this embodiment, the pushing drive structure 322 is a cylinder, and the blocking rotation structure 331 is a rotary motor.

[0062] In this embodiment, the storage rack 312 is slidably inserted into the frame 400 from the pusher assembly 320 toward the stop assembly 330, so that the pusher rack 321 simultaneously locks the storage rack 312.

[0063] In this embodiment, a pusher plate 314 is provided in the storage bin 311 and is slidably arranged along the axial direction. The pusher plate 314 has at least one through hole, and a limiting rod 313 passes through the through hole. The pusher plate 323 abuts against the end face of the pusher plate 314 away from the discharge end 3111. The pusher plate 323 abuts against the rear side of the sandpaper 100 through the pusher plate 314. During use, the sandpaper 100 can also be shaped and pressed by the mutual approach of the baffle plate 333 and the pusher plate 323 to avoid deformation and warping of the sandpaper 100.

[0064] like Figure 3As shown, the automatic sand changing station in this embodiment also includes a sand tearing mechanism 500 mounted on the frame 400. The sand tearing mechanism 500 is used to tear off the sandpaper 100 from the grinding head 200. Existing grinding heads 200 all perform grinding by eccentric rotation. Because the grinding head 200 is in different eccentric states, it is difficult to accurately remove the sandpaper 100 from the set position of the grinding head 200. Figures 6 to 8 As shown, the sand-tearing mechanism 500 of this embodiment includes an eccentric positioning component 510 and a sand-tearing clamping component 520. The sand-tearing clamping component 520 includes a clamping platform 521 and a sand-tearing clamping plate 522 arranged side by side, and a sand-tearing clamping drive structure 523 that is pulsatorically connected to the sand-tearing clamping plate 522.

[0065] The tearing clamp 522 has a tearing insertion end 5221 at one end along the first direction for insertion between the sandpaper 100 and the grinding head 200. In this embodiment, the first direction is defined as the front-back direction, while the clamping platform 521 and the tearing clamp 522 are arranged side by side opposite each other along the left-right direction. The tearing insertion end 5221 is located at the front end of the tearing clamp 522. In some other embodiments, the first direction can be set to other directions.

[0066] In this embodiment, the sandpaper 100 is clamped between the sandpaper 100 and the sandpaper clamping drive structure 523. The cross-section of the sandpaper 100 is a pointed cone shape so as to facilitate insertion between the sandpaper 100 and the grinding head 200.

[0067] like Figures 6 to 8 As shown, the eccentric positioning assembly 510 includes an eccentric positioning block 511 and an eccentric buffer structure 512. The eccentric positioning block 511 is slidably disposed on the clamping platform 521 along the first direction. One end of the eccentric positioning block 511, which is disposed in the same direction as the abrasion insertion end 5221, is provided with a V-shaped eccentric positioning groove 5111. The eccentric positioning groove 5111 is disposed at the front end of the eccentric positioning block 511. The two V-shaped inner walls of the eccentric positioning groove 5111 are used to abut against the outer peripheral wall of the grinding head 200. The abrasion insertion end 5221 is disposed in the eccentric positioning groove 5111. The eccentric buffer structure 512 is used to provide the eccentric positioning block 511 with a first positioning buffer force along the first direction to push the grinding head 200 to the set eccentric posture.

[0068] When unloading sandpaper 100, since the position of the sandpaper 100 clamped by the sandpaper insert 5221 is fixed, while the grinding head 200 may not be able to clamp the sandpaper 100 under different eccentric states, this embodiment uses an eccentric positioning block 511 to position the grinding head 200. Specifically: Figure 9As shown, the V-shaped eccentric positioning groove 5111 on the eccentric positioning block 511 abuts against the outer peripheral wall of the grinding head 200, causing the grinding head 200 to move toward one side of the eccentric positioning block 511, that is, causing the grinding head 200 to move backward. At this time, the end face of the grinding head 200 faces the clamping platform 521. At this time, the eccentric buffer structure 512 provides a first positioning buffer force with a reverse action between the eccentric positioning block 511 and the grinding head 200. The grinding head 200 is pushed and fixed to the preset eccentric state, so that the tearing insertion end 5221 on the tearing clamping plate 522 is inserted into the set position on the outer periphery between the sandpaper 100 and the grinding head 200. Then, the tearing clamping drive structure 523 drives the tearing insertion end 5221 to move toward the clamping platform 521, which can clamp the sandpaper 100 between the tearing clamping plate 522 and the clamping platform 521. After that, the grinding head 200 is driven to move away from the clamping platform 521 to remove the sandpaper 100.

[0069] The eccentric buffer structure 512 in this embodiment includes an eccentric buffer cylinder. The telescopic end of the eccentric buffer cylinder is connected to the eccentric positioning block 511. The eccentric buffer cylinder is used to provide a first positioning buffer force that is adjustable and constant in size. The size of the first positioning buffer force can be adjusted by adjusting the intake volume and exhaust speed.

[0070] like Figures 6 to 8 As shown, in this embodiment, the rear end of the sand-tearing clamp 522 is hinged to the clamping platform 521. The sand-tearing clamping assembly 520 drives the sand-tearing clamp 522 to swing, thereby clamping the sandpaper 100. In some other embodiments, the sand-tearing clamping assembly 520 can drive the sand-tearing clamp 522 to move left and right in a linear motion to achieve clamping.

[0071] like Figure 3 As shown, the automatic sand changing station in this embodiment also includes a sandpaper identification mechanism 600. The sandpaper identification mechanism 600 is used to identify whether the grinding head 200 is attached with sandpaper 100. Before taking sand, the sandpaper identification mechanism 600 identifies whether sandpaper 100 is attached to the grinding head 200 to ensure that the old sandpaper 100 is removed. Before removing the sandpaper 100, the sandpaper identification mechanism 600 can also identify the grinding head 200 to determine whether there is sandpaper 100 on the grinding head 200. If there is, the sandpaper 100 needs to be removed. If not, the grinding head 200 is directly rotated for identification.

[0072] Specifically, such as Figure 10 As shown, the sandpaper identification mechanism 600 of this embodiment includes a color sensor 610. The color sensor 610 distinguishes whether the grinding head 200 is attached to sandpaper 100 by color. Since the end face of the grinding head 200 and the sandpaper 100 are different colors, this embodiment can identify whether the grinding head 200 is attached to sandpaper 100 by color.

[0073] like Figure 3As shown, the automatic sand changing station in this embodiment also includes a rotation recognition mechanism 700. The rotation recognition mechanism 700 is used to recognize the rotational posture of the grinding head 200 relative to its own center, so as to ensure that the sandpaper 100 and the grinding head 200 are attached at a set angle, and to avoid misalignment between the grinding head 200 and the sandpaper 100. After locking the circumferential posture of the sandpaper 100 as described above, the rotational posture of the grinding head 200 is now recognized by the rotation recognition mechanism 700.

[0074] like Figure 10 As shown, the rotary recognition mechanism 700 of this embodiment includes a recognition platform 710 and at least one micro switch 720 disposed on the recognition platform 710. The recognition platform 710 is provided with a recognition center that is concentrically disposed with the center of the grinding head 200. The micro switch 720 is eccentrically disposed with respect to the recognition center. The micro switch 720 is used to recognize the dust suction port 210 that is eccentrically disposed on the grinding head 200. In this embodiment, the distance between the micro switch 720 and the recognition center of the recognition platform 710 is equal to the distance between the dust suction port 210 and the center of the grinding head 200.

[0075] like Figure 11 As shown, when recognizing the rotational posture, the center of the grinding head 200 is controlled to be concentric with the recognition center of the recognition platform 710. Then, the grinding head 200 is controlled to rotate around its own center. When the grinding head 200 rotates to the point where the dust inlet 210 is exactly aligned with the contact of the micro switch 720, the signal of the micro switch 720 detects the position and sends it to the robot. The robot uses the angle of the grinding head 200 as the angle for picking up the sandpaper 100.

[0076] Furthermore, if it is detected at the beginning of operation that the grinding head 200 is without sandpaper 100, there is no need to remove the sandpaper 100, and the rotational attitude can be directly identified. At this time, the grinding head 200 is in an uncertain eccentric state, making it difficult to identify the center of the grinding head 200. Therefore, it is necessary to identify and lock the eccentric attitude of the grinding head 200. The rotational identification mechanism 700 in this embodiment also includes an identification positioning block 730. One end of the identification positioning block 730 is provided with a V-shaped identification positioning groove 731, which faces the identification stage 710. The identification center is located on one side of the identification positioning groove 731. The two inner walls of the identification positioning groove 731 are V-shaped and abut against the outer peripheral wall of the grinding head 200 so that the center of the grinding head 200 is concentric with the identification center. When the rotation posture is identified, the outer peripheral wall of the grinding head 200 abuts against the two inner walls of the identification positioning groove 731. At this time, the center of the grinding head 200 is concentric with the identification center to obtain the spatial coordinates of the grinding head 200. The spatial coordinates of the grinding head 200 are used as the reference coordinates for picking up the sandpaper 100.

[0077] like Figure 10As shown, in this embodiment, the identification positioning groove 731 is disposed at the upper end of the identification positioning block 730, while the identification platform 710 is vertically disposed. The identification center of the identification platform 710 and the micro switch 720 are located above the identification positioning block 730, and the center line of the identification positioning groove 731 extends in the vertical direction.

[0078] Furthermore, in order to quickly identify the center coordinates of the grinding head 200, such as Figure 10 As shown, the rotary recognition mechanism 700 also includes a recognition buffer structure 740. The recognition positioning block 730 is slidably disposed along the center line of the recognition positioning groove 731. The eccentric buffer structure 512 is used to provide a second positioning buffer force to the recognition positioning block 730 along the center line of the recognition positioning groove 731 to push the grinding head 200 to a position concentric with the recognition center. When recognizing the center of the grinding head 200, the principle is the same as that of the eccentric positioning component 510 mentioned above. The V-shaped recognition positioning groove 731 on the recognition positioning block 730 abuts against the outer peripheral wall of the grinding head 200, causing the grinding head 200 to move toward one side of the recognition positioning block 730. At this time, the end face of the grinding head 200 faces the recognition stage 710. The recognition buffer structure 740 provides a second positioning buffer force with opposite action between the recognition positioning block 730 and the grinding head 200. The grinding head 200 is pushed and fixed to the set eccentric state, and then the grinding head 200 is controlled to rotate around its own center to recognize the rotation posture.

[0079] To improve the efficiency of sandpaper 100 recognition and rotational posture recognition, such as Figure 10 and Figure 11 As shown, the color sensor 610 in this embodiment is set on the top of the recognition platform 710 and faces forward. After the grinding head 200 recognizes the sandpaper 100, the rotation posture can be recognized immediately.

[0080] The identification buffer structure 740 includes an identification buffer cylinder, the telescopic end of which is connected to the identification positioning block 730. The identification buffer cylinder is used to provide a second positioning buffer force that is adjustable in size and constant.

[0081] In use, the movement of the grinding head 200 is controlled by a robot, which is equipped with an actuator, such as... Figure 12 As shown, the execution end is provided with a grinding drive mechanism 800 for driving the grinding head 200 to rotate eccentrically and a locking mechanism 900 for locking the eccentric rotation of the grinding head 200. The locking mechanism 900 includes a locking block 910 and a locking drive cylinder 920 for driving the locking block 910 to abut against the outer peripheral wall of the grinding head 200. The grinding drive mechanism 800 includes an eccentric drive shaft 810 connected to the grinding head 200 and a grinding rotation drive structure 820 for driving the eccentric drive shaft 810 to rotate eccentrically.

[0082] During normal grinding, the grinding head 200 is driven to rotate eccentrically by the grinding drive mechanism 800. When locking the eccentric posture of the grinding head 200, the eccentric rotation of the grinding head 200 is locked by the locking mechanism 900.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An automatic sand changing station, characterized in that, The automatic sand changing station, suitable for sandpaper with through holes and grinding heads with dust suction ports, includes: The storage mechanism includes at least one storage component and a pushing component. The storage component has a storage channel for stacking and storing sandpaper. One end of the storage channel is a discharge end. At least one limiting rod extends inside the storage channel along the stacking direction. One end of the limiting rod is fixedly installed in the storage channel, and the other end is suspended in the discharge end. The limiting rod is used to lock the circumferential posture of the sandpaper through a through hole. The pushing component is used to move the sandpaper in the storage channel toward the discharge end.

2. The automatic sand changing station according to claim 1, characterized in that: The material storage mechanism also includes a material blocking component located at the discharge end, which is used to open and close the discharge end.

3. The automatic sand changing station according to claim 2, characterized in that: The automatic sand changing station also includes a vertical frame, with multiple material storage components distributed along the vertical direction on the two vertical sidewalls of the frame facing away from each other. All the material storage channels extend in a direction perpendicular to the vertical direction, and all the discharge ends face the same direction.

4. The automatic sand changing station according to claim 3, characterized in that: The material storage assembly includes a material storage rack, the material storage channel is disposed inside the material storage rack, the material storage rack is detachably installed on the frame, and the material pushing assembly and the material blocking assembly are installed on the frame.

5. The automatic sand changing station according to claim 4, characterized in that: The material blocking assembly includes a material blocking rotating structure mounted on the frame, a material blocking frame that is pulsatorically connected to the material blocking rotating structure, and a material blocking plate mounted on the end of the material blocking frame away from the material blocking rotating structure. The material blocking rotating structure is used to drive the material blocking frame to rotate. The rotation trajectory of the material blocking frame includes a material blocking position where the material blocking plate is located at the discharge end and a discharge position radially away from the discharge end.

6. The automatic sand changing station according to claim 4, characterized in that: The pushing assembly is located at the end of the storage bin channel away from the discharge end. The pushing assembly includes a pushing frame located at the end of the storage bin channel away from the discharge end, a pushing drive structure mounted on the pushing frame, and a pushing plate that is pulsatorically connected to the pushing drive structure. One end of the pushing frame is hinged to the frame, and the other end of the pushing frame is detachably connected to the end of the storage bin channel away from the discharge end, so that the pushing plate is disposed in the storage bin channel. The pushing drive structure is used to drive the pushing plate to move toward the discharge end.

7. The automatic sand changing station according to claim 6, characterized in that: The storage rack is slidably inserted into the frame from the pusher assembly toward the stop assembly, and the pusher assembly is used to lock the storage rack.

8. The automatic sand changing station according to claim 6, characterized in that: The storage bin is equipped with a pusher plate that slides axially. The pusher plate has at least one through hole, and the limiting rod passes through the through hole. The pusher plate abuts against the end face of the pusher plate away from the discharge end.

9. The automatic sand changing station according to claim 1, characterized in that: The grinding head performs grinding by eccentric rotation. The automatic sand changing station also includes a sand tearing mechanism, which is used to tear the sandpaper off the grinding head. The sand tearing mechanism includes an eccentric positioning component and a sand tearing clamping component. The sand tearing clamping component includes a clamping platform and a sand tearing clamp plate arranged opposite each other, and a sand tearing clamping drive structure driven by the sand tearing clamp plate. One end of the sand tearing clamp plate along a first direction is provided with a sand tearing insertion end for insertion between the sandpaper and the grinding head. The sand tearing clamping drive structure is used to drive the sand tearing insertion end toward the clamping platform to remove the sandpaper from the grinding head. The sandpaper is clamped between the tearing clamp and the clamping platform. The eccentric positioning component includes an eccentric positioning block and an eccentric buffer structure. The eccentric positioning block is slidably disposed along the first direction. One end of the eccentric positioning block, which is disposed in the same direction as the tearing insertion end, is provided with a V-shaped eccentric positioning groove. The two inner walls of the V-shaped eccentric positioning groove are used to abut against the outer peripheral wall of the grinding head. The tearing insertion end is disposed in the eccentric positioning groove. The eccentric buffer structure is used to provide the eccentric positioning block with a first positioning buffer force along the first direction to push the grinding head to a set eccentric posture.

10. The automatic sand changing station according to claim 9, characterized in that: The dust suction port on the grinding head is eccentrically positioned. The automatic sand changing station also includes a sandpaper identification mechanism and a rotation identification mechanism. The sandpaper identification mechanism is used to identify whether sandpaper is attached to the grinding head, and the rotation identification mechanism is used to identify the circumferential position of the dust suction port relative to the center of the grinding head. The sandpaper identification mechanism includes a color sensor, which uses color to distinguish whether sandpaper is attached to the grinding head; The rotary recognition mechanism includes a recognition platform and at least one micro switch disposed on the recognition platform. The recognition platform has a recognition center that is concentrically disposed with the center of the grinding head. The micro switch is eccentrically disposed with respect to the recognition center. The micro switch is used to recognize the dust suction port on the grinding head.

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