CN207656502U - A kind of integration sand paper apparatus for automatic change - Google Patents

Abstract

The utility model discloses an integrated sandpaper automatic replacement device, which comprises a first conveying module, a cutting module, a second conveying module and a sticking module; wherein, the first conveying module comprises a material storage box, a sandpaper guide plate and a first sandpaper Carrying mechanism; The cutting module includes an upper cutting knife positioned above one side of the sandpaper guide plate, a first vertical drive mechanism, a lower cutting knife positioned below the upper cutting knife and a second vertical driving mechanism; the second handling module includes Hand claws, the first clamping drive mechanism that drives the claws to perform a new sandpaper clamping movement, the first horizontal drive mechanism that drives the claws to perform horizontal telescopic movements, and the rotary drive mechanism that drives the claws to perform rotational movements; the pasting module includes A scraper, a dispensing machine for dispensing glue on the mold core, a die and a pressing and clamping mechanism that cooperates with the die to press and clamp new sandpaper. The device automates the handling, cutting and pasting tasks of the sandpaper changing operation.

Description

An integrated sandpaper automatic replacement device

technical field

The utility model relates to an automatic grinding machine, in particular to an integrated sandpaper automatic replacement device.

Background technique

The automatic sandpaper grinding machine is a kind of equipment that uses sandpaper to automatically polish and polish the mold. It generally includes a mold core, sandpaper pasted on the mold core, and a mechanical arm that drives the movement of the mold core. Among them, since the sandpaper is constantly worn during the grinding and polishing process, it is necessary to regularly replace the sandpaper. Specifically, a mold core is installed in the chuck of the manipulator type pneumatic sander, and then the outer surface of the mold core is used Glue sticks a layer of sandpaper. After the sandpaper wears out after a period of time, the old sandpaper needs to be torn off first, and then new sandpaper should be pasted. Since the sandpaper replacement operation involves removing the old sandpaper and pasting the new sandpaper on the cylindrical mold core, the process is relatively complicated, and it is difficult to achieve it by pasting the manipulator. Therefore, the existing sandpaper replacement operations are all done manually. , the mode of manual completion has problems such as low work efficiency, laborious work, poor safety and the like in the work.

Therefore, there is a need for an automatic sandpaper changing device that can automatically complete the above-mentioned task of changing sandpaper for a manipulator type pneumatic sander.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide an integrated sandpaper automatic replacement device, which can automatically complete the replacement of sandpaper.

The technical scheme that the utility model solves the problems of the technologies described above is:

An integrated sandpaper automatic replacement device, comprising a first handling module, a cutting module, a second handling module and a pasting module; wherein, the first handling module includes a storage box for storing sandpaper, located beside the storage box The sandpaper guide plate and the first sandpaper conveying mechanism for transporting the sandpaper in the material storage box to the sandpaper guide plate; The first vertical driving mechanism, the lower cutting knife positioned under the upper cutting knife and the second vertical driving mechanism that drives the lower cutting knife to move vertically; the second transport module includes claws and driving claws as new sandpaper clips The first clamping drive mechanism for holding movement, the first horizontal drive mechanism for driving the claws to perform horizontal telescopic movement, and the rotary drive mechanism for driving the claws to rotate; the pasting module includes a scraper for scraping off old sandpaper, A dispensing machine for dispensing glue on the mold core, a die and a pressing and clamping mechanism that cooperates with the die to press and clamp new sandpaper, wherein the die is provided with grooves.

In a preferred solution of the present utility model, wherein, the first sandpaper conveying mechanism includes a vacuum suction cup, a third vertical drive mechanism that drives the vacuum suction cup to move up and down, and a third vertical drive mechanism that drives the vacuum suction cup to and fro between the storage box and the sandpaper guide plate. Two horizontal drive mechanisms, wherein the vacuum chuck is connected with a negative pressure device. When working, the handling process of the first sandpaper handling mechanism is as follows: after completing the task of transporting and placing the last piece of sandpaper, driven by the third vertical driving mechanism, the vacuum suction cup moves upwards, and then driven by the second horizontal driving mechanism Next, the vacuum suction cup moves horizontally from above the sandpaper guide plate to above the storage box; then, the vertical transport drive mechanism moves again, and the vacuum suction cup moves downward to above the sandpaper. Under the action of the negative pressure device, The vacuum suction cup picks up the sandpaper, and then transports the sandpaper to the top of the sandpaper guide plate according to the original route. Finally, the vacuum suction cup cuts off the adsorption of the sandpaper, and the sandpaper falls to the sandpaper guide plate under the action of gravity, thus completing the entire sandpaper handling process. In the process of absorbing sandpaper through the above device, on the one hand, because the vacuum suction cup only has adsorption force on the uppermost layer of sandpaper, it can easily separate the uppermost layer of sandpaper from other sandpapers, ensuring that only one piece of sandpaper is transported at a time , so as to meet the handling needs of a single sandpaper. Compared with the way of manual transportation, it can avoid the problem of difficult and slow separation of sandpaper separation by fingers, thereby improving the transportation efficiency; on the other hand, because the transportation is carried out by fixed-point positioning during work, so , the sandpaper after transportation has the advantage of accurate positioning, because the positioning accuracy of the sandpaper after transportation directly affects the subsequent cutting and pasting accuracy, so the advantage of accurate positioning is very important for the entire automatic sandpaper replacement device.

In a preferred solution of the present utility model, wherein, the pressing and clamping mechanism includes two pressing pieces, a fourth vertical driving mechanism that drives the two pressing pieces to move vertically, and drives the two pressing pieces to approach and move away from each other. Movement of the second clamping drive mechanism. When working, press the clamping mechanism to carry out the two tasks of preliminary fixing of sandpaper and pressing and pasting of sandpaper in sequence. Among them, the preliminary fixing operation of sandpaper is: the fourth vertical driving mechanism moves, driving the two pressing parts to move downward to contact with the sandpaper , so as to loosely fix the two ends of the sandpaper (loose fixation means that the sandpaper can be pulled out of the pressing part when the external force reaches a certain value); The task of pasting the sandpaper on the lower part of the core is carried out by moving upward and downward. When the sandpaper moves downward with the core, the two ends of the sandpaper will shrink toward the middle and gradually separate from the pressing part. When the two ends of the sandpaper move to completely separate from the After pressing the part, it will be lifted upwards under the action of its own toughness. At this time, the sandpaper is located between the pressing part and the mold core; then, the fourth vertical drive mechanism performs the task of pressing and pasting the sandpaper, specifically, in the second clamping drive Driven by the mechanism, the two pressing parts move closer to each other and contact the sandpaper, and then continue to move to press the sandpaper on the core, and then the second clamping driving mechanism and the fourth vertical driving mechanism act simultaneously to drive the two pressing parts to stick The arc of the mold core moves upwards. Since the two pressing parts exert a pressing force on the sandpaper during the upward movement, the sandpaper can be gradually pressed on the mold core from bottom to top; when the two pressing parts move to the core When it reaches the top, the pasting task of the entire mold core is completed.

In a preferred solution of the present utility model, wherein the gripper is composed of an upper clamping block and a lower clamping block, wherein the upper clamping block and the lower clamping block are rectangular blocks, and the two ends of the rectangular block are respectively outward Extending to form a clamping part, the sandpaper guide plate is provided with a notch cooperating with the clamping part, and when the claw moves to clamp the sandpaper, the clamping part extends into the notch. The purpose of such setting is that before the above-mentioned notch is provided, when the sandpaper is clamped, the sandpaper guide plate will hinder the clamping action, so the sandpaper must be stretched out from the sandpaper guide plate for a certain distance (this distance forms the clamping of the sandpaper). Only when the upper clamping block and the lower clamping block move closer to each other to clamp the sandpaper, due to the cooperation between the sandpaper guide plate and the clamping part The ground is provided with notches, so the clamping parts of the upper and lower clamping blocks can pass through the sandpaper guide plate and continue to move closer to each other, thereby realizing the clamping of the sandpaper, thereby making the clamping action more convenient.

Preferably, the cutting module further includes a pressing mechanism, which is arranged above the sandpaper guide plate, and includes a pressing block and a fifth vertical driving mechanism for driving the pressing block to move vertically. The purpose of such setting is that when using the cutting mechanism to cut the sandpaper, because the texture of the sandpaper is soft, when only one end of the sandpaper is fixed with the claws, the phenomenon of knife jamming may occur during cutting, that is, the sandpaper is not cut. The fixed end undergoes adaptive deformation under the cutting force of the cutting knife and gets stuck between the upper and lower cutting knives, resulting in cutting failure. After the above-mentioned pressing mechanism is set, during work, the fifth vertical drive mechanism drives the pressing block to move downward to realize pressing and fixing the other end of the sandpaper. In this way, since both ends of the sandpaper are fixed, the cutting It can avoid the occurrence of the above-mentioned knife jamming phenomenon, so that the sandpaper cutting work can be carried out more smoothly.

Preferably, the vacuum suction cup is an elastic telescopic tube. When working, on the one hand, when the drive of the third vertical drive mechanism exceeds the range and causes the vacuum suction cup to continue to move downward after contacting the sandpaper, the vacuum suction cup can perform its own shrinkage movement to adjust to prevent collisions; on the other hand , can utilize the characteristic of elastic shrinkage of the vacuum suction cup to reduce the change of the falling distance when absorbing the sandpaper. Specifically, the falling distance of the vacuum suction cup is fixed each time during work. In this way, at the beginning, when the vacuum suction cup contacts the sandpaper And when the downward movement is stopped, the compression of the vacuum suction cup is the largest, and then as the height of the vacuum suction cup gradually decreases, the compression of the vacuum suction cup also gradually decreases, but it can still perform normal adsorption work, thus greatly reducing the handling process. Adjustments to the descent distance.

Preferably, the edge of the upper cutting knife is inclined relative to the edge of the lower cutting knife. The purpose of setting like this is, since the blade of the upper cutting knife and the blade of the lower cutting knife are relatively inclined, the blades of the two cutting knives gradually come into contact from one end to the other end during the moving process of the two cutting knives, so as to realize the grinding of the sandpaper. The advantage of gradual cutting is that compared with the sudden cutting method, the gradual cutting method can make the shearing force more concentrated, so that the cutting action is easier to perform and the cutting effect is better.

Preferably, the blade of the upper cutting knife is arranged obliquely, and the blade of the lower cutting knife is arranged horizontally, wherein the blade of the upper cutting knife is gradually approaching the lower cutting knife in the lateral direction from the bottom to the top. The purpose of such setting is, when the upper cutting knife moves downwards, the bottom of the blade first moves to the lateral side of the lower cutting knife to realize the positioning of the whole lower cutting knife (the position is positioned on the fixed side of the upper cutting knife ), in this way, since the blade of the upper cutting knife is gradually approaching the lower cutting knife in the lateral direction from the bottom to the top, it can ensure that the upper and lower cuttings are in close contact when they are in the process of descending, so as to better sandpaper Apply shear force, the shear effect is better.

A preferred solution of the present utility model, wherein, the groove is a semicircular groove with an upward opening. During work, when performing sandpaper pasting tasks, the semicircular groove with the opening facing upwards is responsible for the pressing task of the lower semicircle of the mold core, and the pressing part is responsible for the pressing task of the upper semicircle of the mold core. The purpose of this setting is that since the mold core presses the sandpaper from above the notch and moves downward, when the groove is a circular groove larger than a semicircle, it will hinder the downward movement of the mold core; and when the groove is smaller than a semicircle When using a circular groove, in addition to applying an obliquely downward pressing force to the upper half-arc, it is also necessary to apply an obliquely upward pressing force to the lower half-arc. Since the directions of the two pressing forces are different, it is necessary to It can only be realized by adding a corresponding force application conversion mechanism on the pressing part, and adding a rotating mechanism will cause the structure of the whole device to be complicated; and when the groove is set as a semicircular groove, the problems existing in the above two setting methods can be overcome. So it works well.

Preferably, the pressing member is a rectangular block, wherein the bottom surface of the rectangular block is the pressing surface, the opposite side of the two rectangular blocks is the clamping surface, and the intersection line between the pressing surface and the clamping surface is the pressing action line. When working, the pressing surface moves downwards driven by the vertical driving mechanism to press the sandpaper on the die, and the clamping action line always moves against the mold core driven by the fourth vertical driving mechanism and the first clamping driving mechanism , so that the sandpaper is pressed and pasted on the core. The advantage of this setting is that since the pressing action line is the intersection line between the pressing surface and the clamping surface (that is, the ridge line at the bottom of the rectangular block), it can realize the pressing and sticking effect on each point on the upper semi-arc surface of the mold core, specifically , when the pressing action line is the ridge line at the bottom of the rectangle, the starting point of the pressing action is the boundary point of the upper and lower semicircles of the core, and the trajectory of the pressing movement is a semicircular arc, so that all the points on the upper semicircle of the core can be controlled When the pressing action line is the ridge line of the non-rectangular bottom, for example, when the pressing surface is an arc surface and the pressing action line is a line on the arc surface, the starting point of the pressing action is the upper semicircle of the core A point on the arc, at this time, the trajectory of the pressing action line is a small semi-circular arc, so in this case, there are pressing omission points on the upper semi-circular surface of the mold core, so the pressing effect is not good.

The working principle of the utility model is:

When working, the sandpaper located in the storage box moves to the sandpaper guide plate under the transportation of the first transport mechanism. Since the size required for the sandpaper paste is small, and the size of the supplied sandpaper is large, it is necessary to adjust the sandpaper guide plate. The sandpaper is cut, and the cutting task is completed by the cooperation of the cutting module and the second handling module. The specific cutting steps are as follows: when working, the claws first move to the sandpaper guide plate to clamp the sandpaper on the guide plate, and then drive at the first level Driven by the mechanism, the sandpaper is clamped and moved away from the sandpaper guide plate for a certain distance, and the distance corresponds to the size of the sandpaper after cutting; then, the upper cutting knife and the lower cutting knife respectively move in the first vertical driving mechanism and the second vertical driving mechanism. Driven by the driving mechanism, the relative movement in the vertical direction is carried out, and the two cutting knives are in contact with each other during the movement, thereby realizing the cutting of the sandpaper.

After completing the sandpaper cutting task, the first clamping drive mechanism, the first horizontal drive mechanism and the rotating mechanism in the second transport mechanism act in sequence to transfer the cut sandpaper from the cutting module to the upper surface of the die in the pasting module for pasting Task. The specific paste operation is:

When working, driven by the mechanical arm, the mold core of the grinding machine first moves to the position of the old sandpaper removal module, and the old sandpaper on the mold core is scraped off through multiple contact and friction with the scraper; then grind The mold core of the machine then moves to the position of the dispensing module for dispensing, wherein, while the dispensing machine is dispensing glue on the mold core, the mechanical arm drives the mold core to rotate, so that the glue can be evenly distributed on the mold core on the cylindrical surface; finally, the core of the grinding machine moves to the position of the new sandpaper pasting module to paste the new sandpaper. Specifically, the core first moves to the top of the groove, and then presses the sandpaper on the groove downward Move until it fits into the groove. In the process of fitting, the mold core exerts a pressing force on the sandpaper to realize the paste with the sandpaper, thus completing the pasting task of the lower part of the mold core. Then, press the clamping mechanism to remove the remaining sandpaper. The upper part is pressed on the upper part of the mold core, thus completing the pasting task of the entire sandpaper.

Compared with the prior art, the utility model has the following beneficial effects:

1. The integrated automatic replacement device of the present utility model can automatically complete the tasks of handling, cutting and pasting in the sandpaper replacement operation. Since no manual participation is required in the entire replacement operation process, it can overcome the problems that exist when the replacement task is completed manually. Low work efficiency, laborious and laborious, poor safety and other issues.

2. A sandpaper cutting and conveying device of the present utility model realizes the control of the size of the sandpaper by moving a fixed distance along the direction away from the sandpaper guide plate when cutting the sandpaper. Since the moving distance is the same each time, the sandpaper after cutting The size can be basically consistent. Compared with the manual cutting method, the operation is easier and the cutting accuracy is higher.

3. A sandpaper cutting and transporting device of the present utility model can carry out fixed-point positioning transfer and transportation of the cut sandpaper, so the sandpaper after transportation can be placed in the ideal position when the sandpaper is pasted, so that the subsequent sandpaper pasting Better results.

4. When the sandpaper is pasted, it is necessary to apply a pressing force to the pasting surface so that the sandpaper can be fastened and pasted. Since the pasting surface of the mold core is a cylindrical surface, the direction of the pressing force needs to be constantly changed, which makes the pasting work difficult. , become a technical problem in this field. However, the sandpaper automatic replacement device of the present utility model applies the pressing force step by step through the mutual cooperation of the concave mold and the pressing member, that is, only by pressing the mold core in the groove of the concave film, the pasting task of the lower part of the mold core can be realized. By controlling the pressing part to move upward according to the specified route, the pasting task of the upper part of the mold core can be realized, so the problem of difficult pasting of the cylindrical mold core is well solved, and the whole pasting has the advantages of simple and convenient operation, so the design is ingenious .

5. During the pasting process, since the pressing part and the concave mold press the sandpaper with a large and uniform pressing force, the sandpaper can fit well with the mold core, so that the pasting effect is good.

Description of drawings

Fig. 1 is a three-dimensional structural diagram of a specific embodiment of an integrated automatic sandpaper replacement device of the present invention.

Fig. 2 is a perspective view of the three-dimensional structure of the integrated automatic sandpaper replacement device shown in Fig. 1 .

Fig. 3 and Fig. 4 are the schematic diagrams of the three-dimensional structure of the first handling module in Fig. 1, wherein, Fig. 1 is a schematic diagram of the three-dimensional structure when the vacuum suction cup moves to the top of the storage box to prepare for sandpaper adsorption; Fig. 2 is a schematic diagram of the three-dimensional structure of the vacuum suction cup moving to The three-dimensional structure diagram above the sandpaper guide plate when the sandpaper is ready to be placed on the sandpaper guide plate.

FIG. 5 is a schematic perspective view of the three-dimensional structure of the cutting module in FIG. 1 .

FIG. 6 is a schematic perspective view of the three-dimensional structure of the cutting module and the second transporting module in FIG. 1 .

Fig. 7 is a diagram of the working state when the claws are clamping the sandpaper in Fig. 6 .

FIG. 8 is a schematic diagram of the three-dimensional structure of the pasting module in FIG. 2 .

Fig. 9 is a working state diagram when the mold core is dispensing glue in Fig. 8 .

Fig. 10 is a schematic diagram of the structure in Fig. 5 when the blade edge of the upper cutting knife is set obliquely and the blade edge of the lower cutting knife is set horizontally.

Figure 11 and Figure 12 are cross-sectional views in the width direction of the upper cutting knife and the lower cutting knife in Figure 5, wherein Figure 11 is a structural state diagram when the upper cutting knife and the lower cutting knife are not in contact; Figure 12 is the upper cutting knife and the lower cutting knife Structural state diagram at contact.

FIG. 13 is a diagram of an initial pressing state when the pressing line is a corner of a rectangle in the pasting module of FIG. 8 .

Fig. 14 is a diagram of the initial state of pressing when the pressing surface is a cylindrical surface in the pasting module of Fig. 8 .

Detailed ways

The utility model will be further described in detail below in conjunction with the embodiments and accompanying drawings, but the implementation of the utility model is not limited thereto.

Referring to Fig. 1-Fig. 7, an integrated sandpaper automatic replacement device of the present invention includes a first handling module 1, a cutting module 2, a second handling module 3 and a pasting module 4; wherein, the first handling module 1 includes A material storage box 1-1 for storing sandpaper, a sandpaper guide plate 1-2 positioned at the side of the material storage box 1-1, and the sandpaper 5 in the material storage box 1-1 is transported to the sandpaper guide plate 1-2. The first sandpaper transport mechanism 1-3; the cutting module 2 includes an upper cutting knife 2-1 located above one side of the sandpaper guide plate 1-2, and a first vertical drive mechanism that drives the upper cutting knife 2-1 to move vertically 2-2. The lower cutting knife 2-3 located below the upper cutting knife 2-1 and the second vertical drive mechanism 2-4 that drives the lower cutting knife 2-3 to move vertically; the second transport module 3 includes Claw 3-1, driving claw 3-1 for the first clamping drive mechanism 3-2 of new sandpaper 5 clamping movement, driving claw 3-1 for the first horizontal driving mechanism 3-3 of horizontal telescopic movement and A rotary drive mechanism 3-4 that drives the claws to rotate; the pasting module 4 includes a scraper 4-1 for scraping off the old sandpaper 5, a dispenser 4-2 for dispensing the mold core 6, The concave mold 4-3 and the pressing and clamping mechanism 4-4 used to press and clamp the new sandpaper 5 in cooperation with the concave mold 4-3, wherein the concave mold is provided with grooves.

Referring to 3, the storage box 1-1 is a rectangular box with an upper opening, two opposite sides of the sandpaper guide plate 1-2 have ribs, and the other two opposite sides form openings. The shape and size of the rectangular material storage box 1-1 is consistent with the sandpaper 5, so as to realize accurate positioning of the sandpaper 5, the sandpaper guide plate 1-2 with ribs on both sides and openings on the other two sides can carry out both sides of the sandpaper 5. Positioning, while being convenient for the sandpaper 5 to be moved away from both sides in translation.

Referring to Fig. 3 and Fig. 4, described first sandpaper transfer mechanism 1-3 comprises vacuum chuck 1-31, the 3rd vertical drive mechanism 1-32 that drives vacuum chuck 1-31 to move up and down, drives vacuum chuck 1-31 A second horizontal drive mechanism 1-33 that travels between the storage box 1-1 and the sandpaper guide plate 1-2, wherein the vacuum suction cup 1-31 is connected to a negative pressure device. During work, the handling process of the first sandpaper handling mechanism 1-3 is: after completing the handling and placing task of the last piece of sandpaper 5, under the drive of the third vertical handling driving mechanism, the vacuum suction cup 1-31 moves upwards, and then Driven by the second horizontal drive mechanism 1-33, the vacuum chuck 1-31 moves horizontally, moving from above the sandpaper guide plate 1-2 to above the material storage box 1-1; then, the third vertical drive mechanism 1-32 moves again, the vacuum suction cup 1-31 moves downward to the top of the sandpaper 5, under the action of the negative pressure device, the vacuum suction cup 1-31 sucks up the sandpaper 5, and then transports the sandpaper 5 to the sandpaper guide plate according to the original route 1-2 above, finally the vacuum suction cup 1-31 disconnects the adsorption to the sandpaper 5, and the sandpaper 5 falls on the sandpaper guide plate 1-2 under the action of gravity, thereby completing the whole sandpaper 5 handling process. In the process that the sandpaper 5 is sucked by the above-mentioned device, on the one hand, because the vacuum chuck 1-31 only has adsorption force to the sandpaper 5 of the uppermost layer, the sandpaper 5 of the uppermost layer can be separated from other sandpapers 5 easily, ensuring Only one piece of sandpaper 5 is carried at a time, so as to meet the handling requirement of a single piece of sandpaper 5 . Compared with the way of manual transportation, it can avoid the problem of difficult and slow separation of the sandpaper 5 separated by fingers, thereby improving the transportation efficiency; on the other hand, because the transportation is carried out by fixed-point positioning during work Therefore, the sandpaper 5 after transportation has the advantage of accurate positioning. Since the positioning accuracy of the sandpaper 5 after transportation directly affects the subsequent cutting and pasting accuracy, the advantage of accurate positioning is very important for the entire automatic sandpaper 5 replacement device.

Referring to Fig. 3, the vacuum suction cup 1-31 is an elastic telescopic tube. During work, on the one hand, when the drive overrange of the third vertical drive mechanism causes the vacuum chuck 1-31 to continue to move downward after contacting the sandpaper 5, the vacuum chuck 1-31 can perform its own shrinkage movement to adjust, preventing Collision occurs; on the other hand, the elastically shrinkable characteristics of the vacuum chuck 1-31 can be used to reduce the variation of the falling distance when the sandpaper 5 is adsorbed. Specifically, the falling distance of the vacuum chuck 1-31 is fixed every time during work. Invariant, like this, at the beginning, when the vacuum chuck 1-31 was in contact with the sandpaper 5 and stopped moving downward, the compression amount of the vacuum chuck 1-31 was the largest, and then gradually decreased with the height of the vacuum chuck 1-31, the vacuum The compression amount of the suction cup 1-31 also gradually decreases, but still can carry out normal adsorption work, thereby greatly reducing the adjustment of the descending distance during the carrying process.

Referring to Fig. 7, the gripper 3-1 is composed of an upper clamping block and a lower clamping block, wherein the upper clamping block and the lower clamping block are rectangular blocks, and the two ends of the rectangular block extend outward respectively to form a clamping block. The holding part, the sandpaper guide plate 1-2 is provided with a notch in cooperation with the holding part, when the claw 3-1 moves to hold the sandpaper 5, the holding part extends into the notch. The purpose of such setting is that before the above-mentioned notch is provided, when the sandpaper 5 is clamped, the sandpaper guide plate 1-2 will hinder the clamping action, so the sandpaper 5 must be stretched out from the sandpaper guide plate 1-2 for a certain distance (The distance forms the clamped portion of the sandpaper 5) to carry out normal clamping action; and through the above-mentioned arrangement, when the upper clamping block and the lower clamping block move closer to each other and the sandpaper 5 is clamped, due to The sandpaper guide plate 1-2 is provided with a notch in cooperation with the clamping part, so the clamping parts of the upper and lower clamping blocks can pass through the sandpaper guide plate 1-2 and continue to move closer to each other, and then realize the sandpaper 5 Clamping, so that the clamping action is more convenient.

Referring to Fig. 2, Fig. 8 and Fig. 9, the pressing and clamping mechanism 4-4 includes two pressing parts 4-41, and a fourth vertical driving mechanism 4-42 that drives the two pressing parts 4-41 to move vertically And a second clamping drive mechanism 4-43 that drives the two pressing members 4-41 to move toward and away from each other. During work, press the clamping mechanism 4-4 to carry out the preliminary fixing of the sandpaper 5 and the tasks of pressing and sticking the sandpaper 5 in sequence, wherein the preliminary fixing operation of the sandpaper 5 is: the fourth vertical driving mechanism 4-42 moves, drives two A pressing member 4-41 moves downward to contact with the sandpaper 5, thereby loosely fixing the two ends of the sandpaper 5 (loose fixing means that the sandpaper 5 can be pulled out of the pressing member 4-41 when the external force reaches a certain value); Then the mold core 6 of the grinding machine moves downward from the directly above the groove mouth under the drive of the mechanical arm to carry out the task of pasting the sandpaper 5 at the lower part of the mold core 6, wherein, during the downward movement of the sandpaper 5 with the mold core 6, The two ends of the sandpaper 5 will shrink toward the middle and gradually separate from the pressing part 4-41. When the two ends of the sandpaper 5 move to completely separate from the pressing part 4-41, they will be lifted upwards under the action of their own toughness. At this time, the sandpaper 5 Located between the pressing member 4-41 and the mold core 6; then, the fourth vertical drive mechanism 4-42 performs the task of pressing and pasting the sandpaper 5, specifically, driven by the second clamping drive mechanism 4-43, the two pressing Parts 4-41 move closer to each other and contact with sandpaper 5, and then continue to move to press sandpaper 5 on the mold core 6, and then the second clamping drive mechanism 4-43 and the fourth vertical drive mechanism 4-42 act simultaneously to drive The two pressing parts 4-41 move upward against the arc of the mold core 6. Since the two pressing parts 4-41 exert a pressing force on the sandpaper 5 during the upward movement, they can gradually press the sandpaper 5 from bottom to top. On the mold core 6; when the two pressing parts 4-41 move to the top of the mold core 6, the pasting task of the entire mold core is completed.

5 and 6, the cutting module 2 also includes a pressing mechanism, which is arranged above the sandpaper guide plate 1-2, includes a pressing block 2-5 and drives the pressing block 2-5 to make a vertical Movement of the fifth vertical drive mechanism 2-6. The purpose of setting like this is, when utilizing cutting mechanism to cut sandpaper 5, because the texture of sandpaper 5 is softer, when utilizing claw 3-1 to fix only one end of sandpaper 5, may occur when cutting. Phenomenon, that is, the unfixed end of the sandpaper 5 is adaptively deformed under the cutting force of the cutting knife and gets stuck between the upper and lower cutting knives 2-3, resulting in cutting failure. After the above-mentioned pressing mechanism 2-5 is set, during work, the fifth vertical drive mechanism 2-6 drives the pressing block 2-5 to move downward to realize the pressing and fixing of the other end of the sandpaper 5, so that the sandpaper 5 Both ends of the sandpaper are fixed, so the occurrence of the above-mentioned knife jamming phenomenon can be avoided when cutting, so that the sandpaper 5 cutting work can be carried out more smoothly.

Referring to Fig. 10, the blade edge of the upper cutting knife 2-1 is inclined relative to the blade edge of the lower cutting knife 2-3. The purpose of setting like this is, because the blade edge of upper cutting knife 2-1 and the blade of lower cutting knife 2-3 are relatively inclined, so the blade edge of two cutting knives contacts gradually from one end to the other end in the motion process that approaches each other. , so as to realize the gradual cutting of the sandpaper 5. The advantage is that, compared with the one-shot cutting method, the gradual cutting method can make the shearing force more concentrated, thereby making the cutting action easier and the cutting effect better.

Referring to Figures 11 and 12, the blades of the upper cutting knife 2-1 are set obliquely, and the blades of the lower cutting knife 2-3 are set horizontally, wherein the blades of the upper cutting knife 2-1 are gradually approaching in the lateral direction from the bottom to the top. Lower cutting scissors 2-3. The purpose of setting like this is, when the upper cutting knife 2-1 moves downwards, the bottom of the blade first moves to the lateral side of the lower cutting knife 2-3, so as to realize the positioning of the whole lower cutting knife 2-3 (the The position is positioned on the fixed side of the upper cutting knife 2-1), like this, since the blade of the upper cutting knife 2-1 is gradually approaching the lower cutting knife 2-3 in the lateral direction from the bottom to the top, it can be guaranteed in the process of descending The top and bottom are cut to fit closely when in contact, so as to apply shearing force to the sandpaper 5 better, and the shearing effect is better.

Referring to Figures 1-7, the first clamping drive mechanism 3-2 and the second clamping drive mechanism 4-43 are composed of finger cylinders, wherein the upper clamping block and the lower clamping block or two pressing Parts 4-41 are respectively connected with the two fingers of the finger cylinder. During work, under the drive of the finger cylinder, the upper clamping block and the lower clamping work or two pressing parts 4-41 move close to each other to realize the clamping of the sandpaper 5; The rotary drive mechanism 3-4 is composed of a rotary cylinder, and the cylinder body of the first telescopic cylinder is connected to the rotary output shaft of the rotary cylinder through a second connecting block. During work, the rotary output shaft of the rotary cylinder rotates, driving the telescopic cylinder and the finger cylinder and the claw 3-1 on the telescopic cylinder to rotate, thereby realizing the rotary motion of the claw 3-1. The purpose of such arrangement is that, since the rotary cylinder can bear a relatively large driving load, it can drive the telescopic cylinder, the finger cylinder and the claw 3-1 to rotate together.

1-7, the first vertical drive mechanism 2-2, the second vertical drive mechanism 2-4, the third vertical drive mechanism 1-32, the first horizontal transport mechanism and the second horizontal transport mechanism Consists of cylinders or electromagnets. During work, the telescopic rod movement of cylinder or electromagnet drives upper cutting knife 2-1, following cutting knife 2-3, vacuum sucker 1-31, claw and pressing block to do telescopic movement.

Referring to Fig. 8, the groove is a semicircular groove with an opening facing upwards. During work, when carrying out sandpaper 5 pasting tasks, the semicircular groove with opening upwards is responsible for the pressing task of the lower semicircle of the mold core 6, and the pressing part 4-41 is responsible for the pressing task of the upper semicircle of the mold core 6. The purpose of setting like this is, because mold core 6 presses sandpaper 5 to move downward from the top of notch, therefore when groove is the circular groove that is greater than semicircle, can hinder the downward movement of mold core 6; And when groove When it is a circular groove smaller than a semicircle, in addition to applying an obliquely downward pressing force to the upper half-arc, it is also necessary to apply an obliquely upward pressing force to the lower half-arc. Since the directions of the two pressing forces are different, Therefore, it is necessary to add a corresponding force application conversion mechanism on the pressing member 4-41, and the addition of a rotating mechanism will cause the structure of the whole device to be complicated; and when the groove is set as a semicircular groove, the above two settings can be overcome. The problem exists in the way, so it works well.

Referring to Fig. 13 and Fig. 14, the pressing member 4-41 is a rectangular block, wherein the bottom surface of the rectangular block is the pressing surface, the opposite side of the two rectangular blocks is the clamping surface, and the intersection between the pressing surface and the clamping surface The line is the line of pressing action. During work, the pressing surface moves downward under the drive of the vertical drive mechanism to press the sandpaper 5 on the die 4-3, and the clamping action line is between the fourth vertical drive mechanism 4-42 and the first clamping drive mechanism 3-42. Driven by 2, it always moves against the mold core 6, so that the sandpaper 5 is pressed and pasted on the mold core 6. The advantage of such setting is that since the pressing action line is the intersection line of the pressing surface and the clamping surface (i.e. the ridge line at the bottom of the rectangular block), it can realize the pressing and sticking effect on each point of the upper semi-arc surface of the mold core 6, specifically Ground, when the pressing action line is the ridge line at the bottom of the rectangle, the starting point of the pressing action is the boundary point of the upper and lower semicircles of the core 6, and the trajectory of the pressing motion is a semicircle arc, so that the upper half arc of the core 6 can be adjusted. Press all points on the surface; and when the pressing action line is the ridge line of the non-rectangular bottom, for example, when the pressing surface is an arc surface and the pressing action line is a line on the arc surface, the starting point of the pressing action is the mold core 6 A point on the upper semi-circular arc. At this time, the trajectory of the pressing action line is a small semi-circular arc. Therefore, in this case, there are pressing missing points on the upper semi-circular arc of the core, so the pressing effect is not good.

The working principle of the utility model is:

During work, the sandpaper 5 located in the material storage box 1-1 moves to the sandpaper guide plate 1-2 under the carrying of the first transport mechanism. Since the required size of the sandpaper 5 is small when sticking, the size of the supplied sandpaper 5 Larger, so it is necessary to cut the sandpaper 5 on the sandpaper guide plate 1-2. The cutting task is completed by the cooperation of the cutting module 2 and the second handling module 3. The specific cutting steps are: when working, the claw 3-1 moves first Clamp the sandpaper 5 on the guide plate to the sandpaper guide plate 1-2, then clamp the sandpaper 5 under the drive of the first horizontal drive mechanism 1-33 and move a certain distance away from the direction of the sandpaper guide plate 1-2. Corresponding to the size of the sandpaper 5 after cutting; then, the upper cutting knife 2-1 and the lower cutting knife are respectively driven by the first vertical drive mechanism 2-2 and the second vertical drive mechanism 2-4 in the vertical direction. During the relative movement, the two cutting knives contact each other during the movement, thereby realizing the cutting of the sandpaper 5 .

After completing the sandpaper 5 cutting task, the first clamping drive mechanism 3-2, the first horizontal drive mechanism 3-3 and the rotating mechanism in the second transport mechanism act in sequence, and the sandpaper 5 after cutting is transferred from the cutting module 2 to the paste. The upper surface of the die 4-3 in the module 4 carries out pasting task. The specific paste operation is:

When working, under the drive of the mechanical arm, the mold core 6 of the grinding machine first moves to the position of the old sandpaper 5 removal module, and the old sandpaper on the mold core 6 is removed by multiple contact frictions with the scraper 4-1. The sandpaper 5 is scraped off; then the mold core 6 of the grinding machine moves to the position of the dispensing module for dispensing, wherein, while the dispensing machine 4-2 is dispensing the mold core 6, the mechanical arm drives the mold core 6 for dispensing. Rotating movement, so that the glue can be evenly distributed on the cylindrical surface of the mold core 6; finally, the mold core 6 of the grinding machine moves to the position of the new sandpaper 5 pasting module 4 to perform the pasting task of the new sandpaper 5, specifically, the mold core 6 first moves to the top of the groove, and then presses the sandpaper 5 on the groove and moves down to fit the groove. During the bonding process, the mold core 6 exerts a pressing force on the sandpaper 5 to achieve the paste with the sandpaper 5 , so as to complete the sticking task of the lower part of the core 6, then press the action of the clamping mechanism 4-4 to press the remaining part of the sandpaper 5 on the upper part of the core 6, thereby completing the sticking task of the whole sandpaper 5.

The above is a preferred implementation of the utility model, but the implementation of the utility model is not limited by the above content, and any other changes, modifications, substitutions, combinations, Simplification should be equivalent replacement methods, all of which are included in the protection scope of the present utility model.

Claims (10)

1. An integrated sandpaper automatic replacement device, characterized in that it includes a first handling module, a cutting module, a second handling module and a pasting module; wherein, the first handling module includes a storage box for storing sandpaper, The sandpaper guide plate positioned at the side of the storage box and the first sandpaper conveying mechanism for transporting the sandpaper in the material box to the sandpaper guide plate; The first vertical driving mechanism for the vertical movement of the scissors, the lower cutting knife positioned below the upper cutting knife, and the second vertical driving mechanism for driving the lower cutting knife to move vertically; the second handling module includes grippers, driving The first clamping drive mechanism for gripping new sandpaper, the first horizontal drive mechanism for horizontal telescopic movement, and the rotary drive mechanism for rotating the claws; the pasting module includes A scraper for scraping off the sandpaper, a dispenser for dispensing glue on the mold core, a die, and a pressing and clamping mechanism that cooperates with the die to press and clamp new sandpaper, wherein the die is provided with a concave groove. 2. The integrated sandpaper automatic replacement device according to claim 1, wherein the first sandpaper transport mechanism comprises a vacuum suction cup, a third vertical drive mechanism that drives the vacuum suction cup to move up and down, drives the vacuum suction cup to and fro A second horizontal drive mechanism between the material storage box and the sandpaper guide plate, wherein the vacuum suction cup is connected with a negative pressure device. 3. The integrated sandpaper automatic replacement device according to claim 2, wherein the pressing and clamping mechanism comprises two pressing pieces, a fourth vertical driving mechanism for driving the two pressing pieces to move vertically, and a driving The two pressing parts act as a second clamping driving mechanism for moving toward and away from each other. 4. The integrated sandpaper automatic replacement device according to claim 3, wherein the gripper is composed of an upper clamping block and a lower clamping block, wherein the upper clamping block and the lower clamping block are rectangular blocks , the two ends of the rectangular block respectively extend outward to form a clamping part, and the sandpaper guide plate is provided with a notch cooperating with the clamping part, when the claw moves to clamp the sandpaper, the clamping part extends into the notch. 5. The integrated sandpaper automatic replacement device according to claim 4, characterized in that, the cutting module also includes a pressing mechanism, which is arranged above the sandpaper guide plate, including a pressing block and a driving pressing block A fifth vertical drive mechanism for vertical movement. 6. The integrated sandpaper automatic replacement device according to claim 2, characterized in that, the vacuum suction cup is an elastic telescopic tube. 7. The integrated sandpaper automatic replacement device according to claim 1, characterized in that, the blade of the upper cutting knife is inclined relative to the blade of the lower cutting knife. 8. The integrated sandpaper automatic replacement device according to claim 7, characterized in that, the blades of the upper cutting knives are arranged obliquely, and the blades of the lower cutting knives are set horizontally, wherein the blades of the upper cutting knives are arranged at the top from the bottom to the top. Gradually approach the lower cutting knife in the horizontal direction. 9. The integrated sandpaper automatic replacement device according to claim 1, wherein the groove is a semicircular groove with an opening facing upward. 10. The integrated sandpaper automatic replacement device according to claim 3, wherein the pressing member is a rectangular block, wherein the bottom surface of the rectangular block is a pressing surface, and the opposite side of the two rectangular blocks is a clamping surface , the line of intersection between the pressing surface and the clamping surface is the line of pressing action.