Automatic Grinding Disc Changing With Pretensioned Stack Handling

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Solution Overview

Problem

Existing robot-supported grinding machines face challenges in efficiently and cost-effectively automating the process of changing grinding discs, as existing solutions are complex and require significant manual intervention.

Innovation Solution

A system comprising a frame, separating plate, and support surface, coupled with a manipulator and actuator, allows for automated removal and mounting of grinding discs without the need for additional drives, using relative movements and controlled forces to detach the discs from the backing pad.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If existing automated solutions for changing grinding discs are implemented, then automation extent is improved, but device complexity increases significantly

Engineering Contradiction:

Improveautomation of grinding disc changingVSAvoidcomplexity of changing station

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The changing station is divided into functional modules: a support structure for holding grinding discs, a manipulator for disc removal, and an attachment mechanism for disc mounting. Each module performs a specific function independently, simplifying the overall system design while achieving full automation of the grinding disc changing process.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The manipulator serves multiple functions: it removes worn grinding discs from the backing pad, positions new grinding discs, and facilitates their attachment. This multi-functional approach reduces the need for separate dedicated mechanisms for each operation, thereby reducing device complexity while maintaining high automation extent.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Productivity

If existing automated solutions for changing grinding discs are implemented, then productivity is improved, but manufacturing cost increases

Engineering Contradiction:

Improvechanging speed of grinding discsVSAvoidmanufacturing cost of changing station

Core Design Contradiction:

ProductivityVSEase of manufacture

Solution Approach 1:

The support structure is designed to hold multiple grinding discs in a stack, allowing the system to automatically select and attach new discs without external intervention. The manipulator autonomously performs removal and attachment operations, enabling continuous operation and high productivity while minimizing the need for complex control systems and reducing manufacturing costs.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Grinding discs are pre-stacked on the support structure in the correct orientation before the changing process begins. This preliminary arrangement allows the manipulator to quickly remove worn discs and attach new ones without complex positioning operations, increasing changing speed and productivity while keeping the system design simple and cost-effective.

Inventive Principle:

Principle #10Preliminary action

3Device complexity

If manual intervention is used for changing grinding discs, then device complexity is reduced, but loss of time increases

Engineering Contradiction:

Improvesimplicity of changing stationVSAvoidtime for grinding disc changing

Core Design Contradiction:

Device complexityVSLoss of time

Solution Approach 1:

The manipulator extracts worn grinding discs from the backing pad and removes them from the system. This automated extraction eliminates the time-consuming manual operation of removing and replacing discs, significantly reducing the time for changing while maintaining a relatively simple device structure through the use of a single robotic manipulator.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The support structure acts as an intermediary, storing multiple grinding discs and presenting them to the manipulator in sequence. This intermediary component enables rapid automated changing by eliminating the need for manual disc handling, reducing time loss while keeping the overall system simple and cost-effective.

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables efficient and cost-effective automation of grinding disc changes, reducing manual effort and complexity while maintaining precise control over the grinding process.

Implementation Method 1

a mechanical pretensioning unit that is coupled with the frame such that a defined force is exerted by the frame onto the stack of grinding discs

Methodology Applied

Scientific EffectMechanical Force: Mechanical Force

Implementation Method 2

a first edge of the separating plate is pushed over the grinding disc

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS12459073B2Apparatus and method for the automatic changing of grinding materials

Publication Date: 2025.11.04 FERROBOTICS COMPLIANT ROBOT TECH

AI summary

An apparatus includes: a receiving surface configured to receive a stack of grinding discs; a frame arranged substantially parallel to the receiving surface so that the stack of grinding discs is positioned between the receiving surface and the frame, the frame only partially overlapping an outer rim of a topmost grinding disc of the stack of grinding discs; and a mechanical pretensioning unit coupled with the frame such that a defined force is exerted by the frame on the stack of grinding discs.