KR102606389B1 - Sandpaper automatic replacing apparatus - Google Patents

Abstract

The present invention is installed on an articulated robot arm, and includes a head eccentrically coupled to the drive shaft of the driving body, a pad coupled to the lower part of the head, and a pad having a width greater than the width of the pad and detachably attached to the lower part of the pad. It relates to a device for automatically replacing the sandpaper from a sanding machine containing sandpaper, wherein an inlet is formed on one side of the upper surface, a main body with a collection box at the bottom of the inlet, and one end are installed on one upper side of the main body, An insertion groove is formed into which the sandpaper is inserted in an upward and downward direction, and when the pad moves backward while the sandpaper is inserted into the insertion groove at at least one end of both ends of the insertion groove, the sandpaper is removed from the pad. A sandpaper separation part including a removal clip for separation, a hopper part installed on the other side of the upper part of the main body and a receiving space formed therein to accommodate a plurality of sandpapers, and a lower part of the hopper part or one side of the hopper part of the main body. It includes a lifting unit that includes an operating arm that penetrates the lower part of the hopper unit, presses the plurality of sandpapers accommodated in the hopper unit upward, and discharges them to the upper part of the hopper unit.
According to the present invention as described above, the sandpaper that is detachably attached to the sanding machine can be automatically replaced, so unlike the conventional method of manually replacing the sandpaper, there is no risk of safety accidents and excessive work time is eliminated. There is no problem of decreased productivity.

Description

Sandpaper automatic replacing apparatus}

The present invention relates to an automatic sandpaper replacement device, and more specifically, to an automatic sandpaper replacement device that allows automatic replacement of sandpaper that is detachably attached to a sanding machine.

In general, in order to obtain a high-quality paint film with a uniform surface and high durability during the painting process of an automobile production line, not only must the thickness of the paint applied to the car body be uniform, but the paint must be firmly attached to the car body, so the paint must be firmly attached to the car body. Sanding work is performed to remove scratches or foreign substances on the surface of the car body so that it can be firmly attached.

The above-described sanding operation usually uses a sanding machine equipped with an abrasion material such as sandpaper to polish the surface of the car body to be painted to remove scratches or foreign substances on the surface of the car body to determine the surface roughness of the car body surface to which the paint will be attached. This is to increase the paint so that it can be firmly attached to the car body surface.

Meanwhile, the above sanding work requires periodic replacement of sandpaper during the work process. In the past, such sandpaper replacement work was done manually by workers one by one, so safety accidents occurred during the sandpaper replacement work. There was a risk that this would occur.

In addition, the conventional method of manually replacing sandpaper by workers had a problem in that productivity was significantly reduced due to excessive work time.

Korean Patent Publication No. 10-2012-0132405 (Handheld Machine, 2012.12.05)

The present invention was made to solve the above problems, and the purpose of the present invention is to provide an automatic sandpaper replacement device that can automatically replace sandpaper that is detachably attached to a sanding machine.

According to the present invention for achieving the above object, it is installed on an articulated robot arm, and has a head eccentrically coupled to the drive shaft of the drive body, a pad coupled to the lower part of the head, and a width greater than the width of the pad. A device for automatically replacing sandpaper from a sanding machine that includes sandpaper removably attached to the lower part of a pad, wherein an inlet is formed on one side of the upper surface, a main body provided with a collection bin at the lower part of the inlet, and an upper part of the main body. It is installed on one side, and an insertion groove is formed into which the sandpaper is inserted in a vertical direction. When the pad moves rearward while the sandpaper is inserted into the insertion groove at least one end of both ends of the insertion groove, the sandpaper is inserted into the insertion groove. A sandpaper separation part including a removal clip for separating the sandpaper from the pad, a hopper part installed on the other side of the upper part of the main body and having a receiving space therein for accommodating a plurality of sandpapers, and a lower part of the hopper part or the upper part of the main body. Automatic sandpaper replacement, characterized in that it includes a lifting unit installed on one side of the hopper unit and including an operating arm that penetrates the lower part of the hopper unit, presses the plurality of sandpapers accommodated in the hopper unit upward, and discharges them to the upper part of the hopper unit. A device is provided.

Here, each end of the sandpaper separator is installed at regular intervals on both sides of the upper front of the main body, and the opposite end is bent vertically forward so that both ends of the sandpaper are between each other end and the front of the upper part of the main body. It includes a pair of removal clips that form an insertion groove to be inserted, and is installed at regular intervals on both sides of the front upper part of the main body. It is installed on the upper part of the sandpaper separation part and is installed on both ends of the sandpaper in the vertical direction between the opposing ends. a pair of first guide blocks forming a first guide groove that guides the pad, and a second guide block installed in front of the pair of first guide blocks and guiding both ends of the pad in the vertical direction between opposing ends. It may further include an axis alignment guide unit including a pair of second guide blocks forming a guide groove.

In addition, the hopper part has an upper body having at least one first input hole through which the sandpaper is inserted on one side and a circular bar shape, and the upper end is installed along the circumference of the upper body where the first input hole is formed to accommodate the sandpaper. In addition to forming the receiving space, a lower body coupled to a lower end of the plurality of guide bars and a plurality of guide bars guiding the side of the sandpaper, and having a through hole through which the operating arm is installed on one side, and the receiving space It is installed inside, at least one loading block on which the plurality of sandpapers are loaded on the upper surface, and a detection sensor for detecting whether the sandpaper is loaded on one side of the upper surface is installed, and a lower part of the loading block, and at least on both sides It is slidably coupled to each corresponding guide bar and may include a guide plate installed to be movable in the vertical direction by the operating arm.

In addition, the main body has an open space portion in which the hopper portion is accommodated formed on the other front side of the upper portion, and a cut groove into which the hopper portion is inserted is formed by cutting backward on one side of the upper front end portion where the space portion is formed, and the hopper portion is formed in the upper portion. a mounting plate that has an area larger than that of the body, has a second input hole formed on one side corresponding to the first input hole, and is mounted on one side of the upper surface of the main body; It may further include a separation prevention member installed along the upper circumference of the upper surface of the mounting plate where the second input hole is formed, and having at least one support protrusion that protrudes inward on one inner surface and is supported on one upper surface of the sandpaper. .

In addition, the main body has a second input hole corresponding to the first input hole formed on one side of the upper surface, and is installed along the circumference of the upper surface where the second input hole is formed, but is formed to protrude inward on one side of the inner surface and is supported on one side of the upper surface of the sandpaper. A separation prevention member having at least one supporting protrusion is installed, and the upper body of the hopper part may be installed to be slidable in the inward and outward direction of the main body at the lower part of the upper surface where the second input hole is formed.

In addition, the hopper part is formed by dividing the upper body into a first upper body and a second upper body, and the lower body is divided into a first lower body and a second lower body, and the divided first upper body or the second upper body 2 At least one end of the upper body and the corresponding end of the first or second lower body may be rotatably installed on one of the plurality of guide bars.

According to the present invention as described above, the sandpaper that is detachably attached to the sanding machine can be automatically replaced, so unlike the conventional method of manually replacing the sandpaper, there is no risk of safety accidents and excessive work time is eliminated. There is no problem of decreased productivity.

Figure 1 shows the schematic configuration of a typical sanding machine;
Figure 2 is a perspective view of an automatic sandpaper replacement device according to an embodiment of the present invention;
Figure 3 is a partially exploded perspective view of an automatic sandpaper replacement device according to an embodiment of the present invention;
Figure 4 is a front view of an automatic sandpaper replacement device according to an embodiment of the present invention;
Figure 5 is a plan view of an automatic sandpaper replacement device according to an embodiment of the present invention;
Figure 6 is a perspective view of a hopper unit according to an embodiment of the present invention;
Figure 7 is an exploded perspective view of the hopper portion according to an embodiment of the present invention;
8A to 8D are diagrams for explaining the operation of an automatic sandpaper replacement device according to an embodiment of the present invention;
Figure 9 is a perspective view of an automatic sandpaper replacement device according to another embodiment of the present invention;
Figure 10 is a partial exploded perspective view of the automatic sandpaper replacement device according to another embodiment of the present invention as seen from the rear;
11 is a perspective view of a hopper unit according to another embodiment of the present invention;
Figure 12 is an exploded perspective view of the hopper part in an open state according to another embodiment of the present invention;

Hereinafter, the present invention will be described in more detail with reference to the drawings. It should be noted that like elements in the drawings are represented by like symbols wherever possible. Additionally, detailed descriptions of known functions and configurations that may unnecessarily obscure the gist of the invention are omitted.

Figure 1 shows a schematic configuration of a typical sanding machine, Figure 2 is a perspective view of an automatic sandpaper replacement device according to an embodiment of the present invention, and Figure 3 is a schematic view of an automatic sandpaper replacement device according to an embodiment of the present invention. It is a partially exploded perspective view, Figure 4 is a front view of an automatic sandpaper replacement device according to an embodiment of the present invention, Figure 5 is a plan view of an automatic sandpaper replacement device according to an embodiment of the present invention, and Figure 6 is an embodiment of the present invention. It is a perspective view of the hopper part according to an embodiment, and Figure 7 is an exploded perspective view of the hopper part according to an embodiment of the present invention.

Referring to FIG. 1 prior to the description of the present invention, the sanding machine 100 is installed on an articulated robot arm and includes a drive body 101 installed so that the drive shaft 101a is exposed, and a disk eccentrically coupled to the drive shaft 101a. A shaped head 102, a disc-shaped pad 103 coupled to the lower part of the head 102, and sandpaper that has a diameter larger than the diameter of the pad 103 and is detachably attached to the lower part of the pad 103. It consists of (104).

2 to 7, the automatic sandpaper replacement device 1 according to an embodiment of the present invention is a device for automatically replacing the sandpaper 104 attached to the sanding machine 100, and includes a main body ( 10), it includes an axis alignment guide part 15, a sandpaper separation part 20, a hopper part 30, an elevating part 40, and a detection sensor 50.

The main body 10 is shaped like a box, and one front side of the upper end is depressed inward, an inlet 11 is formed in the lower part, and a collection box 12 is provided on one inner side corresponding to the lower part of the inlet 11.

In addition, the main body 10 is open on the other front side of the upper part to form a space S1 in which the hopper part 40, which will be described later, is accommodated, and a cut groove is cut backward on one side of the upper front end where the space S1 is formed. (H) is formed. This cut groove (H) provides an area into which one side of the hopper part 40, which will be described later, is inserted.

The axis alignment guide unit 15 is fixedly installed on both sides of the upper front of the main body 10 at regular intervals and forms a first guide groove 15aa between the opposing ends to guide both ends of the sandpaper in the vertical direction. A pair of first guide blocks (15a) and a second guide groove (15ba) formed integrally in front of the first guide block (15a) and between opposing ends to guide both ends of the pad in the vertical direction are formed. It includes a pair of second guide blocks (15b).

This axis alignment guide unit 15 aligns the eccentric direction of the sandpaper with the pad eccentrically coupled to the drive shaft in the vertical upper or lower direction, so that both ends of the sandpaper are a pair of sandpaper separation parts 20, which will be described later. It serves to align it so that it can be positioned between the removal clips (21).

The sandpaper separation part 20 is installed at the lower part of the axis alignment guide part 15, and each one end is installed at regular intervals on both sides of the upper front of the main body, and the opposite end is bent vertically forward to separate the other end from each other. It includes a pair of removal clips 21 that form an insertion groove 21a into which both ends of the sandpaper are inserted between the front and upper surfaces of the main body 10.

This sandpaper separation unit 20 separates both ends of the sandpaper when the sanding machine moves forward of the main body 10 with both ends of the sandpaper inserted into the insertion groove 21a of the pair of removal clips 21. By supporting, the sandpaper is separated from the pad. Then, the sandpaper separated from the pad is discharged into the collection box 12 through the inlet 11 of the main body 10.

The hopper unit 30 provides an area where sandpaper is accommodated, and includes an upper body 31, a plurality of guide bars 32, a lower body 33, a loading block 34, a guide plate 35, and a mounting plate. (36) and a departure prevention member (37).

The upper body 31 has a block shape and has a first input hole 31c in the center into which sandpaper is inserted, and a handle 31d that provides a user's grip area on one side.

The plurality of guide bars 32 have a circular bar shape, each upper end of which is installed along the circumference of the upper body 31 where the first input hole 31c is formed, the lower end extending downward, and a space for accommodating sandpaper. Forms a receiving space (S2).

The plurality of guide bars 32 as described above are formed in a circular bar shape, so that the contact area with the side of the sandpaper accommodated in the receiving space (S2) is minimized, thereby minimizing friction with the side of the sandpaper, thereby minimizing the contact area with the side of the sandpaper accommodated in the receiving space (S2). ) provides a structure in which the sandpaper accommodated can be moved smoothly in the vertical direction.

The lower body 33 has a block shape and is coupled to the lower ends of a plurality of guide bars 32, and a through hole 33a is formed in the center through which the operating arm of the lifting unit 40, which will be described later, is installed.

The loading block 34 has a circular block shape and is installed inside the receiving space (S2), with a plurality of sandpapers loaded on the upper surface, and a detection sensor 34a that detects in real time whether the sandpaper is loaded in a groove formed on one side of the upper surface. is formed.

The guide plate 35 is installed at the lower part of the loading block 34, and each opposing side is slidably coupled to the guide bar 32, and is pressed by the operating arm of the lifting unit 50, which will be described later, to move upward. As it moves, the sandpaper loaded on the upper part of the loading block 34 is maintained in a horizontal state and the sandpaper is discharged to the upper part of the hopper unit 30.

The mounting plate 36 is inserted into the cut groove (H) formed on the upper surface of the main body 10 to mount the hopper part 30 disposed in the space S1 of the main body 10 on the upper surface of the main body 10. It is formed in the shape of a square plate with an area larger than the area of the upper body 31, and a second input hole 36a into which sandpaper is inserted is formed on one side corresponding to the first input hole 31c.

This mounting plate 36 can be fixedly installed on the upper surface of the main body 10 through a separate fastening means, and after dismantling the fastening means, it can be easily separated from the top or side of the main body 10, so the sandpaper can be placed in the hopper part. When supplemented in (30), it can provide ease of operation.

The separation prevention member 37 is a soft member installed along the upper circumference of the mounting plate 36 where the second input hole 36a is formed, and is formed to protrude inward on one side of the inner surface and is located at the top of the hopper unit 30. A plurality of support protrusions 37a are formed on one side of the upper surface of the received sandpaper.

This separation prevention member 37 serves to prevent the sandpaper accommodated at the top of the hopper unit 30 from leaving the upper part of the hopper unit 30.

The elevating part 40 is installed in the lower part of the hopper part 30 of the main body 10, and is coupled to a cylinder body (not shown) installed inside the main body 10 and a cylinder body (not shown) to enable elevation. , and includes an operating arm 42 installed to be exposed to the space S1 corresponding to the lower part of the hopper unit 30.

In this lifting unit 40, the operating arm 42 penetrates the lower body 33 of the hopper unit 30 and presses the bottom of the guide plate 35, so that the sandpaper loaded on the loading block 34 moves into the hopper unit. It serves to discharge to the top of (30), and a known air cylinder can be used.

In this way, in the present invention, the lifting unit 40 is configured separately from the hopper unit 30, so that the cable that supplies power to the lifting unit 40 or the air tube that supplies air is stored in the narrow space of the hopper unit 30. There is no problem with the cable being disconnected or the air tube being damaged due to bending as it is installed inside.

The detection sensor 50 is installed on one side of the upper surface of the main body 10, and captures images of the sanding machine from which the sandpaper was separated through the sandpaper separation part 20 and the sanding machine from which the sandpaper was reinstalled in the hopper part 30, and detects the sandpaper. To detect the presence or absence of attachment, a known vision sensor can be used.

8A to 8D are diagrams for explaining the operation of an automatic sandpaper replacement device according to an embodiment of the present invention.

First, the sanding machine 100, whose attitude has been changed to a horizontal state, is moved to the upper part of the axis alignment guide part 15, and then the pad and sandpaper attached to the head of the sanding machine are moved to the lower part of the axis alignment guide part 15. When passed, as shown in FIG. 8A, the eccentric directions of the pad 103 and the sandpaper 104, which were eccentrically coupled to the drive shaft 101a and arranged in one vertical direction, are aligned in the vertical upward direction.

Next, the sanding machine 100 is moved downward, and as shown in FIG. 8b, both ends of the sandpaper 104 attached to the pad 103 of the sanding machine 100 are connected to a pair of sandpaper separation portions 20. is disposed in the insertion groove (21a) of the removal clip (21).

Next, when the sanding machine 100 is moved to the front of the main body 10, the sandpaper 104, whose both ends are supported by the respective removal clips 21, is separated from the pad 103, as shown in FIG. 8C. At this time, the sandpaper 104 separated from the pad 103 freely falls to the bottom and is discharged into the collection box of the main body through the inlet.

Finally, after changing the position of the sanding machine 100 to the vertical state, as shown in FIG. 8D, the sanding machine 100 is moved to the upper part of the detection sensor 50 installed on one side of the upper surface of the main body 10 to remove the sandpaper. Check if it is not attached.

Then, when it is confirmed that the sandpaper is not attached to the sanding machine 100, the sanding machine 100 is moved to the upper part of the hopper unit 30 to reinstall the sandpaper, and then the sanding machine 100 is connected to the detection sensor 50. If you move it to the top of the and check the attachment state of the sandpaper, the sandpaper replacement work is completed.

As described above, the automatic sandpaper replacement device according to an embodiment of the present invention can automatically replace the sandpaper that is detachably attached to the sanding machine, thus reducing the risk of safety accidents, unlike the conventional method of manually replacing the sandpaper. In addition, there is no problem of decreased productivity due to excessive use of work time.

Figure 9 is a perspective view of an automatic sandpaper changing device according to another embodiment of the present invention, Figure 10 is a partial exploded perspective view of the automatic sandpaper changing device according to another embodiment of the present invention as seen from the rear, and Figure 11 is another view of an automatic sandpaper changing device according to another embodiment of the present invention. It is a perspective view of the hopper part according to an embodiment, and Figure 12 is an exploded perspective view of the hopper part in an open state according to another embodiment of the present invention.

Referring to FIGS. 9 to 12, the automatic sandpaper replacement device 1 according to another embodiment of the present invention is intended to be applied to a sanding machine composed of a multi-head to which two sandpapers are attached, and includes a main body 10 and a sandpaper separator. (20), including a hopper unit 30, an elevation unit 40, and a detection sensor 50.

The main body 10 is shaped like a box, and one front side of the upper end is depressed inward, an inlet 11 is formed in the lower part, and a collection box 12 is provided on one inner side corresponding to the lower part of the inlet 11.

In addition, the main body 10 is formed with two second input holes 13 corresponding to the first input holes 31a of the hopper part 30 on one side of the upper surface where the hopper part 30, which will be described later, is mounted.

In addition, the main body 10 is a soft member installed along the upper circumference of the upper surface where the second input hole 13 is formed, and is formed to protrude inward on one side of the inner surface, so that the upper surface of the sandpaper received at the top of the hopper unit 30 is disposed on one side. It further includes a separation prevention member 14 formed with a plurality of support protrusions 14a supporting the.

As previously described in an embodiment of the present invention, the separation prevention member 14 serves to prevent the sandpaper accommodated at the top of the hopper unit 30 from leaving the upper part of the hopper 30.

The sandpaper separation unit 20 is installed on one side of the upper front of the main body 10 at regular intervals in the vertical direction. Each end is installed on one side of the upper front of the main body 10, and each other end is vertically bent forward. It includes two removal clips 21 that form an insertion groove 21a into which one end of each sandpaper is inserted between the other end and the front surface of the upper part of the main body 10.

These sandpaper separation parts 20 are each attached to the multi-head of the sanding machine when one side of each is inserted into the insertion groove 21a of the removal clip 21 and the sanding machine moves toward the front of the main body 10. By supporting one end of the sandpaper, the sandpaper is separated from each pad attached to the multi-head. Then, the sandpaper separated from the pad is discharged into the collection box 12 through the inlet 11 of the main body 10.

The hopper unit 30 provides an area where sandpaper is received and includes an upper body 31, a plurality of guide bars 32, a lower body 33, a loading block 34, and a guide plate 35. , In this embodiment, in order to provide ease of work when replenishing sandpaper, as shown in FIG. 10, the upper body 31 is a main body in which a second input hole 13 is formed through a separate guide rail GL ( 10) It is installed on the lower part of the upper surface to be able to slide in the inward and outward directions of the main body 10.

The upper body 31 has a plate shape and is formed with two first input holes 31c into which sandpaper is inserted on both sides spaced at a certain distance, and a first upper body 31a and a second upper body 31b in the front-back direction. and one of the outermost ends of the divided second upper body 31b is rotatably coupled to a corresponding guide bar 32.

Additionally, a handle 31d is formed on one side of the second upper body 31b to provide a user's grip area.

The plurality of guide bars 32 have a circular bar shape, each upper end of which is installed along the circumference of the first upper body 31a and the second upper body 31b where the first input hole 31c is formed, and the lower end of each guide bar 32. It extends downward and forms a receiving space (S2) in which sandpaper is accommodated at the lower part of each first input hole (31c).

As described above in an embodiment of the present invention, the plurality of guide bars 32 above are formed in a circular bar shape and have a minimized contact area with the side of the sandpaper accommodated in the receiving space (S2), thereby minimizing the contact area with the side of the sandpaper. As the occurrence of excessive friction is minimized, a structure is provided in which the sandpaper accommodated in the receiving space (S2) can be smoothly moved in the vertical direction.

The lower body 33 has a plate shape and is coupled to the lower ends of a plurality of guide bars 32, and is divided in the front-back direction into a first lower body 33a and a second lower body 33b, and the divided second lower body 33 is formed in a plate shape. Among the outermost ends of the body 33b, the outermost end corresponding to the second upper body 31b is rotatably coupled to the guide bar 32 to which the second upper body 31b is rotatably coupled.

In addition, the lower body 33 has a through hole 33c formed in the center of the first lower body 33a through which the operating arm of the lifting unit 40, which will be described later, is installed.

As above, in this embodiment, the upper body 31 and the lower body 33 are divided in the front and rear directions, and the divided outermost ends of the corresponding upper body 31 and lower body 33 are formed as guides corresponding thereto. As the hopper part 30 is rotatably coupled to the bar and is formed in a structure that opens and closes as shown in FIG. 11, it can provide ease of operation when replenishing sandpaper.

The loading block 34 has a circular block shape and is installed inside each receiving space (S2), a plurality of sandpapers are loaded on the upper surface, and a detection sensor ( 34a) is formed.

The guide plate 35 is a plate-shaped member that is installed to be integrally connected to each receiving space (S2) and is installed at the lower part of the loading block 34, and the opposing two sides can slide on the corresponding guide bar 32. It is tightly coupled, and is pressed by the operating arm of the lifting unit 40, which will be described later, and moves upward, maintaining the horizontal state of the sandpaper loaded on the upper part of each loading block 34, and moving the sandpaper into the hopper unit 30. It is discharged to the top.

This guide plate 35 is installed to be integrally connected to each receiving space (S2) and provides a structure that can simultaneously move a plurality of loading blocks 34 up and down through one lifting unit 40.

The lifting unit 40 includes a cylinder body 41 fixedly coupled to the central lower part of the first lower body 33a where the through hole 33c is formed, and is installed to be able to be raised and lowered on the cylinder body 41, but has a through hole 33c. It includes an operating arm 42 that penetrates and is supported on the bottom of the guide plate 35.

This lifting unit 40 serves to discharge the sandpaper loaded on each loading block 34 to the upper part of the hopper unit 30 by having the operating arm 42 pressurize the bottom of the guide plate 35. , a known air cylinder can be used.

The detection sensor 50 is installed on the other side of the upper front of the main body 10 and captures images of the sanding machine from which the sandpaper was separated through the sandpaper separation part 20 and the sanding machine from which the sandpaper was reinstalled in the hopper part 30. A known vision sensor can be used to detect whether sandpaper is attached.

In addition, the automatic sandpaper replacement device according to another embodiment of the present invention, unlike one embodiment of the present invention, is not provided with a shaft alignment unit, so the only difference is that it does not go through the shaft alignment unit during the sandpaper replacement operation, and the remaining replacement operation is performed by this device. Since it is the same as an embodiment of the invention, detailed description thereof will be omitted.

Although the present invention has been described in relation to the above preferred embodiments, various modifications and variations can be made without departing from the gist and scope of the invention. Accordingly, the appended patent claims are intended to cover such modifications or variations as fall within the subject matter of the present invention.

1: Automatic sandpaper replacement device 10: Main body
11: Inlet 12: Collection box
15: axis alignment guide part 15a: first guide block
15aa: first guide groove 15b: second guide block
15ba: second guide groove 20: sandpaper separation part
21: Removal clip 21a: Insertion groove
30: Hopper part 31: Upper body
31a: first upper body 31b: second upper body
31c: first input hole 31d: handle
32: Guide bar 33: Lower body
33a: first lower body 33b: second lower body
33c: Through hole 34: Loading block
34a: detection sensor 35: guide plate
36: Mounting plate 13, 36a: Second input hole
14, 37: separation prevention member 14a, 37a: support protrusion
40: Elevating part 41: Cylinder body
42: operating arm
50: Detection sensor 100: Sanding machine
101: driving body 101a: driving shaft
102: Head 103: Pad
104: Sandpaper S1: Space part
S2: Receiving space H: Cut groove

Claims (6)

It is installed on an articulated robot arm, and includes a head eccentrically coupled to the drive shaft of the driving body, a pad coupled to the lower part of the head, and sandpaper that has a width greater than the width of the pad and is detachably attached to the lower part of the pad. In a device for automatically replacing the sandpaper from a sanding machine comprising:
a main body having an inlet formed on one side of the upper surface and a collection bin provided in a lower part of the inlet;
One end of each is installed at regular intervals on both sides of the front upper part of the main body, and the opposite end is bent vertically forward to form an insertion groove into which both ends of the sandpaper are inserted between each other end and the front of the upper part of the main body. , a sandpaper separation unit including a pair of removal clips for separating the sandpaper from the pad when the pad moves rearward while the sandpaper is inserted into the insertion groove;
A pair of first guides installed at regular intervals on both sides of the front upper part of the main body and forming a first guide groove between opposing ends to guide both ends of the sandpaper in the vertical direction. A shaft including a block and a pair of second guide blocks installed in front of the pair of first guide blocks and forming second guide grooves between opposing ends to guide both ends of the pad in the vertical direction. Alignment guide unit;
a hopper part installed on one upper side of the main body and having a receiving space therein to accommodate a plurality of sandpapers;
An elevating part installed on the lower part of the hopper part or on one side of the hopper part of the main body and including an operating arm that penetrates the lower part of the hopper part and presses the plurality of sandpapers received in the hopper part upward to discharge them to the upper part of the hopper part. An automatic sandpaper replacement device comprising:
delete According to claim 1,
The hopper part
an upper body having at least one first input hole on one side into which the sandpaper is inserted;
A plurality of guide bars that are circular in the shape of a bar and whose upper end is installed along the circumference of the upper body where the first input hole is formed to form the receiving space in which the sandpaper is accommodated and guide the sides of the sandpaper;
a lower body coupled to the lower ends of the plurality of guide bars and having a through hole on one side through which the operating arm is installed;
At least one loading block installed inside the receiving space, wherein the plurality of sandpapers are loaded on the upper surface, and a detection sensor for detecting whether the sandpaper is loaded is installed on one side of the upper surface;
An automatic sandpaper machine comprising a guide plate installed at a lower portion of the loading block, at least on both sides of which are slidably coupled to respective guide bars corresponding thereto, and movable in the vertical direction by the operating arm. replacement device.
According to paragraph 3,
The main body has an open space part to accommodate the hopper part formed on the other front side of the upper part, and a cut groove into which the hopper part is inserted is formed by cutting backward on one side of the upper front end part where the space part is formed,
The hopper part
a mounting plate that has an area larger than that of the upper body, has a second input hole formed on one side corresponding to the first input hole, and is mounted on one side of the upper surface of the main body;
It is installed along the upper surface of the mounting plate where the second input hole is formed, and is formed to protrude inward on one side of the inner surface, and further includes a separation prevention member formed with at least one support protrusion supported on one side of the upper surface of the sandpaper. Automatic sandpaper replacement device.
According to paragraph 3,
The main body has a second input hole corresponding to the first input hole formed on one side of the upper surface, and is installed along the circumference of the upper surface where the second input hole is formed, but is formed to protrude inward on one inner surface and is supported on one side of the upper surface of the sandpaper. A separation prevention member formed with one support protrusion is installed,
The hopper part
An automatic sandpaper replacement device, characterized in that the upper body is installed on the lower part of the upper surface where the second input hole is formed to be slidable in the inner and outer directions of the main body.

According to paragraph 3,
The hopper part
The upper body is divided into a first upper body and a second upper body, and the lower body is divided into a first lower body and a second lower body,
At least one end of the divided first or second upper body and the corresponding end of the first or second lower body are rotatably installed on one of the plurality of guide bars. An automatic sandpaper replacement device characterized in that