Method and system for the automatic replacement of an abrasive element of a finishing apparatus

Abstract

Replacement method and system (1) for replacing an abrasive element (2) of a finishing apparatus (3) comprising a moving structure (5), a finishing head (4), provided with a support (6) for coupling to an abrasive element (2) in a releasable manner; the replacement system (1) comprises : a removal assembly (12) for uncoupling the abrasive element (2) from the support (6), which comprises removal station (13) having an invitation section (15) for receiving the finishing head (4) in a removal position (R), in which it protrudes from the section (15) towards a handling space (S) and a clamping device (19) which operates in said handling space (S) to grip at least part of said projecting zone (10); a store (14) for containing a plurality of abrasive elements (2); and a control unit (CU) to control the activation of the finishing apparatus (3) and said removal assembly (12) to replace in an automatic manner a worn abrasive element (2) of the finishing apparatus (3) with a new one.

Description

[0001] METHOD AND SYSTEM FOR THE AUTOMATIC REPLACEMENT OF AN ABRASIVE ELEMENT OF A FINISHING APPARATUS"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102024000021130 filed on September 23 , 2024 , the entire disclosure of which is incorporated herein by reference .

[0004] Technical Field

[0005] The present invention relates to a system and a method for the automatic replacement of an abrasive element , in particular of an abrasive disc, of a finishing apparatus .

[0006] It is known in the field of machining and manufacturing of arti facts to use finishing equipment provided with abrasive tools to finish, i . e . smooth, grind, polish, sand, etc . , the arti facts .

[0007] Background of the Invention

[0008] In the field of finishing arti facts , particularly but not necessarily ceramic arti facts , it is known to treat the formed arti fact by means of a finishing apparatus provided with an abrasive tool , generally mounted on a moving structure adapted to move the abrasive tool with respect to the surface to be treated so as to be able to come into contact with the surface to be treated and finish it , typically removing a part thereof .

[0009] A particular type of finishing apparatus particularly used when there is a need to smooth the surfaces of an arti fact in a uni form manner and without leaving marks of the path of the abrasive tool on the arti fact , think, for example , of the polishing of bodywork in the automotive field or of the finishing of composite materials , such as ceramics , is that provided with so-called orbital tools , that is , provided with an abrasive element that , in use , is rotated around a rotation axis perpendicular to the surface and, at the same time , is moved along elliptical or circular traj ectories , imparting an orbital movement to the abrasive element .

[0010] These orbital f inishing tools typically comprise a support , generally in the form of a circular plate , the so- called "backing pad" , coupled, on the one hand, to a support and moving structure , for example to a robot , and provided on the opposite side with at least one releasable fixing element , typically a Velcro sheet or an adhesive or also a mechanical coupling system, for example adapted to make a form fit , in order to be able to fix the actual abrasive element , typically formed by an abrasive disc, in a releasable manner to the backing pad .

[0011] In some cases , when the finishing operations are intended to involve multi form surfaces with very high concavity and / or convexity, for example , in the field of finishing sanitary ware in ceramic material , it is known to interpose between the backing pad and the abrasive element a layer of deformable expanded material , for example a layer made of sponge or polymeric foam, or to provide for abrasive elements made in a single body and comprising a layer of deformable expanded material , for example sponge or polymeric foam, intended in use to be fixed to the backing pad and provided, on the other side ( opposite to the backing pad) , with the abrasive element .

[0012] It is clear that , the abrasive element , typically made of sandpaper, is subj ect to wear, in particular the abrasive surface thereof generally made of abrasive material , for example aluminium or zirconium oxide or silicon or diamond carbide , tends over time to degrade and get blunt losing its ability to remove the material . It follows that , beyond the structure of the abrasive element , the ef fectiveness and goodness of the finishing operations depend very much on the state of wear of the latter . For this reason, it is essential to take into account the degree of wear of the abrasive element and replace the abrasive element , once a certain number of work cycles have elapsed, depending on the type of abrasive element .

[0013] To date , these replacement operations are likely to represent a real bottleneck for the processing lines of the arti facts , since they are often carried out manually by an operator who tears the worn abrasive element from the backing pad and places another one . In addition, like al l manual operations there is a certain risk of error in the positioning of the new abrasive element that might compromise its functionality .

[0014] Precisely for this reason, in order to try to speed up the replacement operations of the abrasive element and, at the same time , ensure an always correct arrangement of the new abrasive elements , some automatic systems have been developed that provide for a device for removing the worn abrasive element , typically using a sharp blade or plate which is adapted to penetrate between the backing pad ( in particular between the releasable fixing element ) and the abrasive element so as to detach the abrasive element itsel f . A solution of known type for the removal of the abrasive element of a smoothing apparatus by means of an anvil is , for example , described in document GB2352417A.

[0015] It is understood that this operation of removing the worn abrasive element is all the more di f ficult and risky the more worn the abrasive element is ; in fact , as the state of wear increases , the abrasive element thins and / or tears , making it much more di f ficult to insert the removal device between this abrasive element , so degraded, and the backing pad, thus risking compromising the entire success of the operations .

[0016] Furthermore , such systems are not particularly ef fective when the aforementioned layer of deformable foam material is present between the backing pad and the abrasive element ; in fact , in these cases , the insertion of the sharp blade or plate is more complex because it risks getting entangled between the fibres / cells of the deformable foam material . Furthermore , in this case , the layer of deformable foam risks absorbing part of the stress transmitted by the removal device at the time of the removal operation, compromising the success of the removal .

[0017] Other systems for the removal o f the abrasive element from a finishing apparatus instead provide for the modi fication of the backing pad and in particular the adoption of pads provided with grooves or invitation portions so as to facilitate the insertion of the removal device , in particular of the sharp blade or plate , between said backing pad and the abras ive element . However, the adoption of such solutions , in addition to requiring the total modi fication of the abrasive tool , with consequent increase in costs , makes it necessary to properly orient the finishing apparatus with respect to the removal device before removal ; in fact , removal is ef fective only i f it is made sure that the backing pad is oriented with respect to the removal device with an orientation that allows the insertion of the blade or plate in said grooves .

[0018] Aim of the present invention is to provide a system and a method for the automatic replacement of an abrasive element of a finishing apparatus , in particular of an orbital finishing apparatus , which allow to overcome , at least in part , the disadvantages of the prior art , through an automatic solution, which is ef fective and perfectly compatible with all finishing apparatus of known type .

[0019] Summary

[0020] In accordance with the present invention, a system and a method for the automatic replacement of an abrasive element of a finishing apparatus , in particular of an orbital finishing apparatus is proposed, as described in the appended independent claims , and preferably, in any of the claims directly or indirectly dependent on the mentioned independent claims .

[0021] The claims describe preferred embodiments of the present invention forming an integral part of the present disclosure .

[0022] Brief Description of the Drawings

[0023] The invention wi ll now be described with reference to the accompanying drawings , which show some non-limiting examples of embodiments thereof , wherein :

[0024] - Figure 1 is a perspective and schematic view of a replacement system for the automatic replacement of an abrasive element of an orbital finishing apparatus , made in accordance with an embodiment of the present invention;

[0025] - Figure 2 is a perspective view of a removal apparatus that is part of the system of Figure 1 , wherein some parts have been removed to better visuali ze some components ;

[0026] Figure 3 is a perspective view of the removal apparatus of Figure 2 , in use , i . e . when removing an abrasive element from a finishing head of an orbital finishing apparatus ;

[0027] - Figure 4 is a cross-sectional view of Figure 2 ;

[0028] - Figure 5 is an enlarged scale view of the detail W of Figure 3 from a di f ferent perspective ; and

[0029] - Figure 6 is a schematic and perspective view of the store for the containment of abrasive elements of Figure 1 .

[0030] Detailed Description

[0031] In the attached figures , number 1 denotes as a whole a replacement system 1 for the automatic replacement of an abrasive element 2 of a finishing apparatus 3 ; more speci fically, for the replacement of the abrasive element 2 intended to be coupled to a finishing head 4 of an orbital type finishing apparatus 3 , i . e . provided with a finishing head 4 capable of moving with respect to the arti fact to be treated by rotating on it and simultaneously running along elliptical or eccentric circular traj ectories .

[0032] More particularly, advantageously but not in a limiting manner, in this discussion reference will be made to the replacement of the abrasive element 2 of a finishing apparatus 3 intended to perform a smoothing and / or polishing action on a surface to be treated of an arti fact , for example of an arti fact made of composite material , such as ceramic, or of metal material etc .

[0033] Advantageously, the finishing apparatus 3 comprises : a moving structure 5 movable in the space , for example an anthropomorphic robot as in the non-limiting embodiment shown in Figure 1 ; a finishing head 4 which, in turn, comprises a support 6 , the so-called "backing pad" , adapted to cause the abrasive element 2 which is provided with an abrasive surface 7 intended, in use , to come into contact with the surface to be treated .

[0034] Advantageously but not in a limiting manner, the finishing head 4 is coupled to the moving structure 5 in a rotary manner so that , in use , it can rotate on itsel f about a rotation axis A, perpendicular to the support 6 and to the abrasive surface 7 and, even more advantageously but not in a limiting manner, it can oscillate along circular and / or elliptical traj ectories which are eccentric with respect to said rotation axi s A, in a manner known per se and not described in detail herein .

[0035] More in detail , the support 6 and the abrasive element 2 are couplable in a releasable manner to each other so as to shi ft from a use configuration, in which the support 6 is coupled with the abrasive element 2 , and a non-operational configuration, in which the abrasive element 2 is detached from the support 6 .

[0036] To this end, advantageously but not in a limiting manner, the support 6 comprises at least one releasable fixing element (not visible in the attached figures and known per se ) , for example comprising ( in particular, formed by) hooks or adhesive material , and intended to be coupled in a releasable manner to a coupling surface 8 of the abrasive element 2 , parallel to and opposite the abrasive surface 7 .

[0037] According to some advantageous but non-limiting embodiments , one of the support 6 or the coupling surface 8 comprises a plurality of hooks and the other comprises a plurality of rings intended, in use , to couple in a releasable manner to the hooks , once the wall of the support 6 and the coupling surface 8 are in contact , to define a releasable coupling, such as that of the Velcro closure systems . Alternatively, advantageously but not in a limiting manner, the support 6 and the coupling surface 8 could comprise hook-and-loop fixing elements of another type or adhesive fixing elements or fixing elements configured to reali ze a snap- fit coupling .

[0038] According to some advantageous but non-limiting embodiments , such as those shown in the attached figures the abrasive element 2 comprises an intermediate layer 9 , made of an expanded material , chosen in the group comprising sponge , expanded polymers , expanded rubber and foams etc . , which intermediate layer 9 extends from the opposite side to the abrasive surface 7 , is connected to the abrasive surface 7 and is delimited ( from the opposite side to the abrasive surface 7 ) by the coupling surface 8 . The presence of this intermediate layer 9 gives greater adaptability of the abrasive element 2 to surfaces of various shapes , for example concave or convex, ensuring, in use , correct contact between the abrasive element 2 , in particular the abrasive surface 7 and the arti fact to be treated .

[0039] More in particular, in this discussion reference will be made to an abrasive element 2 which is si zed to proj ect externally with respect to the support 6 parallel to the abrasive surface 7 by at least about 8mm (more in particular, by at least about 10mm; even more in particular, by about 12 . 5mm) , once the aforementioned releasable coupling has been made , so that , in the aforementioned configuration of use , a zone 10 proj ecting with respect to the support 6 remains defined and having, in fact , an extension, parallel to the abrasive surface 7 as well as to an external main wall 11 of the support 6 , by at least about 8mm .

[0040] Advantageously but not in a limiting manner, the support 6 and the abrasive element 2 have a substantially circular or elliptical cross section; in other words , the support 6 and the abrasive element 2 are advantageously but not in a limiting manner configured as a disc .

[0041] In this case , advantageously but not in a limiting manner, an abrasive element 2 of greater diameter o f at least 16mm ( in particular, of at least about 20mm; more in particular, of about 25mm) than the support 6 is coupled, advantageously centred with respect to the support 6 itsel f , to said support 6 and the proj ecting zone 10 extends radially with respect to the support 6 over at least about 8mm ( in particular, over at least about 10mm; more in particular, over at least about 12 . 5mm) .

[0042] It is understood that , when the abrasive element 2 comprises the aforementioned intermediate layer 9, the proj ecting zone 10 also comprises ( in particular, i s formed by) this intermediate layer 9 .

[0043] With particular reference to Figure 1 , the replacement system 1 of the present invention, advantageously, comprises : a removal assembly 12 which is configured to uncouple the abrasive element 2 from the support 6 and comprises a removal station 13 for receiving the finishing head 4 ; a store 14 for containing a plurality of new abrasive elements 2 ; and a control unit CU ( only schematical ly shown in Figure 1 which can also be arranged in a remote position and is ) configured to control the activation of the finishing apparatus 3 , by controlling the movement of the moving structure 5 so as to move the finishing head 4 up to the removal station 13 and from the removal station 13 to the store 14 , as well as to control the activation of the removal assembly 12 , when the finishing head 4 is placed in the removal station 13 as will be better explained below, so as to uncouple the abrasive element 2 from the support 6 .

[0044] This solution al lows , advantageously, to replace the abrasive element 2 , once it is worn, in a totally automatic, fast and precise manner .

[0045] Advantageously but not in a limiting manner, the replacement system 1 comprises a detection system (not visible in the attached figures and known per se ) in communication with the control unit CU and which in turn comprises at least : a detection device for detecting the state of occupancy of the removal station 13 , a locali zation system (not visible in the attached figures ) , for example a barrier photocell or a laser meter or a three-dimensional camera, more advantageously but not in a limiting manner mounted on board the finishing apparatus 3 , and configured to provide data about the position of the finishing apparatus 3 , in particular at least of the finishing head 4 , with respect to the rest of the components of the replacement system 1 . In this case , the control unit CU controls the activation of the finishing apparatus 3 , by suitably operating the moving structure 5 , and the removal assembly 12 also as a function of what is detected by said detection system and advantageously but not in a limiting manner as a function of a programming of the replacement operations contained in a memory included in said control unit CU .

[0046] According to other advantageous but non-limiting embodiments , the finishing apparatus 3 is provided, for example near the support 6 , with a detection device ( for example a laser meter or a three-dimensional camera ) which is configured to detect the state o f wear of the abrasive element 2 , for example ( advantageously but not in a limiting manner, detecting variations in the distance between the support 6 and the surface to be treated at the time of finishing, or detecting variations in the force transmitted to the support 6 etc . ) and the control unit CU is configured to operate the moving structure 5 so as to move the finishing head 4 towards the removal station 13 when said detection device detects a state of wear exceeding a certain established limit . Alternatively or in addition, according to other advantageous but non-limiting embodiments , the finishing apparatus 3 is provided with an operating time measuring device ( or " clock" ) , which is configured to monitor the number of operating cycles of the finishing apparatus 3 and trans fer such data to the control unit CU, which contains in the memory the number of acceptable operating cycles for each abrasive tool 2 and is conf igured to compare the data received from said operating time measuring device ( or " clock" ) with the number of acceptable operating cycles , each time it receives data from said operating time measuring device ( or " clock" ) , and to operate the moving structure 5 to move the finishing head 4 towards the removal station 13 when the data received from the operating time measuring device ( or " clock" ) coincides with the number of operating cycles deemed acceptable for that abrasive element 2 .

[0047] Advantageously, the removal station 13 comprises an invitation section 15 , open on one side and configured ( in particular, shaped) to receive the ( in particular, to allow the insertion of ) finishing head 4 . This invitation section 15 is provided with an abutment profile 16 , which advantageously but not in a limiting manner delimits a section of the invitation section 15 , and is configured to abut , at least from above , on at least part of the proj ecting zone 10 , when the finishing head 4 assumes a removal position R, in which it is inserted in the invitation section 15 in contact with the abutment profile 16 , with the proj ecting zone 10 protruding from the invitation section 15 along a first direction Z , substantially vertical , orthogonal to the abrasive surface 7 towards a handling space S .

[0048] More advantageously but not in a limiting manner, the abutment profile 16 is configured to also abut on the support 6 , in particular to abut laterally on at least part of the support 6 acting as an end stroke for the finishing head 4 inside the invitation section 15 so as to define ( or delimit , at least on one side ) this removal position R .

[0049] Even more advantageously but not in a limiting manner, the support 6 and the abrasive element 2 have a cyl indrical and / or f rustoconical pattern and the abutment profile 16 has a pattern as an arc of circumference to abut on at least a lateral section of the support 6 resting on the edge ( on the upper wall ) of a part of the proj ecting zone 10 ( see Figures 3 and 4 ) .

[0050] Furthermore , advantageously, the removal assembly 12 comprises a clamping device 19 which operates in the aforementioned handling space S and is configured ( activatable ; in particular, programmed) to grip at least part of the proj ecting zone 10 .

[0051] According to some advantageous but non-limiting embodiments , the removal station 13 comprises a frame 17 located at the removal station 13 , and a plate 18 carried restingly by the frame 17 , in particular at an upper end of the frame 17 , and having a recess , in particular shaped as a "U" , which extends from a first edge Bl of the plate 18 and defines the aforementioned invitation section 15 ( see Figures 2-5 ) .

[0052] Advantageously but not in a limiting manner, the aforementioned handling space S , in which the proj ecting zone 10 extends when the finishing head 4 assumes the removal position R, is delimited by a first side ( in particular, from above ) by the plate 18 and by the remaining sides , which are orthogonal to the first side , by the frame 17 .

[0053] More advantageously but not in a limiting manner, the clamping device 19 is connected to the plate 18 so as to be movable in said handling space S between a first position, in which it is arranged to grip at least part of the proj ecting zone 10 , when the finishing head 4 is in the removal position R, and a second position ( see for example Figure 2 ) , in which it is spaced apart from the invitation section 15 .

[0054] Even more advantageously but not in a limiting manner, in the first position the clamping device 19 is in contact from below with the invitation section 15 ; more particularly, with the plate 18 ; while in the second position it is spaced apart from the plate 18 .

[0055] Still with particular reference to Figures 2 to 4 , more advantageously but not in a limiting manner, the removal assembly 12 comprises a j oint 20 interposed between the plate

[0056] 18 and the clamping device 19 to allow the clamping device

[0057] 19 to rotate around a substantially hori zontal rotation axis B, perpendicular to the direction Z , and parallel to the development plane of the plate 18 by an angle of at least about +or - 45 ° (more in particular, of at least about +or - 90 ° ) in order to shi ft from the first position to the second position .

[0058] According to some advantageous but non-limiting embodiments , such as for example those shown in Figures 2 - 5 , the removal assembly 12 comprises at least one support structure 21 , for example an upright or a mechanical arm, which is connected, for example bolted to the plate 18 , crosses the plate 18 orthogonally to the plate 18 itsel f and carries , at one end thereof , the clamping device 19 .

[0059] According to some advantageous but non-limiting embodiments , such as for example those shown in the attached figures , the clamping device 19 comprises : a first clamping element 22a, a second clamping element 22b, which is arranged substantially parallel and opposite the first clamping element 22a, and a moving unit 23 which is configured to move the clamping elements 22a, 22b between a gripping configuration, in which they are brought closer to one another so as to clamp, from oppos ite sides , the abrasive element 2 at the aforementioned part of the proj ecting zone 10 , when the clamping device 19 assumes the aforementioned first position, and a release configuration, in which said clamping elements 22a, 22b are moved away from one another so as to release the abrasive element 2 , once it has been uncoupled from the support 6 , when the clamping device 19 assumes the aforementioned second position .

[0060] According to other embodiments not shown, the clamping device 19 includes , instead of the clamping elements 22a, 22b described above , a clamp or any other mechanism suitable for retaining the proj ecting zone 10 laterally .

[0061] Advantageously but not in a limiting manner, the removal assembly 12 comprises a door located at the lower part of the frame 17 for receiving the abrasive element 2 released by the clamping device 19 in the aforementioned release configuration . Alternatively, advantageously but not in a limiting manner, the removal assembly 12 comprises a collecting container (not visible in the attached f igures ) , located at the bottom of the handling space S to receive the abrasive element 2 released by the clamping device 19 in the aforementioned release configuration .

[0062] More advantageously but not in a limiting manner, when the support 6 and the abrasive element 2 have a circular cross-section, as in the embodiments shown, each clamping element 22a, 22b has a curved pattern that extends along an arc of circumference and is shaped in a complementary way to the abrasive element 2 to be able to clamp at least part of the proj ecting zone 10 laterally .

[0063] Advantageously, at the time of removal , the control unit CU is configured to control the activation of the finishing apparatus 3 and / or of the moving structure 5 so as to cause ( once the finishing head 4 is in said removal position R and the clamping device 19 has gripped the aforementioned part of the proj ecting zone 10 ) a relative movement between the finishing head 4 and the clamping device 19 away from one another (more advantageously but not in a limiting manner at least along the aforementioned vertical direction Z ) so as to uncouple the abrasive element 2 from the support 6 .

[0064] More in detail , in the advantageous but not limiting embodiments shown, the control unit CU is configured ( in particular, programmed) to operate the moving structure 5 so as to move the finishing head 4 away from the invitation section 15 ( in particular, from the plate 18 ) , advantageously but not necessarily along the first direction Z , once the clamping device 19 has been operated to grip the aforementioned at least part of the proj ecting zone 10 ( that is , once the clamping device 19 has been operated so that it assumes the first position and once the handling unit has been operated so that the clamping elements 22a, 22b assume the aforementioned clamping configuration) , so that the abutment profile 16 transmits to the proj ecting zone 10 an action having at least one component directed away from the support 6 , advantageously along the first direction Z , of such intensity as to cause the uncoupling of the support 6 from the abrasive element 2 , retained by the clamping device 19 , and optionally (when present ) also by the intermediate layer 9 which, when present , possibly forms said proj ecting zone 10 , and is therefore also retained by the clamping device 19 .

[0065] According to some advantageous but non-limiting embodiments , the removal assembly 12 also comprises at least one detection device configured to monitor at least the clamping device 19 and send a signal when the clamping device 19 grips the aforementioned part of the proj ecting zone 10 so that the control unit CU can control one of the clamping device 19 and the moving structure 5 in order to loosen them mutually so as to cause the detachment of the abrasive element 2 , optionally (when present ) together with the intermediate layer 9 from the support 9 .

[0066] Advantageously but not in a limiting manner, the replacement system 1 also comprises a control device (not visible in the attached figures ) that can be mounted on board the finishing apparatus 3 , in particular the finishing head 4 , or can be external , for example when it is a vis ion system configured to detect what happens at the removal station 13 , and is configured to detect the presence or absence of the abrasive element 2 on the support and to trans fer the data to the control unit CU, which, consequently, controls the handling device 5 towards the store 14 . In this way, the risk is avoided that , in the event of mal functions of the removal assembly 12 , the control unit CU controls the movement of the moving structure 5 towards the store 14 before the support 6 and the abrasive element 2 to be replaced have been uncoupled from one another .

[0067] According to some advantageous but non-limiting embodiments , such as for example those shown in Figures 1 and 6 , the store 14 comprises a plurality of housings 24 , each configured to receive a respective (new) abrasive element 2 which is arranged with the abrasive surface 7 in contact with a wall of the store 14 and a coupling surface 8 , which is paral lel to and opposite the abrasive surface 7 and intended, in use , to be coupled to the support 6 in a releasable manner, facing towards the outside of the store 14 . Advantageously, this particular configuration of the store 14 , with the housings 24 all on a single wall , allows the filling status of the store 14 to be easily displayed and avoids the risk of damage to the new abrasive elements 2 , which, unlike to what happens when they are arranged stacked together ( as in the known systems ) , do not run the risk of sticking to each other .

[0068] Even more advantageously but not in a limiting manner, the store 14 comprises at least one rack 25 , which carries on at least one of its walls 26 a plurality of pins 27 , arranged to define the aforementioned housings 24 . More advantageously, when the abrasive elements 2 are circular, as in the embodiments shown in the attached figures , each housing 24 is defined ( i . e . delimited) by three pins 27 arranged on three diametrically opposite points , along a circumference having a diameter substantially analogous to the diameter of the abrasive elements 2 to be retained, so as to receive the new abrasive elements 2 with the coupling surface 8 facing towards the outside .

[0069] Advantageously, the control unit CU is configured to control the activation of the moving structure 5 , once the abrasive element has been uncoupled from the support 6 , so as to move the finishing head 4 from the removal station R to the store 14 until the support 6 comes into contact with the coupling surface 8 of one of such new abrasive elements 2 .

[0070] As mentioned above , advantageously but not in a limiting manner, the finishing apparatus 3 comprises a locali zation system (not visible in the attached figures and known per se , therefore not described in detail , for example a barrier photocell or a laser meter or a three-dimensional camera ) which is configured to locali ze in the space the finishing head 4 with an accuracy of the order of 2mm and to provide data on that locali zation to the control unit CU, so that said control unit CU can control the moving structure 5 as a function of its current position and of the abrasive element 2 to be withdrawn . This al lows an extremely precise movement by the finishing head 4 , which is particularly important when gripping the new finishing tool 2 especially to ensure its correct placement with respect to the support 6 .

[0071] Advantageously but not in a limiting manner, the store 14 also comprises a guide 28 that carries in a sliding manner the rack 25 and an operating system 29 which can be activated to cause the movement of said rack 25 along the guide 28 between an operating position and a filling position . In this way, by appropriately operating the operating system 28 it will be possible to move the rack 25 from the operating position, and a filling position . In this way, once the abrasive elements 2 present in the rack 25 are fini shed, it will be easier for each operator to load the others or replace one or more of the abrasive elements 2 , once the rack 25 has been placed at the filling position .

[0072] Advantageously but not in a limiting manner, the replacement system 1 comprises at least one detection system (not visible in the attached figures and known per se ) configured to detect the filling state of the store 14 which is in communication with the control unit CU so that the control unit CU controls the operating system 29 as a function of what is detected by said detection system .

[0073] Furthermore , according to some advantageous but nonlimiting embodiments , the store 14 comprises a plurality of racks 25 , each coupled to the guide 28 in a sliding manner and each activatable independently of the others from the operating position to the filling position . In this way, it will be possible to fill a rack 25 while any replacement operations are carried out by withdrawing abrasive elements

[0074] 2 from the remaining racks 25 .

[0075] According to another aspect of the present invention, a replacement method for the automatic replacement of an abrasive element 2 of a finishing apparatus 3 is proposed; more particularly, for the replacement of the abrasive element 2 which is intended to be coupled to a finishing head 4 of an orbital type finishing apparatus 3 .

[0076] Advantageously but not in a limiting manner, the abrasive tool 2 to be replaced and the finishing apparatus

[0077] 3 to be subj ected to automatic cutting are of the type described above ; more particularly, they are made in accordance with any of the variants described above .

[0078] Advantageously, the replacement method comprises : a first preparatory step, during which a store 14 ( advantageously but not in a limiting manner of the type described above ) is provided for containing a plurality of new abrasive elements 2 and a removal assembly 12 is provided which is configured to uncouple the abrasive element 2 from the support .

[0079] More advantageously but not in a limiting manner, the removal assembly 12 is of the type described above , i . e . it comprises the above-described clamping device 19 , and a removal station 13 , which in turn comprises at least the above-described invitation section 15 for receiving the finishing head 4 , the above-described abutment profile 16 , which advantageously but not in a limiting manner delimits a section of the invitation section 15 and is configured to abut on at least part of the proj ecting zone 10 and more advantageously also to abut laterally on at least part of the support 6 .

[0080] The replacement method further comprises : a first moving step, during which the moving structure 5 moves the finishing head 4 up to the removal station 13 and inserts the finishing head 4 in the invitation section 15 until it reaches a removal position R, in which the abutment profile 16 abuts laterally on at least part of the support 6 and, from above , on at least part of the proj ecting zone 10 , which, in said removal position R, protrudes from the invitation section 15 orthogonally to the abrasive surface 7 towards a handling space S ; and a removal step, which is ( at least partially) subsequent to the first moving step, during which the clamping device 19 is operated to grip the abrasive element 2 , clamping at least part of the proj ecting zone 10 , and at least one of the clamping device 19 and the finishing head 4 is moved away from the other (between the clamping device 19 and the finishing head 4 ) away from one another, in particular at least along the aforementioned direction Z , so as to uncouple the abrasive element 2 from the support 6 .

[0081] In detail , advantageously, the aforementioned first moving step and removal step are carried out automatically under the control of the control unit CU, which as described above in relation to the replacement system 1 , controls the activation of the finishing apparatus 3 , in particular in these steps it controls at least the activation of the moving structure 5 , and of the removal assembly 12 more advantageously also on the basis of what has been detected by the aforementioned detection system and what has been provided by the detection device adapted to detect the wear of the abrasive element 2 and / or of what has been detected by the operating time measuring device ( or " clock" ) .

[0082] Advantageously but not in a limiting manner, the aforementioned moving step comprises a first sub-step, during which the moving structure 5 is operated (under the control of the control unit CU) and moves the finishing head 4 up to the removal station 13 , and a positioning sub-step, during which the moving structure 5 is operated to insert the finishing head 4 in the invitation section 15 until it abuts on the abutment profile 16 so as to assume the removal position R .

[0083] More advantageously but not in a limiting manner, during the aforementioned first moving step, the abutment profile 16 , by abutting on the aforementioned at least one part of the support 6 laterally, acts as an end stroke for the finishing head 4 within the invitation section 15 so as to define ( i . e . delimit , at least on one side ) the removal position R .

[0084] According to some advantageous but not limiting embodiments , the removal step comprises : a gripping substep, during which the clamping device 19 ( advantageously but not in a limiting manner of the type described above ) , grips the abrasive element 2 laterally clamping at least part of the proj ecting zone 10 ; and a mutual moving substep, during which the control unit CU controls the relative movement between said clamping device 19 , once it has gripped the proj ecting zone 10 , and the finishing head 4 away from one another, more advantageously but not in a limiting manner at least along the aforementioned first direction Z , so as to uncouple the abrasive element 2 from the support 6 .

[0085] With particular reference to Figures 1 , 3 and 4 , according to some advantageous but non-limiting embodiments , such as for example those shown, during the mutual moving sub-step, the clamping device 19 is kept still while gripping the abrasive element 2 , held along the aforementioned part of the proj ecting zone 10 , and the control unit CU operates the moving structure 5 which moves the finishing head 4 away from the invitation section 15 ( in particular, from the plate 18 ) at least along said first direction Z so that the aforementioned abutment profile 16 , reacting to the movement of the finishing head 4 , transmits to the proj ecting zone 10 of the abrasive element 2 an action having at least one component directed away from the support 6 along the first direction Z such as to cause the uncoupling of the support 6 from the abrasive element 2 ; in particular, of such intensity as to cause the detachment of the abrasive element 2 from the support 6 .

[0086] According to some advantageous but non-limiting embodiments , the clamping device 19 comprises the clamping elements 22a, 22b and the moving unit 23 for moving said clamping elements 22a, 22b , as described in more detail in relation to the replacement system 1 , and the replacement method comprises a release step, which is subsequent to the removal step, during which the clamping device 19 releases the abrasive element 2 that has been uncoupled from the support 6 . More advantageously but not in a limiting manner, the abrasive element 2 , once it has been released, reaches due to gravity a door or collecting container located at the bottom of the handling space S .

[0087] In detail , according to some advantageous but nonlimiting embodiments , during the release step, the clamping device 19 shi fts , through operation of the aforementioned moving unit 23 , from the gripping configuration, in which the clamping elements 22a, 22b are brought closer to one another so as to clamp, from opposite sides , the abrasive element 2 , to the release configuration in which said clamping elements 22a, 22b are moved away from one another to release the abrasive element 2 .

[0088] The replacement method further comprises : a second handling step, during which the moving structure 5 moves the finishing head 4 from the removal station 13 up to the store 14 , which are also performed automatically under the control of the control unit CU; and a fixing step, during which the moving structure 5 , operated by the control unit CU, moves the finishing head 4 until the support 6 comes into contact with an abrasive element 2 of those contained in the store 14 to couple thi s abrasive element 2 to the support 6 in a releasable manner .

[0089] Advantageously but not in a limiting manner, the store 14 is of the type described above , i . e . it comprises a plurality of housings 24 , each configured to receive a respective (new) abrasive element 2 which is arranged with the abrasive surface 7 in contact with a wall of the store 14 and with the coupling surface 8 facing towards the outside of the store 14 .

[0090] The aforementioned fixing step , advantageously but not in a limiting manner, comprises : a first sub-step, during which the control unit CU controls the activation of the moving structure 5 which brings the finishing head 4 up to a first housing 24 ; a second sub-step, during which the control unit CU controls the moving structure 5 to move the finishing head 4 and cause the support 6 to come into contact with the coupling surface 8 of the abrasive element 2 contained in this housing 24 ; and a third sub-step, which is subsequent to the second sub-step, during which the control unit CU controls the moving structure 5 so as to move the finishing head4 towards the coupling surface 8 to transmit a pressure of at least about 5kg towards the coupling surface 8 in order to ensure coupling between the releasable fixing element on the support 6 and that on the coupling surface 8 of the abrasive element 2 .

[0091] According to some advantageous but non-limiting embodiments , such as for example those shown, when the store 14 comprises ( in particular, is formed by) at least one rack 25 and also comprises a guide 28 that carries the rack 25 in a sliding manner, and an operating system 29 , as better described above in relation to the replacement system 1 , the replacement method also comprises a filling step, during which the control unit CU is operated to move the store 14 , once it has been emptied or in any case once at least part of the abrasive elements 2 have been removed, from the operating position to the filling position and the new abrasive elements 2 are positioned in the housings 24 of said store 14 .

[0092] According to some advantageous but non-limiting embodiments , the replacement method described above is carried out with a replacement system 1 of the type described above .

[0093] The method and the replacement system 1 of the present have numerous advantages , among which we mention the following .

[0094] First of all , they allow a quick and ef fective replacement of the abrasive element 2 of the finishing apparatus 4 in a totally automatic way, without providing for structural changes in the finishing apparatus 3 and ensuring the success of the removal operation of the worn abrasive tool 2 thanks to a removal assembly 12 that is simple from a mechanical point of view and which guarantees the repeatability and ef fectiveness of the removal operations regardless of the actual state of wear of the abrasive element 2 .

[0095] Furthermore , the replacement method and system 1 of the present invention allow to speed up the replacement operations , thanks to a new store 14 which is configured to have the new abrasive elements 2 arranged on a plane with the coupling surface 8 exposed towards the outside so as to be easily accessible .

Claims

CLAIMS1. A replacement system (1) for the automatic replacement of an abrasive element (2) of a finishing apparatus (3) ; said finishing apparatus (3) comprises a moving structure (5) movable in the space, a finishing head (4) , which is connected to said moving structure (5) in a rotary manner and is provided with a support (6) configured to be coupled, in a releasable manner, to an abrasive element (2) , which, in turn, is provided with at least one abrasive surface (7) and is configured to project, in use, from said support (6) , parallel to said abrasive surface (7) , by at least about 8mm, thus defining a projecting zone (10) ; the replacement system (1) comprises: a removal assembly (12) , which is configured to uncouple said abrasive element (2) from said support (6) and comprises a removal station (13) for receiving said finishing head(4) ; a store (14) for containing a plurality of abrasive elements (2) ; and a control unit (CU) configured to control the activation of said finishing apparatus (3) and of said removal assembly (12) by controlling the movement of said moving structure(5) , so as to move said finishing head (4) up to said removal station (13) and from said removal station (13) to said store (14) , and by controlling said removal assembly (12) so that it uncouples said abrasive element (2) from said support(6) ; the replacement system (1) is characterized in that: said removal station (13) comprises an invitation section (15) configured to receive (in particular, to allow the insertion of) said finishing head (4) and provided with an abutment profile (16) configured to abut, from above, onat least a part of said projecting zone (10) , when said finishing head (4) assumes a removal position (R) , in which it is inserted in said invitation section (15) in contact with said abutment profile (16) , with said projecting zone (10) protruding from said invitation section (15) along a first direction (Z) orthogonal to said abrasive surface (7) towards a handling space (S) ; said abutment profile (16) is configured to abut laterally on at least a part of said support (6) acting as an end stroke for said finishing head (4) inside the invitation section (15) so as to define (or delimit, at least on one side) said removal position (R) ; said removal assembly (12) comprises a clamping device (19) , which operates in said handling space (S) and is configured to grip at least part of said projecting zone (10) ; and said control unit (CU) is configured to control said finishing apparatus (3) and / or said moving structure (5) so as to cause a relative movement between said finishing head (4) and said clamping device (19) away from one another, once said finishing head (4) is in said removal position (R) and said clamping device (19) has gripped said at least part of said projecting zone (10) , so as to uncouple the abrasive element (2) from said support (6) .

2. The replacement system (1) according to claim 1, wherein: said store (14) comprises a plurality of housings (24) , each configured to receive said abrasive elements (2) , which are arranged with a coupling surface (8) , which is parallel to and opposite said abrasive surface (7) and is intended, in use, to be coupled to said support (6) in a releasable manner, facing towards the outside of said store(14) ; and said control unit (CU) is configured to control the activation of said moving structure (5) , once said abrasive element (2) has been uncoupled from said support (6) , so as to move said finishing head (4) from said removal station (13) to said store (14) until said support (6) comes into contact with the coupling surface (8) of one of said abrasive elements ( 2 ) .

3. The replacement system (1) according to claim 1 or 2, wherein said store (14) comprises: a guide (28) , at least one rack (25) , which is coupled to the guide (28) in a sliding manner, and an operating system (29) , which can be activated to cause the movement of said rack (25) along the guide (28) between an operating position and a filling position .

4. The replacement system (1) according to any one of the preceding claims, wherein said control unit (CU) is configured to operate said moving structure (5) so as to move said finishing head (4) away from said invitation section (15) along said first direction (Z) , once said clamping device (19) has been operated to grip said at least part of said projecting zone (10) of said abrasive element (2) , so that said abutment profile (16) transmits to said projecting zone (10) an action having at least one component directed away from said support (6) along said first direction (Z) , such as to uncouple said support (6) from said abrasive element (2) .

5. The replacement system (1) according to any one of the preceding claims, wherein: said removal assembly (12) comprises a frame (17) located at said removal station (13) and a plate (18) carriedby said frame (13) and having a recess that extends from a first edge of said plate (18) and defines said invitation section (15) ; said handling space (S) extends under said plate (18) along said first direction (Z) ; and said clamping device (19) is connected to said plate (18) so as to be movable in said handling space (S) between a first position, in which it is arranged so as to grip at least part of said projecting zone (10) , when said finishing head (4) is in said removal position, and a second position, in which it is spaced apart from said invitation section (15) .

6. The replacement system according to claim 5, wherein said removal assembly (12) comprises a joint (20) interposed between said plate (18) and said clamping device (19) to allow said clamping device (19) to rotate around a rotation axis, perpendicular to said first direction (Z) , by an angle of at least about +or - 45° (more particularly, of at least about +or - 90°) in order to shift from said first position to said second position.

7. The replacement system according to any one of the preceding claims, wherein said clamping device (19) comprises: a first clamping element (22a) , a second clamping element (22b) , which is arranged substantially parallel to and opposite the first clamping element (22a) , and a moving unit (23) , which is configured to move at least one of the first clamping element (22a) and the second clamping element (22b) between a gripping configuration, in which the first clamping element (22a) and the second clamping element (22b) are brought closer to one another so as to clamp, from opposite sides, said abrasive element (2) at said at leastpart of said projecting zone (10) , and a release configuration, in which said first and second clamping elements (22a, 22b) are moved away from one another so as to release said abrasive element (2) .

8. The replacement system (1) according to claim 7, wherein the removal assembly (12) comprises a collecting container, located at the bottom of said handling space (S) to receive said abrasive element (2) released by said clamping device (19) in said release configuration.

9. A replacement method for the automatic replacement of an abrasive element (2) of a finishing apparatus; said finishing apparatus (3) comprises a moving structure (5) movable in the space, a finishing head (4) , which is connected to said moving structure (5) in a rotary manner and is provided with a support (6) configured to be coupled, in a releasable manner, to an abrasive element (2) , which, in turn, is provided with at least one abrasive surface (7) and is configured to protrude, in use, from said support (6) , parallel to said abrasive surface (7) , by at least about 8mm, thus defining a projecting zone (10) ; the replacement method comprises the following steps: a first preparatory step, during which a store (14) is provided for containing a plurality of abrasive elements (2) and a removal assembly (12) is provided, which configured to uncouple said abrasive element (2) from said support (6) ; said removal assembly (12) comprising a removal station (13) which, in turn, comprises an invitation section (15) for receiving (in particular, for allowing the insertion of) said finishing head (4) and provided with an abutment profile (16) , and a clamping device (19) configured to grip said abrasive element (2) ;a first moving step, during which said moving structure (5) moves said finishing head (4) up to said removal station (13) and inserts said finishing head (4) in said invitation section (15) until it reaches a removal position (R) , in which said abutment profile (16) abuts laterally on at least a part of said support (6) acting as an end stroke for said finishing head (4) inside the invitation section (15) and abuts, from above, on at least a part of said projecting zone (10) , which projecting zone (10) protrudes from said invitation section (15) orthogonally to said abrasive surface (7) towards a handling space (S) ; a removal step, which is at least partially subsequent to said first moving step and during which said clamping device (19) is operated to grip said abrasive element (2) , clamping at least part of said projecting zone (10) , and at least one of said clamping device (19) and said finishing head (4) is moved away from the other so as to uncouple the abrasive element (2) from said support (6) ; a second moving step, during which said moving structure (5) moves said finishing head (4) from said removal station (13) up to said store (14) ; and a fixing step, during which said moving structure (5) moves said finishing head (4) until said support (6) comes into contact with an abrasive element (2) of said abrasive elements (2) contained in said store (14) , so as to couple, in a releasable manner, said abrasive element (2) of said abrasive elements (2) to said support (6) ; and said first moving step, said removal step, said second moving step and said fixing step being carried out automatically under the control of a control unit (CU) .

10. The replacement method according to claim 9, whereinsaid removal step comprises: a gripping sub-step, during which the clamping device (19) grips said abrasive element (2) , laterally clamping at least part of said projecting zone (10) ; and a mutual moving sub-step, during which the control unit (CU) controls said relative movement between said clamping device (19) and said finishing head (4) , at least along said first direction (Z) , so as to uncouple the abrasive element (2) from said support (6) .

11. The replacement method according to claim 10, wherein during said mutual moving sub-step, said clamping device (19) is kept still while gripping said abrasive element (2) held along said at least part of said projecting zone (10) and said control unit (CU) operates said moving structure (5) , which moves said finishing head (4) away from said invitation section (15) along said first direction (Z) so that said abutment profile (16) , reacting to the movement of said finishing head (4) , transmits to said projecting zone (10) of said abrasive element (2) an action having at least one component directed away from said support (6) along said first direction (Z) , such as to cause the uncoupling of said support (6) from said abrasive element (2) .

12. The replacement method according to any one of the claims from 9 to 11, comprising a release step, which is subsequent to said removal step and during which said clamping device (19) releases said abrasive element (2) uncoupled from said support (6) , said abrasive element (2) reaching, due to gravity, a collecting container located at the bottom of said handling space (S) ; in particular, said clamping device (19) comprises: a first clamping element (22a) , a second clamping element (22b) , which is arranged substantially parallel to andopposite the first clamping element (22a) , and a moving unit(23) , which is configured to move at least one of the first clamping element (22a) and the second clamping element (22b) between a gripping configuration, in which the first clamping element (22a) and the second clamping element (22b) are brought closer to one another so as to clamp, from opposite sides, said abrasive element (2) at said at least part of said projecting zone (10) , and a release configuration, in which said first and second clamping elements (22a, 22b) are moved away from one another so as to release said abrasive element (2) , once it has been uncoupled from said support (6) , and, during said release step, the clamping device (19) shifts from said gripping configuration to said release configuration .

13. The replacement method according to any one of the claims from 9 to 12, wherein: said store (14) comprises a plurality of housings, each configured to receive said abrasive elements, which are arranged with a coupling surface (8) , which is parallel to and opposite said abrasive surface (7) and is intended, in use, to be coupled to said support (6) in a releasable manner, facing towards the outside of said store (14) ; said fixing step comprises: a first sub-step, during which the control unit (CU) controls the activation of said moving structure (5) , which brings said finishing head (4) up to a first housing (24) of said plurality of housings(24) ; a second sub-step, during which the control unit (CU) controls said moving structure (5) to move said finishing head (4) and cause said support (6) to come into contact with the coupling surface (8) of the abrasive element (2) contained in said first housing; and a third sub-step, whichis subsequent to said second sub-step and during which said control unit (CU) controls said moving structure (5) so as to move said finishing head (4) towards said coupling surface (8) to transmit a pressure of at least about 5kg towards said coupling surface in order to ensure coupling.

14. The replacement method according to claim 13, wherein : said store (14) comprises: a guide (28) , at least one rack (25) , which is coupled to the guide (28) in a sliding manner, and an operating system (29) , which can be activated to cause the movement of said rack (25) along the guide (28) between an operating position and a filling position; and the replacement method comprises a filling step, during which the control unit (CU) is operated to move said store (14) from the operating position to the filling position and further abrasive elements (2) are placed in said housings (24) .

15. The replacement method according to any one of claims 9 to 14, wherein said moving step comprises a first sub-step, during which the moving structure (5) is operated and moves said finishing head (4) up to said removal station (13) , and a positioning sub-step, during which said moving structure (5) is operated to insert said finishing head (4) in said invitation section (15) until it abuts on said abutment profile (16) so as to assume said removal position (R) •16. The replacement method according to any one of the claims from 9 to 15 carried out with a replacement system (1) according to any one of the claims from 1 to 9.

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