Exchange station, method for changing sandpaper, and robot system

Abstract

A method for automatically attaching a surface treatment medium (24) to a surface treatment tool (26) mounted on a robot arm (28) of a robot (30) having an articulated robot arm (28) is disclosed. The surface treatment tool (26) includes a head (40) configured to receive the surface treatment medium (24). The method includes the steps of placing the head (40) on a surface (8) and, if the surface treatment medium (24) is not attached to the head (40), applying a predetermined force (Fi) to press the head (40) toward the surface (8). The method includes the steps of measuring the distance between the head (40) and the surface (8) with one or more position sensors of the robot arm (28) or the surface treatment tool (26); attaching the surface treatment medium (24) to the head (40) and, when the surface treatment medium (24) is attached to the head (40), placing the head (40) on the surface (8); and, when the surface treatment medium (24) is attached to the head (40), measuring the distance between the head (40) and the surface (8) with one or more position sensors of the robot arm (28) or the surface treatment tool (26).

Description

[Technical Field]

[0001] The present invention relates to a grit changer for changing a surface treatment medium (e.g., a sheet-like member such as sandpaper) from a robot-mounted surface treatment tool. The present invention also relates to a method for changing a surface treatment medium from a robot-mounted surface treatment tool. [Background technology]

[0002] In recent years, the use of robot-assisted surface machining has been on the rise. Typically, polishing machines, such as orbital polishers, are used in industry. In orbital polishers, a rotational motion around an axis of rotation is superimposed on an oscillatory motion. Polishing machines are typically used for final surface preparation when high quality finishes are required.

[0003] Robot-assisted polishing devices often include a polishing tool, such as an orbital polisher, guided by an industrial robot. Sanders, such as orbital polishers, operate with a flexible, removable abrasive sheet (e.g., sandpaper). The abrasive is attached to the pad portion of the polisher head. Various types of abrasives exist, made of suitable materials such as paper or fiber-reinforced materials with a granular abrasive coating. The abrasive is configured to be attached to the support pad of the polisher head, for example, by a hook or hook-and-loop fastener.

[0004] In robot-assisted polishing machines, grinding discs are often replaced manually. However, there are various types of robot-assisted replacement stations for replacing grinding discs. However, the replacement method is complicated and labor-intensive, which inevitably increases costs.

[0005] Therefore, there was a need for an improved method for removing the grinding disc from the polishing machine and attaching the grinding disc to the polishing machine. Summary of the Invention [Problem to be solved by the invention]

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an improved method for removing a grinding machine from a polishing machine and for installing a grinding machine onto a polishing machine.

[0007] It is a further object to provide an improved robot-assisted change station for changing grinding machines. [Means for solving the problem]

[0008] The object of the present invention is achieved by a method as defined in claim 1 and by an exchange station as defined in claim 9. Preferred embodiments are defined in the dependent claims and are shown in the following description together with the accompanying drawings.

[0009] The method of the present invention is a method for automatically attaching a surface treatment medium to a surface treatment tool mounted on a robot arm of a robot having an articulated robot arm. The surface treatment tool has a head configured to receive the surface treatment medium. The method includes the steps of placing the head on a surface and, if the surface treatment medium is not attached to the head, applying a predetermined force to press the head toward the surface. The method includes: measuring the distance between the head and the surface with one or more position sensors of the robot arm or the surface treating tool; attaching a surface treatment medium to a head and placing the head on a surface when the surface treatment medium is attached to the head; measuring the distance between the head and the surface with one or more position sensors on the robot arm or the surface treating tool when the surface treating medium is attached to the head; Equipped with.

[0010] This provides an improved method for removing a grinding head from a polishing machine and for installing a grinding head on a polishing machine, which provides a simple, reliable, and fast method for determining whether a surface treatment medium is attached to the head.

[0011] The surface treatment tool may be a polisher, such as an orbital polisher, attached to a robotic arm. A tool changer may be used to attach the polisher to the robotic arm.

[0012] The surface treating tool includes a head configured to receive the surface treating medium. The head may include a pad.

[0013] The method includes placing the head on a surface when no surface treatment medium is attached to the head and applying a predetermined force to press the head against the surface, the predetermined force causing the head to deform by a corresponding amount.

[0014] The method includes measuring the distance between the head and the surface with one or more position sensors on the robot arm or surface treating tool, thereby making effective use of the capabilities of the robot arm or surface treating tool and thus eliminating the need for additional capabilities on the robot arm or surface treating tool.

[0015] The method includes attaching a surface treatment medium to a head and placing the head on a surface when the surface treatment medium is attached to the head.

[0016] The method includes measuring the distance between the head and the surface with one or more position sensors on the robot arm or surface treating tool when the surface treating medium is attached to the head, thereby providing a simple, reliable and fast way to determine whether the surface treating medium is attached to the head.

[0017] In one embodiment, the surface treatment medium is a sheet-like member. The surface treatment medium may be a coated abrasive. In one embodiment, the surface treatment medium is abrasive grains adhered to a flexible substrate using an adhesive. In one embodiment, the surface treatment medium is sandpaper.

[0018] The method may advantageously comprise the following steps: -Removing the surface treatment medium from the head - placing the head on the surface when the surface treatment medium is removed - Pressing the head against the surface with a predetermined force. measuring the distance between the head and the surface by one or more position sensors of the robot arm or the surface treatment tool;

[0019] This allows confirmation that the surface treatment medium has been removed. Once it has been confirmed that the surface treatment medium has been removed, a new surface treatment medium is attached. On the other hand, if it cannot be confirmed that the surface treatment medium has been removed, the step of removing the surface treatment medium from the head may be repeated.

[0020] The method may advantageously include the step of detecting the orientation of the head by locking the head to a locking structure.

[0021] This allows confirmation that the orientation of the surface treatment medium attached to the head is correct and matches the desired orientation (in which the holes in the surface treatment medium are aligned with the holes in the head).

[0022] Advantageously, the head has a plurality of holes, and the locking structures comprise one or more sensing pins spaced a predetermined mutual distance from each other or from other structures arranged to lock with predetermined structures on the head, the one or more sensing pins being adapted to lock with one or more holes on the head, thereby allowing the head of the surface treating tool to be positioned in a desired predetermined orientation.

[0023] In one embodiment, the head has a plurality of holes, and the locking structure comprises two detection pins spaced apart from each other at a predetermined mutual distance, the two detection pins being configured to engage with the holes in the head.

[0024] In one embodiment, the head has a plurality of holes, and the locking structure comprises at least three detection pins spaced apart from one another at a predetermined mutual distance, the at least three detection pins being configured to engage with the holes in the head.

[0025] The method may advantageously include a step of installing an exchange station comprising a removal section configured to remove the surface treatment medium from the head and an attachment section configured to attach the surface treatment medium to the head.

[0026] In one embodiment, two guide pins are provided on the mounting portion and two detection pins protrude from the surface of the removal portion, providing a practical solution for positioning the head of the surface preparation tool in a desired predetermined orientation.

[0027] In one embodiment, the method includes removing the surface treatment medium from the head by moving the head along the surface of a removal portion, the removal portion including a plate formed as a separation blade spaced apart from an adjacent edge of the surface, the plate being slightly elevated above the surface.

[0028] This leaves a gap between the plate and the support member, which must be large enough to accommodate the edge of the surface treatment medium.

[0029] In one embodiment, the step of removing the surface treatment medium from the head can be performed by moving the surface treatment medium to a position where the edge of the surface treatment medium enters the gap between the plate and the support member, and moving a robot-mounted surface treatment tool along the surface of the support member in a direction toward the plate.

[0030] In one embodiment, the orientation of the head is sensed by moving (rotating) the head until two holes in the head are received by two sensing pins.

[0031] The method may advantageously include a step of contacting at least the leading edge of the head with the media holder and moving the head along the entire length of the media holder to remove the lowest surface treatment medium.

[0032] The method may advantageously include a step of, when it is detected that one or more surface treatment media are attached to the head, contacting at least the leading edge of the head with the removable structure and moving the head along the entire length of the removable structure to remove the lowest surface treatment medium.

[0033] In one embodiment, the media holder comprises a pin having portions with alternating protruding and grooved structures.

[0034] In one embodiment, the depth of the groove structure relative to the protrusion structure is in the range of 0.01 mm to 5 mm.

[0035] In one embodiment, the depth of the groove structure relative to the protrusion structure is in the range of 0.04 mm to 4 mm.

[0036] In one embodiment, the depth of the groove structure relative to the protrusion structure is in the range of 0.08 mm to 3 mm.

[0037] In one embodiment, the depth of the groove structure relative to the protrusion structure is in the range of 1.0 mm to 2.0 mm.

[0038] It is important to emphasize that the groove depth can be based on the thickness of the surface treatment medium.

[0039] The replacement station according to the present invention is for automatically installing a surface treatment medium to a surface treatment tool mounted on a robot arm of a robot having an articulated robot arm. The surface treatment tool has a head configured to receive the surface treatment medium. The replacement station includes a removal unit and an installation unit. The removal unit includes a support member configured to receive the head. The removal unit includes two detection pins protruding from the support member and arranged at a predetermined distance from each other.

[0040] This allows the head of the surface treatment tool to be positioned so that the head faces in a desired predetermined direction.

[0041] The head may include a pad of compressible material, which allows the head to at least partially conform to the shape of the object being treated with the surface treatment medium.

[0042] In one embodiment, the detachment portion and attachment portion are integrated to form a one-piece member.

[0043] In one embodiment, the exchange station comprises a frame that encloses at least a portion of the removal portion and at least a portion of the attachment portion.

[0044] In one embodiment, the support member has an essentially planar shape.

[0045] In one embodiment, the support member has a semicircular portion.

[0046] Advantageously, the mounting portion comprises a base portion from which two guide pins project, the two guide pins being arranged at the same mutual distance as the two detection pins.

[0047] In one embodiment, the guide pin is removably attached to the base, allowing the guide pin to be replaced with a longer or shorter one.

[0048] In one embodiment, the base portion is configured to receive a pair of removably attached guide pins at various positions, thereby allowing the position of the guide pins to be changed.

[0049] It may be effective for the mounting portion to have a base portion configured to receive a stack of surface treatment medium, and for the mounting portion to have a plurality of media holders formed as pin-shaped abutment members and arranged in a configuration such that the media holders surround the base portion.

[0050] In one embodiment, the media holder extends parallel to the guide pins and protrudes from a frame that surrounds the base.

[0051] In one embodiment, the media holder is configured and arranged to maintain the proper orientation of the surface treatment media when multiple pieces of surface treatment media are stacked on the mount.

[0052] In one embodiment, the media holder has a cylindrical portion.

[0053] In one embodiment, the media holder has a cylindrical proximal end and a rounded distal end.

[0054] In one embodiment, the plurality of media holders include portions having alternating protruding and groove structures.

[0055] In one embodiment, at least a plurality of the media holders include portions having alternating protruding and groove structures.

[0056] The removal portion may advantageously comprise a separating blade spaced from the adjacent edge of the support member, the separating blade being located at a height above the support member.

[0057] The robot system according to the present invention comprises: an exchange station according to the invention, a robot having a robotic arm; a surface treatment tool attached to a robot arm; A robot system comprising: the robotic system is configured to automatically apply the surface treatment medium to the surface treatment tool; The surface treating tool includes a head configured to receive a surface treating medium; The robotic system is configured to place the head on a surface and, if no surface treatment medium is attached to the head, to apply a predetermined force to press the head toward the surface.

[0058] The robot system is a measuring unit configured to measure the distance between the head and the support member by means of one or more position sensors of the robot arm or the surface treatment tool; a mounting part configured to mount the surface treatment medium on the head and to place the head on the support member when the surface treatment medium is mounted on the head; It may be effective to have The measuring unit is configured to measure the distance between the head and the support member when the surface treatment medium is attached to the head and the head is placed on the support member.

[0059] In one embodiment, when measuring the distance between the head and the support member, a predetermined force is applied to press the head against the support member.

[0060] In one embodiment, the plate and the separator blade are attached to one another. In one embodiment, the plate and the separator blade are integrated to form a unitary member.

[0061] In one embodiment, the separator blade is removably positioned relative to the support member, allowing the separator blade to be moved to change the size of the gap. The separator blade may be attached by screws or other attachment members. [Brief explanation of the drawings]

[0062] The present invention will be more fully understood from the detailed description set forth below in the specification. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. The accompanying drawings are as follows: [Figure 1] FIG. 1 shows a perspective view of an exchange station according to the invention. [Figure 2] FIG. 2 shows a schematic side view of an exchange station according to the invention positioned adjacent to a robot. [Figure 3A] FIG. 3A shows an exchange station according to the invention. [Figure 3B] FIG. 3B shows another view of the exchange station shown in FIG. 3A. [Figure 4A] FIG. 4A shows another view of the exchange station shown in FIGS. 3A and 3B. [Figure 4B] FIG. 4B shows another view of the exchange station shown in FIGS. 3A and 3B. [Figure 5] FIG. 5 shows another view of the exchange station shown in FIG. 4B. [Figure 6A] FIG. 6A shows a cross-sectional view of the removal portion of the exchange station according to the invention. [Figure 6B] FIG. 6B shows another cross-sectional view of the removal portion shown in FIG. 6A. [Figure 6C] FIG. 6C shows another cross-sectional view of the detachment portion shown in FIG. 6B. [Figure 6D] FIG. 6D shows another cross-sectional view of the detachment portion shown in FIG. 6C. [Figure 7A] FIG. 7A shows a cross-sectional view of a mounting according to the present invention. [Figure 7B] Figure 7B shows another cross-sectional view of a portion of the mount shown in Figure 7A. Figure 7B shows a cross-sectional view of a portion of the mount shown in Figure 7A. [Figure 7C] FIG. 7C shows another cross-sectional view of a portion of the attachment shown in FIG. 7B. [Figure 7D] FIG. 7D shows another cross-sectional view of a portion of the attachment shown in FIG. 7C. [Figure 7E] FIG. 7E shows another cross-sectional view of a portion of the attachment shown in FIG. 7D. DETAILED DESCRIPTION OF THE INVENTION

[0063] For purposes of describing a preferred embodiment of the present invention, reference will now be made in detail to the drawings, and an exchange station 2 of the present invention is shown in FIG.

[0064] 1 is a perspective view of an exchange station 2 according to the present invention. The exchange station 2 comprises a frame 50 provided with a removal section 4 and a mounting section 6.

[0065] The removing unit 4 includes a plate-shaped support member 8. The support member 8 is configured to receive a surface treatment medium (e.g., a sheet-like member such as sandpaper as shown in FIG. 2) 24 attached to the tip of a robot-mounted surface treatment tool (e.g., a polishing machine as shown in FIG. 2). The support member 8 is provided at a position lower than a frame 50 that surrounds most of the support member 8. The support member 8 is configured to receive a circular surface treatment medium and move the circular surface treatment medium along the support member 8, thereby removing the surface treatment medium from the support member 8. Three axes of the removing unit 4, X, Y, and Z, are shown.

[0066] The removal unit 4 comprises a plate 12 formed as a separating blade and spaced a short distance from the adjacent edge of the support member 8. The plate 12 is positioned slightly higher than the support member 8. This leaves a gap (see FIG. 2) between the plate 12 and the support member 8. This gap is large enough to receive the edge of the surface treatment medium.

[0067] As shown in Figure 2, to remove the surface treatment medium from the head of the surface treatment tool, the surface treatment medium is moved to a position where the edge of the surface treatment medium enters the gap between the plate 12 and the support member 8, and the robot-mounted surface treatment tool is moved along the surface of the support member 8 in a direction toward the plate 12 (along the X-axis).

[0068] The removal unit 4 includes two detection pins 14, 14' spaced a predetermined distance apart, which can be used to detect corresponding holes in the head of the surface treatment tool, which holes are configured to receive the surface treatment medium, so that the head of the surface treatment tool can be positioned in a desired predetermined orientation.

[0069] The mounting portion 6 includes a circular base portion 22 (configured to receive a media). Two mounting structures 18, 18' are provided on the base portion 22. The mounting structures 18, 18' are shaped to receive removably attached guide pins 34, 34'. When attached, the guide pins 34, 34' protrude from the base portion 22 along the Z axis.

[0070] A plurality of media holders 20 formed as pin-shaped abutments 20 surround the base portion 22. The media holders 20 extend parallel to the mounting structures 18, 18' and guide pins 34, 34' and protrude from a frame 50 that surrounds the base portion 22. Each of the mounting structures 18, 18' is provided with a distal female receiving structure configured to receive a male mating portion on the proximal portion of the corresponding mounting structure 34, 34'.

[0071] When multiple pieces of surface treatment media are stacked on the mounting portion 6, pin-shaped media holders 20 are formed and arranged to keep the surface treatment media in the correct orientation.

[0072] The exchange station 2 is provided with holes for mounting to a mounting surface (eg, a table or other work surface).

[0073] In normal use, the exchange station 2 is oriented so that the Z axis extends vertically.

[0074] Figure 2 shows a schematic side view of an exchange station 2 according to the present invention, positioned adjacent to a robot 30. The robot 30 comprises an articulated robot arm 28. A surface treatment tool 26 is attached to the robot arm 28. In the embodiment shown in Figure 2, the surface treatment tool 26 is a sander 26, which comprises a head 40 formed as a pad and configured to receive a sheet of surface treatment medium 24, such as sandpaper.

[0075] A sensor 48 configured to sense force and / or torque is attached to the robot arm 28 or alternatively integrated into the robot arm 28 or the surface preparation tool 26 .

[0076] The surface preparation tool 26 is positioned above an object 36 requiring surface treatment.

[0077] An exchange station 2 according to the invention is arranged adjacent to the robot 30. The exchange station 2 corresponds to that shown and described with reference to Figure 1. It can be seen that a number of surface treatment media 24 are stacked in a mounting portion 6 of the exchange station 2.

[0078] 3A shows an exchange station 2 according to the invention. In this configuration, a stack of surface treatment media 24 is already received in the mounting part 6 of the exchange station 2. The surface treatment media 24 is held in a receiving area of ​​the mounting part 6 of the exchange station 2, which is surrounded by a media holder 20 provided as a rod-shaped abutment element 20.

[0079] It can be seen that the surface treatment media 24 each have holes 38 and the attachment portion 6 is provided with a guide pin 34 which extends through one of the holes in the surface treatment media 24 .

[0080] A head 40 (not shown) of the surface treatment tool is placed on a support member of the removal section 4 of the replacement station 2. A number of holes 42 are formed in the head 40. The holes 38 of the surface treatment medium 24 are arranged to align with the holes 42 formed in the head 40. This allows dust to be removed from the surface treatment medium 24 through the holes 38, 42 when the surface treatment medium 24 is in use.

[0081] The removal unit 4 includes two detection pins 14 (only one of which is shown in FIG. 3A) spaced a predetermined distance apart. The detection pins 14 are used to detect corresponding holes 42 in the head 40 (see FIG. 2) so that the detection pins 14 are received within the holes 42. This allows the head 40 to be positioned in a desired, predetermined orientation.

[0082] Figure 3B shows another view of the changing station 2 shown in Figure 3A. In this configuration, the hole 42 in the head 40 is sensed based on the force F and / or torque T data measured by the sensors shown and described with reference to Figure 2. In practice, the robot arm rotates the surface treatment tool until the hole 42 in the head 40 receives the sensing pin 14 and the expected force F and / or torque T data is measured by the sensors.

[0083] Figure 4A shows another view of the exchange station 2 shown in Figures 3A and 3B. In this configuration, the sensing pin 14 is received in and aligned with a hole in the head 40. A predetermined force F1 is applied, pressing the head 40 downward (along the Z axis). The vertical position of the head 40 can be sensed using one or more position sensors on a robotic arm to which the surface preparation tool (see Figure 2) is attached. Based on this vertical position measurement, a reference level (where the z value is 0) is established.

[0084] Figure 4B shows another view of the exchange station 2 shown in Figures 3A and 3B. In this configuration, the head 40 rests on top of a stack of surface treatment media 24 placed in a receiving area of ​​the mounting part 6 of the exchange station 2. It can be seen that the receiving area is surrounded by a rod-shaped media holder 20.

[0085] A downward force F (along the Z-axis) is applied to the head 40. The head 40 therefore presses against the stack of surface treatment media 24, one of which is attached to the head 40. In one embodiment, the applied force is in the range of 5N to 100N.

[0086] FIG. 5 shows another view of the exchange station 2 shown in FIG. 4B. In this configuration, the head 40 returns to its initial position to confirm whether the surface treatment medium 24 has been successfully attached to the head 40. By applying a force F1 equivalent to that described and illustrated in FIG. 4A and using one or more position sensors on the robot arm to which the surface treatment tool (see FIG. 2) is attached, the vertical position of the head 40 can be detected, thereby determining the distance between the support members 8 of the removal section 4 of the exchange station 2. If the distance between the support members 8 of the removal section 4 of the exchange station 2 is equivalent to the expected value, it can be concluded that one surface treatment medium 24 has been successfully attached to the head 40. If two surface treatment media 24 have been attached to the head 40, the detected distance will be greater than the expected distance. Therefore, this test procedure can determine whether multiple surface treatment media 24 have been attached to the head 40.

[0087] In one embodiment, the surface treatment medium 24 is sandpaper having a thickness of 0.5 mm. In this case, the assumed value is 0.5 mm.

[0088] In one embodiment, the surface treatment medium 24 is sandpaper having a thickness of 1.0 mm. In this case, the assumed value is 1.0 mm.

[0089] In one embodiment, the surface treatment medium 24 is sandpaper having a thickness of 1.5 mm. In this case, the assumed value is 1.5 mm.

[0090] 6A shows a cross-sectional view of the removal section 4 of the exchange station 2 according to the present invention. One surface treatment medium 24 is attached to the head 40 of a surface treatment tool (not shown). The head 40 with the surface treatment medium 24 attached thereto is placed on the support member 8 of the removal section 4 of the exchange station 2.

[0091] The removal unit 4 includes a plate 12 having a tip configured as a separating blade 32. The separating blade 32 is positioned a short distance from the adjacent edge of the support member 8. The top of the plate 12 and the separating blade 32 are positioned slightly higher than the support member 8. This leaves a gap 10 between the separating blade 32 and the support member 8. This gap 10 is large enough to receive the edge of the surface treatment medium 24.

[0092] In one embodiment, the plate 12 and the separator blade 32 are attached to one another. In one embodiment, the plate 12 and the separator blade 32 are integrated to form a unitary member.

[0093] In one embodiment, the separator blade 32 is movably disposed relative to the support member 8. This allows the separator blade 32 to be moved to change the size of the gap 10. The separator blade 32 may be attached by screws or other attachment members.

[0094] One or more position sensors on a robot arm to which the surface treatment tool (see FIG. 2) is attached measure the distance between the head 40 and the support member 8. This allows the vertical position of the head 40 to be detected.

[0095] Figure 6B shows another cross-sectional view of the removal unit 4 shown in Figure 6A. It can be seen that the head 40 of the surface treatment tool (not shown) has been moved to the left along the X axis. The movement of the head 40 is indicated by an arrow.

[0096] 6C shows another cross-sectional view of the removal unit 4 shown in FIG. 6B. It can be seen that the surface treatment medium 24 has entered the gap 10 between the separation blade 32 and the support member 8. Thus, the surface treatment medium 24 has been removed from the head 40.

[0097] Figure 6D shows another cross-sectional view of the removal portion shown in Figure 6C. In this configuration, the head 40 is placed in the same position as shown in Figure 6A, and the vertical position of the head 40 (or the distance between the head 40 and the support member 8) is detected by one or more position sensors of a robot arm to which the surface treatment tool (see Figure 2) is attached. This allows the vertical position of the head 40 to be detected.

[0098] If the distance between the head 40 and the support member 8 is as expected (the distance between the head 40 and the support member 8 is equal to the value described in Figure 6A), it can be concluded that the surface treatment medium 24 has been successfully removed.

[0099] FIG. 7A shows a cross-sectional view of the mounting portion 6 of the exchange station according to the present invention. A head 40 of a surface treatment tool (not shown) is placed on a stack of surface treatment media 24 placed on a support member of the mounting portion 6. The stack is surrounded by a media holder 20 provided as a rod-shaped abutment member 20. The media holder 20 has a surface structure adapted to separate adjacent pieces of surface treatment media 24 that are stuck together. The surface structure of the media holder 20 includes portions having alternating protruding structures 44 and groove structures 46. The sizes of the protruding structures 44 and groove structures 46 are exaggerated in FIG. 7A for illustrative purposes.

[0100] To attach the surface treatment medium 24 to the head 40 , a force F is applied from the head 40 to the stack of surface treatment medium 24 .

[0101] Figure 7B is another cross-sectional view showing the left side of the mount 6 shown in Figure 7A. The head 40 and attached surface treatment medium 24 move slightly to the right using a predetermined level of force.

[0102] 7C is another cross-sectional view showing a portion of the mounting portion 6 shown in FIG. 7B. In this configuration, the head 40 and the attached surface treatment medium 24 are lifted up above the remaining stack of surface treatment medium 24. Thus, the head 40 and the attached surface treatment medium 24 move upward. It can be seen that two surface treatment media 24 are attached to the head 40.

[0103] 7D is another cross-sectional view showing a portion of the mounting portion 6 shown in FIG. 7C. The head 40 is moved toward the adjacent medium holder 20 to bring the lowest surface treatment medium 24 into contact with the head 40 and separate it from the mounted surface treatment medium 24.

[0104] 7E is another cross-sectional view showing a portion of the mounting portion 6 shown in FIG. 7D . To separate the bottommost surface treatment medium 24 from the attached surface treatment medium 24, the head 40 is moved upward in a direction away from the support member of the mounting portion 4 while being pressed against the adjacent media holder 20 so as to maintain contact of the head 40 and the surface treatment medium 24 with the adjacent media holder 20. Thus, the protruding structure 44 separates the bottommost surface treatment medium 24 from the topmost surface treatment medium 24, so that the head 40 remains received in the groove structure 46 while the bottommost surface treatment medium 24 is not received. Essentially, the topmost (attached) surface treatment medium enters the groove structure 46 and is then separated from the bottommost surface treatment medium 24. In FIG. 7E , it can be seen that the distance D between adjacent protruding structures 44 is large enough for the groove structure 46 to receive the uppermost surface treatment medium 24 and head 40, and the thickness of the uppermost surface treatment medium 24 and head 40 is indicated by H. Because the uppermost portion of the head 40 is tapered, D does not need to be larger than H. Furthermore, the head 40 may be made of a compressible material. If the head 40 is made of a compressible material, even if H is only slightly larger than D, it can still separate the lowermost surface treatment medium 24. This is because the lowermost portion of the head 40 can be received by the groove structure 46. This allows the groove structure 46 to receive the lowermost portion of the head 40 and the uppermost surface treatment medium 24.

[0105] When the surface treatment medium 24 located at the bottom protrudes toward the surface treatment medium 24 located at the top and the head 40, a portion of the surface treatment medium 24 located at the bottom can be positioned in the groove structure 46 and removed, and the surface treatment medium 24 located at the top and the head 40 can be moved along the entire length of the adjacent media holder 20. [Explanation of symbols]

[0106] 2 Exchange Station (Grit Changer) 4 Removal part 6 Mounting part 8 Support member 10 Gap 12 plates 14,14′ pin 18,18' Mounting structure 20 Media holder (contact part) 22 Base part (for media) 24 Surface treatment media (e.g., sheet-like materials such as sandpaper) 26 Robot-mounted surface treatment tools (e.g., polishing machines) 28 Robot Arm 30 Robot 32 Separation Blade 34,34′ Guide pin 36 Object 38 holes 40 head (e.g., consisting of pads) 42 holes 44 Surface structure (protruding structure) 46 Surface structure (groove structure) 48 sensors 50 frames F,F1 force T Torque D distance H Thickness

Claims

1. A method for automatically attaching a surface treatment medium (24) to a surface treatment tool (26) mounted on a robot arm (28) of a robot (30) having an articulated robot arm (28), the surface treatment tool (26) having a head (40) configured to receive the surface treatment medium (24), the method comprising: placing the head (40) on a surface (8); and applying a predetermined force (F) to the surface treatment medium (24) when the surface treatment medium (24) is not attached to the head (40). １ ) to press the head (40) against the surface (8), measuring a first distance between the head (40) and the surface (8) with one or more position sensors of the robot arm (28) or the surface treating tool (26) when the surface treating medium (24) is not attached to the head (40); attaching the surface treatment medium (24) to the head (40) and, when the surface treatment medium (24) is attached to the head (40), placing the head (40) on the surface (8); a step of applying a predetermined force (F 1 ) to press the head (40) toward the surface (8) when the surface treatment medium (24) is attached to the head (40); measuring a second distance between the head (40) and the surface (8) by the one or more position sensors of the robot arm (28) or the surface treating tool (26) when the surface treating medium (24) is attached to the head (40); comparing the first distance to the second distance to verify that the surface treatment medium (24) has been attached to the head (40).

2. removing the surface treatment medium (24) from the head (40); placing the head (40) on the surface (8) when the surface treatment medium (24) is removed; The predetermined force (F １ ) to press the head (40) against the surface (8); measuring the distance between the head (40) and the surface (8) by the one or more position sensors of the robot arm (28) or the surface treatment tool (26); The method of claim 1 further comprising:

3. Detecting the orientation of the head (40) by locking the head (40) to a locking structure (14, 14'); 3. The method of claim 1 or 2, further comprising:

4. The head (40) has a plurality of holes (42), The locking structure (14, 14') comprises two detection pins (14, 14') spaced a predetermined distance from each other, 4. The method of claim 3, wherein the sensing pin (14, 14') is configured to engage the hole (42) in the head (40).

5. providing an exchange station (2) comprising a removal section (4) configured to remove the surface treatment medium (24) from the head (40) and a mounting section (6) configured to mount the surface treatment medium (24) on the head (40); 5. The method according to claim 1, further comprising:

6. 6. The method according to claim 5, characterized in that one or more guide pins (34, 34') are provided on the mounting part (6) and one or more detection pins (14, 14) protrude from the surface (8) of the removal part (4).

7. When it is detected that two or more surface treatment media (24) are attached to the head (40), at least the most distal end of the head (40) is brought into contact with the media holder (20) and the head (40) is moved along the entire length of the media holder (20) to remove the surface treatment media (24) located at the bottom, 7. The method according to claim 1, further comprising:

8. 8. The method of claim 7, wherein the media holder (20) comprises a pin (20), the pin having portions with alternating protruding structures (44) and groove structures (46).

9. An exchange station (2) for automatically attaching a surface treatment medium (24) to a surface treatment tool (26) mounted on a robot arm (28) of a robot (30) having an articulated robot arm (28), comprising: The exchange station (2) is adapted to carry out the method according to any one of claims 1 to 8, The surface treatment tool (26) comprises a head (40) configured to receive the surface treatment medium (24); The exchange station (2) comprises a removal section (4) and an attachment section (6), The removal part (4) comprises a support member (8) configured to receive the head (40); The removal portion (4) has two detection pins (14, 14') protruding from the support member (8) and arranged at a predetermined distance from each other, The mounting portion (6) comprises a base portion (22), Two guide pins (34, 34') protrude from the base portion (22), 1. An exchange station (2) characterized in that the two guide pins (34, 34') are arranged at the same mutual distance as the two detection pins (14, 14').

10. 10. A changing station (2) according to claim 9, characterized in that the guide pins (34, 34') are removably mounted.

11. The mounting portion (6) comprises a base portion (22) configured to receive a stack of surface treatment medium (24); 11. The exchange station (2) according to claim 9 or 10, characterized in that the mounting portion (6) comprises a plurality of media holders (20) formed as pin-shaped abutment members, the plurality of media holders (20) being arranged in a configuration in which the media holders (20) surround the base portion (22).

12. 12. The exchange station (2) according to claim 11, characterized in that each of the plurality of media holders (20) comprises portions with alternating protruding structures (44) and groove structures (46).

13. the removal portion (4) comprises a separation blade (32) spaced apart from the adjacent edge of the support member (8); 12. A changing station (2) according to claim 11, characterized in that the separating blade (32) is mounted slightly higher than the support member (8).

14. - an exchange station (2) according to any one of claims 9 to 13, and a robot (30) equipped with a robotic arm (28); a surface treatment tool (26) attached to said robot arm (28); Equipped with a robotic system configured to automatically apply a surface treatment medium (24) to the surface treatment tool (26); The surface treatment tool (26) comprises a head (40) configured to receive the surface treatment medium (24); The robot system places the head (40) on the surface (8) and applies a predetermined force (F) when the surface treatment medium (24) is not attached to the head (40). １ ) to press the head (40) towards the surface (8).

15. a measuring unit configured to measure the distance between the head (40) and the support member (8) by one or more position sensors of the robot arm (28) or the surface treatment tool (26); a mounting portion configured to mount a surface treatment medium (24) on the head (40) and to place the head (40) on the support member (8) when the surface treatment medium (24) is mounted on the head (40); A robot system comprising: The robot system of claim 14, wherein the measuring unit is configured to measure the distance between the head (40) and the support member (8) when the surface treatment medium (24) is attached to the head (40) and the head (40) is placed on the support member (8).

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