CN-122008045-A - Automatic grinding tool replacement method and system suitable for grinding equipment

CN122008045ACN 122008045 ACN122008045 ACN 122008045ACN-122008045-A

Abstract

The invention discloses an automatic grinding tool replacement method and system suitable for grinding equipment. The automatic grinding tool replacing method suitable for the grinding equipment comprises the steps that the control part controls the operation part to move to a current grinding tool falling position and controls the current grinding tool to fall off from the operation part, the control part controls the operation part to move to a standby grinding tool replacing position, the standby grinding tool replacing position is a position of the operation part corresponding to the standby grinding tool supporting mechanism, the control part controls the operation part to adjust the posture so that the posture of the operation part is matched with the standby grinding tool supporting mechanism, the operation part obtains the standby grinding tool from the standby grinding tool supporting mechanism, and the control part controls the operation part to move to the operation position. The method and the system realize automatic replacement of the grinding tool of the grinding equipment, improve the intelligent degree of the automatic replacement process and have higher replacement efficiency.

Inventors

DUAN SHANGRU
ZHANG TIANTAI
XU ZHIJIA

Assignees

上海秦稷智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (12)

1. An automatic grinding tool replacing method suitable for grinding equipment is characterized by comprising a working part, a control part and a standby grinding tool supporting mechanism, wherein the working part is used for carrying out the automatic grinding tool replacing operation; The working part is provided with a current grinding tool, and the working part uses the current grinding tool to carry out grinding operation; the backup grinding tool supporting mechanism supports the backup grinding tool; the method comprises the following steps: The control part controls the operation part to move to the current grinding tool falling position and controls the current grinding tool to fall off from the operation part; The control part controls the operation part to move to a standby grinding tool replacement position, wherein the standby grinding tool replacement position is a position of the operation part corresponding to the standby grinding tool supporting mechanism; the control part controls the operation part to adjust the posture so as to enable the posture of the operation part to be matched with the standby grinding tool supporting mechanism; the operation part obtains the standby grinding tool from the standby grinding tool supporting mechanism; the control unit controls the operation unit to move to an operation position.
2. An automatic grinding tool changing method for a grinding apparatus according to claim 1, wherein: the working part comprises a tensioning and adjusting mechanism, wherein the tensioning and adjusting mechanism can be driven to extend or shorten; The current grinding tool is controlled to fall off from the operation part, wherein the tensioning and adjusting mechanism is contracted, the current grinding tool is in a loose state, and the current grinding tool falls off from the tensioning and adjusting mechanism under the action of gravity; the control part controls the operation part to adjust the gesture comprises that after the tensioning and adjusting mechanism is contracted, the control part controls the tensioning and adjusting mechanism to align with the standby grinding tool; The operation part obtains the standby grinding tool from the standby grinding tool supporting mechanism, wherein the standby grinding tool supporting mechanism comprises the steps that the tensioning adjusting mechanism expands, and the standby grinding tool is sleeved on the tensioning adjusting mechanism and is in a tensioning state.
3. The automatic grinding tool changing method for a grinding apparatus according to claim 2, wherein the tension adjusting mechanism includes a driving wheel and a driven wheel, and the current grinding tool is sleeved on the driving wheel and the driven wheel; The tensioning and adjusting mechanism is contracted, comprising shortening the distance between the driving wheel and the driven wheel; The tensioning adjustment mechanism expansion includes increasing the distance between the drive wheel and the driven wheel.
4. The automatic grinding tool replacing method for grinding equipment according to claim 2, wherein the backup grinding tool supporting mechanism comprises a guide tensioning part, the guide tensioning part comprises a guide tensioning mechanism, and the guide tensioning part is in an expanding state when the backup grinding tool is sleeved on the guide tensioning mechanism; the automatic replacement method further includes: after the tensioning and adjusting mechanism expands, the guiding tensioning part contracts; The contracting of the guide tensioning part comprises shortening the relative distance of the guide tensioning mechanism.
5. The automatic grinding tool replacing method for grinding equipment according to claim 4, wherein the standby grinding tool supporting mechanism comprises a standby grinding tool placing platform, the guide tensioning mechanism is arranged on the standby grinding tool placing platform, the guide tensioning mechanism can extend or retract relative to the standby grinding tool placing platform, and when the guide tensioning mechanism is sleeved with the standby grinding tool, the guide tensioning mechanism extends out of the standby grinding tool placing platform; The automatic grinding tool replacing method further comprises the step that after the guiding tensioning mechanism is contracted, the guiding tensioning mechanism is retracted relative to the standby grinding tool placing platform.
6. An automatic grinding tool changing method for a grinding apparatus according to claim 1, wherein the backup grinding tool supporting mechanism is further provided with a drop-off engagement portion that touches the current grinding tool at the current grinding tool drop-off position, The automatic replacement method further includes: controlling the current grinding tool to fall off from the operation part comprises controlling the operation part to move towards the falling off matching direction, so that the falling off matching part applies pressure to the current grinding tool to assist the falling off of the current grinding tool.
7. The automatic grinding tool changing method for a grinding apparatus according to claim 6, wherein the working part includes a tension adjusting mechanism, and the current grinding tool is sleeved on the tension adjusting mechanism; The backup grinding tool supporting mechanism comprises a backup grinding tool placing platform and a guide tensioning mechanism sleeved with the backup grinding tool, one end of the L-shaped stirring rod is connected to the backup grinding tool placing platform, one end of the L-shaped stirring rod extends out of the backup grinding tool placing platform, and in the current grinding tool falling position, one end of the L-shaped stirring rod extends into a position capable of blocking relative movement of the current grinding tool and the tensioning adjusting mechanism.
8. An automatic grinding tool changing method for a grinding apparatus according to claim 1, wherein: the backup grinding tool supporting mechanism is also provided with a first photoelectric monitoring mechanism which monitors the placement state of the backup grinding tool on the backup grinding tool supporting mechanism, The method further comprises the steps of: The first photoelectric monitoring mechanism generates a first signal indicating whether the spare grinding tool is sleeved on the spare grinding tool supporting mechanism or not, and sends the first signal to the control part; the control part judges whether to control the operation part to move to the replacement position of the standby grinding tool according to the first signal.
9. The automatic grinding tool changing method according to claim 8, wherein the backup grinding tool supporting means is plural, and the method further comprises the control section confirming the backup grinding tool replacement position based on the first photoelectric detection signal, the backup grinding tool replacement position being selected from backup grinding tool supporting means positions where the backup grinding tool exists.
10. An automatic grinding tool changing method for a grinding apparatus according to claim 1, wherein: the working part is also provided with a second photoelectric monitoring mechanism which monitors the current grinding tool placing state on the working part, The method further comprises the steps of: The second photoelectric monitoring mechanism generates a second signal indicating whether the current grinding tool is sleeved on the operation part or not and sends the second signal to the control part; The control part judges whether to control the operation part to move to the replacement position of the standby grinding tool according to the second signal.
11. An automatic grinding tool changing method for a grinding apparatus according to claim 1, wherein: The working part comprises a tensioning and adjusting mechanism, wherein the tensioning and adjusting mechanism can be driven to stretch or shorten, the tensioning and adjusting mechanism comprises a first supporting part, the first supporting part is provided with a driving wheel and a driving wheel driving part, the driving wheel driving part is suitable for driving the driving wheel to rotate, the first supporting part is connected with a second supporting part, the second supporting part is provided with a sliding driving part, the sliding driving part is suitable for driving a driven wheel supporting part to slide relative to the second supporting part, the driven wheel supporting part is in sliding connection with the second supporting part, the driven wheel supporting part comprises a connecting part and a rotating part, the rotating part is rotationally connected to the connecting part, the driven wheel is installed on the rotating part, the driven wheel can be driven far from or close to the driving wheel, and the current grinding tool is sleeved on the driving wheel and the driven wheel; The standby grinding tool supporting mechanism comprises a standby grinding tool placing platform, a guide tensioning part, a falling matching part, a first photoelectric monitoring mechanism and a second photoelectric monitoring mechanism, wherein the guide tensioning part comprises a guide tensioning mechanism, the guide tensioning mechanism is arranged on the standby grinding tool placing platform, when the standby grinding tool is sleeved on the guide tensioning mechanism, the guide tensioning part is in an expanding state, the guide tensioning mechanism can extend or retract relative to the standby grinding tool placing platform, when the standby grinding tool is sleeved on the guide tensioning mechanism, the guide tensioning mechanism extends out of the standby grinding tool placing platform, the falling matching part is arranged on the standby grinding tool supporting mechanism, the falling matching part contacts the current grinding tool at the falling position of the current grinding tool, the first photoelectric monitoring mechanism monitors the standby grinding tool placing state on the standby grinding tool supporting mechanism, and the second photoelectric monitoring mechanism monitors the current grinding tool placing state on the operating part; The number of the grinding tool supporting mechanisms is multiple; the control part controls the operation part to move towards the falling fit direction so that the falling fit part applies pressure to the current grinding tool to assist the falling of the current grinding tool from the operation part; the control part controls the operation part to adjust the gesture comprises that after the tensioning and adjusting mechanism is contracted, the control part controls the tensioning and adjusting mechanism to align with the standby grinding tool; The operation part acquires the standby grinding tool from the standby grinding tool supporting mechanism, wherein the standby grinding tool supporting mechanism comprises a tensioning and adjusting mechanism, the driven wheel is driven to be far away from the driving wheel, the standby grinding tool is sleeved on the driven wheel and the driving wheel, and the standby grinding tool is in a tensioning state; the method further comprises the steps of: the second photoelectric monitoring mechanism generates a second signal indicating whether the working part is sleeved with the current grinding tool or not and sends the second signal to the control part; The first photoelectric monitoring mechanism generates a first signal indicating whether the spare grinding tool is sleeved on the spare grinding tool supporting mechanism or not, and sends the first signal to the control part; The control part confirms the replacement position of the standby grinding tool according to the first signal, wherein the replacement position of the standby grinding tool is selected from the positions of the standby grinding tool supporting mechanisms with the standby grinding tools; After the tensioning and adjusting mechanism is expanded, the guiding and tensioning part is contracted to shorten the relative distance of the guiding and tensioning mechanism, and after the guiding and tensioning mechanism is contracted, the guiding and tensioning mechanism is contracted to retract relative to the standby grinding tool placing platform.
12. An automatic grinding tool changing system for a grinding apparatus, characterized by comprising the grinding apparatus according to any one of claims 1 to 11, The sanding apparatus configured for application to the automatic abrasive article replacement method of any one of claims 1-11.

Description

Automatic grinding tool replacement method and system suitable for grinding equipment Technical Field The invention relates to the technical field of polishing, in particular to an automatic grinding tool replacing method and system suitable for polishing equipment. Background The polishing equipment is often matched with an industrial robot for use, and particularly has been widely applied to the fields of automobiles, aerospace and the like, so that the efficiency of polishing operation is remarkably improved. However, in practice, the grinding tool of the grinding device is still replaced by manual work as a high-frequency loss member, which not only causes frequent interruption of grinding operation and poor replacement accuracy, but also causes quality fluctuation and potential safety hazard caused by personnel operation difference. The efficiency bottleneck and the additional cost brought by manual die changing severely restrict the continuity and the automation level of the polishing procedure. Therefore, a high-efficiency automatic grinding tool replacement method and system suitable for grinding equipment are needed to minimize manual intervention, ensure operation continuity, realize full-automatic replacement of the grinding tool, improve working efficiency of the grinding equipment, and are suitable for continuous grinding operation, which is also a technical problem to be solved in the field. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides an automatic grinding tool replacement method and system suitable for grinding equipment, so as to realize full-automatic grinding tool replacement of the grinding equipment. The automatic grinding tool replacing method suitable for the grinding equipment is characterized by comprising a working part, a control part and a standby grinding tool supporting mechanism, wherein the working part is provided with a current grinding tool, the working part uses the current grinding tool to carry out grinding operation, the standby grinding tool supporting mechanism supports the standby grinding tool, the control part controls the working part to move to a current grinding tool falling position and controls the current grinding tool to fall off from the working part, the control part controls the working part to move to a standby grinding tool replacing position, the standby grinding tool replacing position is a position corresponding to the standby grinding tool supporting mechanism, the control part controls the working part to adjust the posture so that the posture of the working part is matched with the standby grinding tool supporting mechanism, the working part acquires the standby grinding tool from the standby grinding tool supporting mechanism, and the control part controls the working part to move to the working position. The operation part comprises a tensioning adjustment mechanism, the tensioning adjustment mechanism can be driven to extend or shorten, the current grinding tool is sleeved on the tensioning adjustment mechanism, the current grinding tool is controlled to fall off from the operation part, the tensioning adjustment mechanism is contracted, the current grinding tool is in a loose state, the current grinding tool falls off from the tensioning adjustment mechanism under the action of gravity, the control part controls the operation part to adjust the posture and comprises that after the tensioning adjustment mechanism is contracted, the control part controls the tensioning adjustment mechanism to align with the standby grinding tool, and the operation part obtains the standby grinding tool from the standby grinding tool supporting mechanism and comprises that the tensioning adjustment mechanism is expanded, and the standby grinding tool is sleeved on the tensioning adjustment mechanism and is in a tensioning state. The tensioning and adjusting mechanism comprises a driving wheel and a driven wheel, the current grinding tool is sleeved on the driving wheel and the driven wheel, the tensioning and adjusting mechanism contracts and comprises a distance between the driving wheel and the driven wheel, and the tensioning and adjusting mechanism expands and comprises a distance between the driving wheel and the driven wheel. Optionally, the backup grinding tool supporting mechanism comprises a guide tensioning part, wherein the guide tensioning part comprises a guide tensioning mechanism, the guide tensioning part is in an expanding state when the backup grinding tool is sleeved on the guide tensioning mechanism, the automatic replacing method further comprises the step that after the tensioning adjusting mechanism is expanded, the guide tensioning part is contracted, and the step that the guide tensioning part is contracted comprises the step that the relative distance of the guide tensioning mechanism is shortened. The automatic replacement method for the spare grinding tool comprises the steps that th