Sandpaper exchange device

Abstract

The present invention provides a sandpaper exchange device for attaching sandpaper to a sanding machine, comprising: a base body; a paper storage unit detachably disposed on the base body and having an internal space for storing a plurality of sandpapers in a stacked state; a storage fixing unit disposed on the base body and fixing the paper storage unit to the base body; and a paper lifting unit disposed on the base body and lifting the sandpaper stored in the paper storage unit.

Description

Technology Field

[0001] The present invention relates to a sandpaper exchange device that automatically attaches sandpaper to a sanding machine. Background Technology

[0002] Generally, during the painting process on an automobile production line, sanding is performed to remove scratches or foreign substances from the car body surface in order to obtain a high-quality paint film with a uniform surface and high durability.

[0003] This sanding operation typically involves using a sander equipped with abrasive material, such as sandpaper, to grind the surface of the vehicle body to be painted, thereby removing scratches or foreign substances from the surface of the vehicle body and increasing the surface roughness of the vehicle body surface to which the paint will be applied, allowing the paint to adhere firmly to the surface of the vehicle body.

[0004] Meanwhile, the sanding process described above requires the periodic replacement of sandpaper. However, conventionally, this replacement work has been performed manually by workers, leading to a risk of safety accidents and excessive time consumption, which in turn reduces productivity.

[0005] To solve these problems, automatic sandpaper exchange devices that automatically replace sandpaper are currently being used.

[0006] However, conventional automatic sandpaper exchange devices have a problem in that when sandpaper is needed to be added to a storage compartment containing multiple sandpapers, the separation structure of the storage compartment is complex, causing significant time and inconvenience during the storage operation to replenish the sandpaper.

[0007] Related technology regarding such an automatic sandpaper exchange device is disclosed in Korean Registered Patent Publication No. 10-2606389 (November 29, 2023). The problem to be solved

[0008] The purpose of the present invention is to provide a sandpaper exchange device that can easily and quickly perform the sandpaper supply operation when additional sandpaper supply is required to a storage unit that stores sandpaper. means of solving the problem

[0009] The present invention provides a sandpaper exchange device for attaching sandpaper to a sanding machine, comprising: a base body; a paper storage unit detachably disposed on the base body and having an internal space for storing a plurality of sandpapers in a stacked state; a storage fixing unit disposed on the base body and fixing the paper storage unit to the base body; and a paper lifting unit disposed on the base body and lifting the sandpaper stored in the paper storage unit.

[0010] In addition, the base body is provided with a seating groove that supports the lower end of the paper storage portion, and the seating groove may be provided with a moving hole to enable the paper lifting portion to move up and down.

[0011] In addition, the upper part of the paper storage portion may be provided with an upper opening to allow the sandpaper to escape, and the lower part of the paper storage portion may be provided with a lower opening to allow the paper lifting portion to move up and down.

[0012] In addition, a cut portion may be further provided on the side portion of the paper storage portion.

[0013] Additionally, the storage fixing part may include a fixed body positioned to be movable in the vertical direction at the top of the paper storage part, and a fixed driving means connected to the fixed body and generating a driving force to move the fixed body in the vertical direction.

[0014] Additionally, the fixed body is provided with a paper passage hole through which sandpaper stored in the paper storage portion passes, and the fixed body may be provided with a plurality of locking wing portions arranged along the circumference of the paper passage hole so as to protrude in the direction of the center of the paper passage hole.

[0015] In addition, the paper lifting unit may include a lifting cylinder and a lifting support block connected to the lifting cylinder, which lifts the sandpaper while supporting it according to the operation of the lifting cylinder.

[0016] In addition, it may further include a drive control unit that drives the paper lifting unit in conjunction with the vertical movement of the sanding machine.

[0017] In addition, the drive control unit can drive the paper lifting unit so that the sandpaper moves upward when the sanding machine moves downward, and drive the paper lifting unit so that the sandpaper moves downward when the sanding machine moves upward.

[0018] In addition, when the drive control unit drives the paper lifting unit to move the sandpaper upward, it can drive the paper lifting unit so that the sandpaper placed at the top of the paper storage unit moves to a position where it does not protrude upward above the top of the paper storage unit.

[0019] In addition, the sanding machine is connected to a robot arm, and the drive control unit can transmit a drive signal to the paper lifting unit after receiving a motion signal from the robot arm.

[0020] In addition, the sanding machine may further include an attachment confirmation unit for checking whether sandpaper is attached.

[0021] In addition, the attachment confirmation unit may be a photosensor that captures an image of the sandpaper attachment target surface of the sanding machine to determine whether the sandpaper is attached.

[0022] In addition, it may further include a paper removal unit for removing sandpaper of the replacement target attached to the sanding machine of the robot arm.

[0023] In addition, the paper removal unit may include a paper removal main body equipped with a waste paper storage container, and a paper removal plate disposed on the paper removal main body and equipped with a locking groove. Effects of the invention

[0024] The sandpaper exchange device according to the present invention comprises a paper storage unit in which a plurality of sandpapers are stored in a stacked state, positioned on a base body, and a storage fixing unit fixing the paper storage unit. Then, a paper lifting unit raises the sandpaper stored in the paper storage unit, thereby attaching the sandpaper to the sanding machine. At this time, the paper storage unit is detachably positioned on the base body and can be fixed or detached via the storage fixing unit, so that when additional sandpaper is required to be supplied to the paper storage unit, the sandpaper supply operation can be easily performed. Brief explanation of the drawing

[0025] FIG. 1 is a front view of a sandpaper exchange device according to one embodiment of the present invention. Figure 2 is an enlarged view of section 'A' shown in Figure 1. Figure 3 is a side view of part 'A' shown in Figure 1. Figure 4 is a side view of the paper storage unit illustrated in Figure 3. Figure 5 is an enlarged view of the fixed body shown in Figure 2. Figure 6 is a plan view of the paper removal unit shown in Figure 1. Specific details for implementing the invention

[0026] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, and should be interpreted in a meaning and concept consistent with the technical spirit of the present invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0027] Referring to FIGS. 1 to 6, a sandpaper exchange device according to one embodiment of the present invention may include a base body (100), a paper storage unit (200), a storage fixing unit (300), and a paper lifting unit (400). Here, the sandpaper exchange device according to one embodiment of the present invention enables the attachment of sandpaper (P) to the sandpaper attachment target surface of a sanding machine (10) mounted on a robot arm (not shown).

[0028] The base body (100) is a part that supports the paper storage unit (200) in a seated state. In addition, the base body (100) supports the storage fixing unit (300) and the paper lifting unit (400) in a connected state.

[0029] In one embodiment, the base body (100) is shown to have a flat plate shape, but it is not limited thereto. Additionally, the base body (100) may be provided with a plurality of support members (100a) that support it in an upright state.

[0030] Additionally, a seating groove (110) that supports the lower end of the paper storage unit (200) may be provided on the upper surface of the base body (100). When the paper storage unit (200) is placed on the base body (100), the seating groove (110) allows a portion of the lower end of the paper storage unit (200) to be inserted, thereby maintaining a stable seating state.

[0031] In addition, a moving hole (120) may be provided in the center of the seating groove (110) of the base body (100) so that a piston rod (411) provided in the lifting cylinder (410) of the paper lifting unit (400) can be positioned to move up and down while penetrating the base body (100).

[0032] Additionally, the base body (100) may be provided with a lifting connection frame (130) connected to the lifting cylinder (410) of the paper lifting unit (400) to support the paper lifting unit (400).

[0033] The paper storage portion (200) is attached to the upper surface of the base body (100) in a detachable manner. More specifically, a portion of the lower part of the paper storage portion (200) may be placed on the base body (100) so as to be attached to the mounting groove (110) of the base body (100) in an inserted state.

[0034] The above paper storage unit (200) may have a container shape with an internal space provided to store a plurality of sandpapers (P) in a stacked state.

[0035] Additionally, the upper part of the paper storage section (200) may be provided with an upper opening (210) communicating with the internal space, and the lower part of the paper storage section (200) may be provided with a lower opening (220) communicating with the internal space.

[0036] Here, the upper opening (210) is a passage that allows the sandpaper (P) stored in the paper storage unit (200) to escape to the outside, and the lower opening (220) is a passage that allows the piston rod (411) provided in the lifting cylinder (410) of the paper lifting unit (400) to move up and down inside the paper storage unit (200).

[0037] In addition, a cut portion (230) may be provided on the side of the paper storage portion (200). This cut portion (230) is arranged to communicate with the upper opening portion (210), thereby allowing the sandpaper (P) to be easily discharged through the upper opening portion (210) and enabling the user to easily determine the remaining amount of sandpaper (P) stored in the paper storage portion (200).

[0038] In this way, the paper storage unit (200) is detachably mounted on the base body (100) while storing a plurality of stacked sandpapers (P), so that when the use of the stored sandpaper (P) is completed, the supply of sandpaper (P) to be attached to the sanding machine (10) can be easily achieved through simple replacement with another paper storage unit (200) that stores sandpaper (P).

[0039] The storage fixing part (300) is positioned on the base body (100) and fixes the paper storage part (200) that is seated on the base body (100). That is, by fixing the paper storage part (200) positioned on the base body (100) in a pressure state, the storage fixing part (300) enables stable vertical movement of the sandpaper (P) from the paper storage part (200) when the sandpaper (P) is raised by the paper lifting part (400).

[0040] The above storage fixing part (300) may include a fixing body (310) and a fixing driving means (320).

[0041] The fixed body (310) can be positioned so as to be movable in the vertical direction on the upper part of the paper storage unit (200).

[0042] Referring to FIG. 5, the fixed body (310) may be provided with a paper passage hole (311) that stably passes the sandpaper (P) without causing interference when the sandpaper (P) stored in the paper storage unit (200) is moved upward by the paper lifting unit (400) while positioned to be in contact with the top of the paper storage unit (200).

[0043] Additionally, the fixed body (310) may be provided with a locking wing portion (312) that protrudes in the direction of the center of the paper passage hole (311). Here, the locking wing portion (312) may be arranged in multiple numbers along the circumference of the paper passage hole (311).

[0044] The above-mentioned stopper wing (312) prevents the sandpaper (P) placed at the top of the paper storage unit (200) from falling into the paper storage unit (200) when the upward force by the paper lifting unit (400) is not applied.

[0045] Here, the above-mentioned locking wing portion (312) may be made of rubber or synthetic resin having flexibility and elasticity.

[0046] The above fixed driving means (320) can be connected to the above fixed body (310).

[0047] The above fixed driving means (320) generates a driving force to move the above fixed body (310) in the up and down direction.

[0048] In this way, the fixed driving means (320) moves the fixed body (310) downward so that the fixed body (310) presses against the paper storage unit (200) while in contact with it, thereby allowing the paper storage unit (200) to be fixed on the base body (100). Conversely, the fixed driving means (320) moves the fixed body (310) upward so that the fixed body (310) and the paper storage unit (200) are positioned apart from each other, thereby releasing the state in which the paper storage unit (200) is pressed and fixed by the fixed body (310), making it easy to replace the paper storage unit (200).

[0049] In one embodiment, the fixed driving means (320) may be a cylinder driven by pneumatic or hydraulic pressure.

[0050] The above paper lifting unit (400) can be placed on the base body (100).

[0051] The above paper lifting unit (400) lifts the sandpaper (P) stored in the paper storage unit (200).

[0052] The above paper lifting unit (400) raises the sandpaper (P) stored in the paper storage unit (200) so that the sandpaper is attached to the sandpaper attachment target surface of the sanding machine (10) that has been moved to the upper side of the paper storage unit (200).

[0053] The above paper lifting unit (400) may include a lifting cylinder (410) and a lifting support block (420).

[0054] The above lifting cylinder (410) generates a driving force to lift the lifting support block (420).

[0055] The lifting cylinder (410) can be connected to the lifting connection frame (130) of the base body (10) so as to be positioned in a connected state at the bottom of the base body (100).

[0056] The piston rod of the lifting cylinder (410) can be positioned inside the paper storage unit (200) through the lower opening (220) of the paper storage unit (200) while penetrating the base body (100) through the moving hole (120) of the base body (100).

[0057] In one embodiment, the lifting cylinder (410) may be a cylinder driven by pneumatic or hydraulic pressure.

[0058] The lifting support block (420) can be connected to the piston rod of the lifting cylinder (410).

[0059] The lifting support block (420) enables the sandpaper (P) to be pushed upward or lowered by its own weight while in contact with the lowest sandpaper (P) among the sandpaper (P) stored in the paper storage section (200), depending on the change in length of the piston rod caused by the driving of the lifting cylinder (410).

[0060] The lifting support block (420) may be formed with a cross-sectional shape corresponding to the sandpaper (P) so as to stably support the sandpaper (P). In one embodiment, the lifting support block (420) may have a circular horizontal cross-sectional shape.

[0061] Additionally, a flexible settling pad (not shown) may be provided on the upper surface of the lifting support block (420), that is, on the surface that contacts the lowest sandpaper (P) stored in the paper storage section (200). When the sandpaper (P) is attached to the sandpaper attachment target surface of the sanding machine (10) by the lifting support block (420) being raised by the lifting cylinder (410), this settling pad causes the sandpaper (P) to be pushed slowly, thereby preventing a sudden pushing force from being applied to the robot arm and the sanding machine (10) and preventing damage to the robot arm or the sanding machine (10).

[0062] A sandpaper exchange device of one embodiment may further include a drive control unit (500) that drives a lifting cylinder (410) of a paper lifting unit (400) in conjunction with the vertical movement of the sanding machine (10).

[0063] Looking more closely, the drive control unit (500) can be connected to the robot arm via a wired means such as a cable, or via a wireless means such as Wi-Fi, Bluetooth, or infrared communication. The drive control unit (500), after receiving the operation signal of the robot arm, transmits a drive signal to the lifting cylinder (410) of the paper lifting unit (400) so that the sandpaper (P) in the paper storage unit (200) is lifted and the sandpaper (P) is attached to the sanding machine (10).

[0064] In one embodiment, the drive control unit (500) drives the lifting cylinder (410) of the paper lifting unit (400) so that the sandpaper (P) moves upward when the sanding machine (10) moves downward by the robot arm above the paper storage unit (200). Then, the drive control unit (500) drives the lifting cylinder (410) of the paper lifting unit (400) so that the sandpaper (P) moves downward when the sanding machine (10) moves upward by the robot arm above the paper storage unit (200).

[0065] In addition, when the drive control unit (500) drives the lifting cylinder (410) of the paper lifting unit (400) to move the sandpaper (P) within the paper storage unit (200) upward, the sandpaper (P) placed at the top of the paper storage unit (200) moves to a position where it does not protrude above the top of the paper storage unit (200). Through this, when the sandpaper (P) is raised by the paper lifting unit (400) and comes into contact with the sanding machine (10), adhesion is achieved at an accurate position, and when the remaining sandpaper (P) is lowered by the paper lifting unit (400), it moves within the paper storage unit (200) without escaping to the outside.

[0066] In addition, a sandpaper exchange device of one embodiment may include an attachment confirmation unit (600) that checks whether sandpaper (P) is attached to the sandpaper attachment target surface of the sanding machine (10).

[0067] The attachment verification unit (600) captures an image of the sandpaper attachment target surface of the sanding machine (10) to determine whether the sandpaper (P) is attached. In one embodiment, the attachment verification unit (600) may be a photosensor or a color sensor. The attachment verification unit (600) can determine whether the sandpaper (P) is attached by analyzing the image captured of the sandpaper attachment target surface of the sanding machine (10) or by comparing the color of the surface of the sandpaper attachment target surface, and can transmit a signal to the robot arm to perform an operation to attach the sandpaper (P) again if it is not attached.

[0068] Here, the attachment confirmation unit (600) operates after a preset time following the output of a signal to raise the sanding machine (10) from the robot arm, thereby enabling accurate determination of whether sandpaper (P) is attached to the sandpaper attachment target surface of the sanding machine (10).

[0069] Additionally, in one embodiment, another sandpaper exchange device may include an adhesion enhancing unit (700) that increases adhesion force when the sanding machine (10) is moved downward and the sandpaper (P) is moved upward through the paper lifting unit (400) so that the sanding machine (10) and the sandpaper (P) are positioned to come into contact. Here, the adhesion enhancing unit (700) presses the sanding machine (10) downward when the sanding machine (10) and the sandpaper (P) are positioned to come into contact.

[0070] The above attachment increase portion (700) may include a rotary connecting member (710), a pressurizing member (720), and a pressurizing driving means (730).

[0071] The above-mentioned rotary connecting member (710) can be rotatably connected to the base body (100).

[0072] Here, one end in the longitudinal direction of the rotary connecting member (710) may be rotatably connected to the base body (100) by a hinge. And, the other end in the longitudinal direction of the rotary connecting member (710) may be positioned to have a radius of rotation up to a position where it is positioned to come into contact with the sanding machine (10) and the sandpaper (P).

[0073] The above pressure member (720) is connected to the longitudinal end of the above-mentioned rotating member (710), so that when the above-mentioned rotating member (710) rotates and the longitudinal end of the above-mentioned rotating member (710) moves toward the upper direction of the paper storage unit (200), it transmits downward pressure to the sanding machine (10).

[0074] In one embodiment, the pressure band (720) may be provided to have a 'U'-shaped cross-sectional shape.

[0075] The above-mentioned pressure driving means (730) is connected to the other end in the longitudinal direction of the above-mentioned rotary connecting member (710) to generate a driving force to cause the above-mentioned rotary connecting member (710) to rotate.

[0076] In one embodiment, the pressurizing driving means (730) may be a cylinder driven by hydraulic or pneumatic pressure.

[0077] Here, the pressure driving means (730) can be driven by receiving a control signal from the driving control unit (500) described above to drive the sanding machine (10) and the sandpaper (P) after they are positioned to come into contact. At this time, the pressure driving means (730) can rotate the pressure plate (720) again so that it is positioned at a location where the pressure applied to the sanding machine (10) is released after applying pressure to the sanding machine (10) for a set amount of time.

[0078] Additionally, referring to FIGS. 1 and 6, a sandpaper exchange device of one embodiment may include a paper removal unit (800) for removing sandpaper (P) to be exchanged attached to a sanding machine (10) of the robot arm.

[0079] The paper removal unit (800) can be positioned within the rotation radius of the robot arm.

[0080] The above paper removal unit (800) may include a paper removal main body (810) and a paper removal plate (820).

[0081] The paper removal body (810) supports the paper removal plate (820) so that it is spaced apart from the floor surface of the installation site at a certain height. In one embodiment, the paper removal body (810) is illustrated as having a cuboid shape formed by connecting a plurality of horizontal members and vertical members, but it is not limited thereto.

[0082] Additionally, the paper removal body (810) may be provided with a waste paper storage box (811) for storing sandpaper (P) that falls freely after being removed from the sanding machine. This waste paper storage box (811) may be positioned vertically below the paper removal plate (820).

[0083] The above paper removal plate (820) is positioned in a connected state to the above paper removal body (810) and may have a thickness that allows it to be inserted between the sandpaper attachment target surface of the sanding machine and the sandpaper (P) so as to catch the sandpaper (P) attached to the robot arm.

[0084] Additionally, the paper removal plate (820) may be provided with a catch groove (821) that increases the contact surface with the sandpaper (P) to ensure stable engagement. This catch groove (821) may be provided to be open at the side edge of the paper removal plate (820).

[0085] Additionally, the edge surface of the paper removal plate (810) where the catch groove (821) is formed may be provided with a blade (not shown) that becomes thinner as it approaches the center of the catch groove (821). Such a blade allows the paper removal plate (820) to be inserted more stably between the sandpaper attachment surface of the sanding machine and the sandpaper (P).

[0086] In this manner, the sanding target surface of the sanding machine is positioned on the upper side of the paper removal plate (820) of the above-mentioned paper removal unit (800), and the sanding paper (P) is positioned on the lower side of the paper removal plate (820). While the sanding machine is inserted into the catch groove (821), the sanding machine rotates and moves upward via the robot arm, thereby causing the sanding paper to be removed.

[0087] In this way, after the sandpaper detachment removal operation is performed on the sanding machine through the paper removal unit (800), the attachment confirmation unit (600) photographs the sandpaper attachment target surface of the sanding machine (10) and determines whether the sandpaper is attached to the sanding machine. Subsequently, if it is determined that the sandpaper detachment is complete on the sanding machine, the sanding machine (10) is moved to the base body (100) via a robot arm, and then a new sandpaper attachment operation is performed.

[0088] The sandpaper attachment operation using the sandpaper exchange device of one embodiment configured as described above is as follows.

[0089] First, the sandpaper (P) whose service life has ended is removed from the sanding machine (10) mounted on the robot arm. At this time, the removal of the sandpaper from the sanding machine (10) can be performed by raising the sanding machine (10) to detach the sandpaper (P) attached to the sanding machine (10) while it is caught in a separate catch (not shown), or by manual work by an operator.

[0090] In this way, after the sandpaper whose service life has ended is removed from the sanding machine (10), the sanding machine (10) is positioned above the paper storage unit (200).

[0091] Afterwards, when the robot arm is driven so that the sanding machine (10) moves downward, the lifting cylinder (410) of the paper lifting unit (400) is also driven so that the lifting support block (420) moves upward.

[0092] Then, the sandpaper (P) stored in the paper storage unit (200) comes into contact with the sanding machine (10) as it rises and falls, and attachment is achieved.

[0093] Subsequently, when the robot arm is driven to move the sanding machine (10) upward again, the lifting cylinder (410) of the paper lifting unit (400) is also driven to move the lifting support block (420) downward, and the sandpaper (P) inside the paper storage unit (200) is moved downward and placed back in its original position.

[0094] Then, the attachment verification unit (600) photographs the sandpaper attachment target surface of the sanding machine (10), determines whether sandpaper (P) is attached to the sanding machine (10), and outputs the result. If the attachment verification unit (600) determines that sandpaper (P) is not attached to the sanding machine (10), it outputs a signal in the form of sound or video so that the operator can recognize this.

[0095] In this way, the sandpaper exchange device of one embodiment places the paper storage unit (200), in which a plurality of sandpapers (P) are stored in a stacked state, on the base body (100), and the storage fixing unit (300) fixes the paper storage unit (200). Then, the paper lifting unit (400) raises the sandpaper (P) stored in the paper storage unit (200), thereby attaching the sandpaper (P) to the sanding machine (10). At this time, the paper storage unit (200) is detachably positioned on the base body (100) and can be fixed or detached through the storage fixing unit (300), so that when additional sandpaper (P) needs to be supplied to the paper storage unit (200), the sandpaper supply operation can be easily performed.

[0096] The present invention has been described with reference to embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0097] 10: Sanding machine 100: Base body 110: Landing Home 120: Moving Hole 130: Lifting connection frame 200: Paper storage compartment 210: Upper opening 220: Lower opening 230: Incision 300: Storage fixing part 310: Fixed body 320: Fixed driving means 400: Paper lifting unit 410: Lifting cylinder 500: Drive control unit 600: Attachment confirmation unit 700: Attachment enhancing section 800: Paper removal section 810: Paper removal main body 820: Paper removal plate

Claims

Claim 1 A sandpaper exchange device for attaching sandpaper to a sanding machine comprises: a base body; a paper storage unit detachably disposed on the base body and having an internal space for storing a plurality of sandpapers in a stacked state; a storage fixing unit disposed on the base body and fixing the paper storage unit to the base body; and a paper lifting unit disposed on the base body and lifting the sandpaper stored in the paper storage unit; wherein the storage fixing unit comprises a fixed body disposed to be movable in the vertical direction above the paper storage unit, and a fixed driving means connected to the fixed body and generating a driving force to move the fixed body in the vertical direction. Claim 2 A sandpaper exchange device according to claim 1, wherein the base body is provided with a seating groove that supports the lower end of the paper storage portion, and the seating groove is provided with a moving hole to enable the paper lifting portion to move up and down. Claim 3 A sandpaper exchange device according to claim 1, wherein the upper part of the paper storage portion is provided with an upper opening to allow the sandpaper to be removed, and the lower part of the paper storage portion is provided with a lower opening to allow the paper lifting portion to move up and down. Claim 4 A sandpaper exchange device according to claim 3, wherein a cut portion is further provided on the side portion of the paper storage portion. Claim 5 delete Claim 6 A sandpaper exchange device according to claim 1, wherein the fixed body is provided with a paper passage hole through which sandpaper stored in the paper storage portion passes, and the fixed body is provided with a plurality of locking wing portions arranged along the circumference of the paper passage hole so as to protrude in the direction of the center of the paper passage hole. Claim 7 A sandpaper exchange device according to claim 1, wherein the paper lifting unit comprises a lifting cylinder and a lifting support block connected to the lifting cylinder and lifting the sandpaper while supporting it according to the driving of the lifting cylinder. Claim 8 A sandpaper exchange device according to claim 1, further comprising a drive control unit that drives the paper lifting unit in conjunction with the vertical movement of the sanding machine. Claim 9 A sandpaper exchange device according to claim 8, wherein the drive control unit drives the paper lifting unit so that the sandpaper moves upward when the sanding machine moves downward, and drives the paper lifting unit so that the sandpaper moves downward when the sanding machine moves upward. Claim 10 A sandpaper exchange device according to claim 9, wherein the drive control unit drives the paper lifting unit to move the sandpaper upward, and the sandpaper placed at the top of the paper storage unit moves to a position where it does not protrude upward above the top of the paper storage unit. Claim 11 A sandpaper exchange device according to claim 8, wherein the sanding machine is connected to a robot arm, and the drive control unit receives a driving signal from the robot arm and then transmits a driving signal to the paper lifting unit. Claim 12 A sandpaper exchange device according to claim 1, further comprising an attachment confirmation unit for checking whether sandpaper is attached to the sanding machine. Claim 13 In claim 12, the attachment confirmation unit is a sandpaper exchange device that is a photosensor capable of capturing an image of the sandpaper attachment target surface of the sanding machine to determine whether sandpaper is attached. Claim 14 A sandpaper exchange device according to claim 11, further comprising a paper removal unit for removing sandpaper to be exchanged attached to a sanding machine of the robot arm. Claim 15 In claim 14, the paper removal unit comprises a paper removal main body equipped with a waste paper receiving container and a sandpaper exchange device comprising a paper removal plate disposed on the paper removal main body and equipped with a locking groove.

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