WO2023109579A1

WO2023109579A1 - Paint surface reciprocating grinding and polishing abrasive paper system

Info

Publication number: WO2023109579A1
Application number: PCT/CN2022/136895
Authority: WO
Inventors: 胡小龙; 蔡路
Original assignee: 昂华（上海）自动化工程股份有限公司
Priority date: 2021-12-16
Filing date: 2022-12-06
Publication date: 2023-06-22
Also published as: CN114248179A

Abstract

The present invention relates to the field of grinding and polishing, and provides a paint surface reciprocating grinding and polishing abrasive paper system. The paint surface reciprocating grinding and polishing abrasive paper system specifically comprises: a robotic hand; a grinding portion connected to the head end of a robotic hand body and used for grinding the paint surface of a workpiece under the driving of the robotic hand body, so as to control the removal depth of the paint surface, the grinding portion comprising a grinding assembly and a driving mechanism for driving the grinding assembly; and an abrasive paper automatic replacement portion used for replacing abrasive paper used for grinding the paint surface of the workpiece in the grinding assembly, wherein the grinding assembly comprises abrasive paper installed on the bottom surface of the driving mechanism and a grinding force control unit passing through the driving mechanism, a force control motor of the grinding force control unit is installed in a flange connected to the robotic hand body, and the grinding force control unit can flexibly grind the paint surface according to the complex surface condition of the workpiece. According to the treatment scheme of the present invention, grinding and polishing process parameters can be accurately controlled, and thus accurate grinding and polishing of the paint surface are achieved.

Description

Paint surface reciprocating grinding and polishing sandpaper system

technical field

The invention relates to the field of grinding and polishing, in particular to a paint surface reciprocating grinding and polishing sandpaper system.

Background technique

With the lightweight development of automobiles and aviation, carbon fiber materials are more and more widely used in the fields of automobiles and aviation due to their light texture and high strength. Because most of the carbon fiber parts are appearance parts, the requirements for the surface of the parts are getting higher and higher. The current manufacturing process mainly relies on manual grinding and polishing of the paint surface of the carbon fiber parts. The grinding and polishing is difficult, the environment is harsh and the product consistency is poor. The existing reciprocating grinding and polishing sandpaper equipment is mainly realized by installing a pneumatic manual reciprocating polishing machine under the floating cylinder. Because the speed of the pneumatic tool is difficult to control and the power is generally small, it is easy to stall. For scenes with strict quality requirements, the current equipment is not up to the task.

Contents of the invention

Therefore, in order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a paint surface reciprocating grinding and polishing sandpaper system for precisely controlling the process parameters of grinding and polishing to realize precise grinding and polishing of the paint surface.

In order to achieve the above object, the present invention provides a paint surface reciprocating grinding and polishing sandpaper system, comprising: a robotic arm with a numerically controlled base and a robotic arm body arranged on the numerically controlled base, and the tail end of the robotic arm body It is connected with the numerical control base; the grinding part is connected to the head end of the robot body, and is used to polish the paint surface of the workpiece driven by the robot body, thereby controlling the removal depth of the paint surface. The part includes a grinding assembly and a driving mechanism for driving the grinding assembly; the sandpaper automatic replacement part is used to replace the sandpaper used for grinding the paint surface of the workpiece in the grinding assembly, wherein the grinding assembly includes a The sandpaper on the bottom surface of the mechanism and the grinding force control unit that runs through the drive mechanism. The force control motor of the grinding force control unit is installed in the flange connected to the robot arm body. The grinding force control unit can For complicated surface conditions, the paint surface can be polished flexibly.

In one of the embodiments, the driving mechanism includes: a reciprocating yaw assembly, used to drive the grinding assembly to reciprocate and polish the paint surface of the workpiece; a follow-up lifting assembly, used to float and lift the grinding assembly; The transmission assembly is used to drive the reciprocating yaw assembly and the follow-up lifting assembly.

In one of the embodiments, the accompanying lifting assembly includes a transmission sleeve that receives the rotational power transmitted from the power transmission assembly, a transmission shaft that rotates coaxially with the transmission sleeve, and a roller that drives the transmission shaft to slide up and down. A needle guide bearing having a cavity for receiving the drive shaft.

In one of the embodiments, the reciprocating yaw assembly includes a yaw wheel, a yaw rod, a reciprocating plate, and a miniature guide rail, and the yaw wheel receives the rotational power transmitted by the drive shaft of the follow-up lifting assembly; the One end of the yaw rod is connected to the yaw wheel, and the other end is fixed on the reciprocating plate; the reciprocating plate reciprocates along the miniature guide rail; the grinding assembly includes sandpaper installed on the bottom surface of the reciprocating plate and A grinding force control unit arranged on the other side of the reciprocating plate.

In one of the embodiments, the automatic sandpaper replacement part includes: a workbench; a sandpaper peeling mechanism, which is arranged on the upper surface of the workbench and is located on one side of the workbench, and has a The belt in contact with the sandpaper and the peeling assembly for peeling the sandpaper on the belt from one side of the grinding assembly; the sandpaper installation mechanism is located on the other side of the workbench, including a The positioning assembly for positioning the grinding assembly and the sandpaper installation assembly for installing the sandpaper inside the workbench; and a pneumatic control mechanism, arranged inside the workbench for driving the sandpaper peeling mechanism and the sandpaper mounting mechanism.

In one of the embodiments, the sandpaper stripping mechanism includes: a belt sliding assembly, having a belt abutting against the lower surface of the sandpaper, a supporting plate located under the belt for supporting the downward pressure of the grinding assembly, The tensioning roller and the orientation roller are arranged at both ends of the pallet to cooperate with the tensioning of the belt; the peeling assembly is arranged above the belt and on the side close to the tensioning roller, and has a Sandpaper stripping board for surface contact.

In one of the embodiments, the tensioning roller includes a tensioning wheel center shaft fixed on the workbench, a tensioning roller sleeve sleeved on the tensioning wheel center shaft, and a tensioning wheel supporting the tensioning wheel. Set the rotating tensioning wheel bearing, and the outer surface of the tensioning roller set is provided with a slope.

In one of the embodiments, the peeling assembly includes: a sandpaper peeling plate, fixed on the workbench and in contact with the upper surface of the sandpaper, with a barb for peeling off the sandpaper; Peel off the sandpaper.

In one of the embodiments, the positioning assembly includes a positioning pole that can slide on the upper surface of the workbench, a telescopic cylinder arranged near the edge of the workbench for driving the movement of the positioning pole, and a matching pair The position limiter and the stopper of the limiter are carried out by the positioning pole.

In one of the embodiments, the sandpaper installation assembly includes a lifting plate for replacing sandpaper, a jacking cylinder fixed inside the workbench for driving the lifting plate, and a lifting cylinder for guiding the lifting plate. Lifting guide rods and guide sleeves, and support rods for fixing the lifting plate inside the workbench.

Compared with the prior art, the present invention has the advantages of: the precise control of the reciprocating frequency is carried out by means of motor drive, and the motor is arranged in the flange connected with the robot body, which does not occupy the flexible force to control the end load, and solves the problem of flexible The weight limit of the force control end tool makes the load of the flexible force control end light, and can accurately control the force output below 10N without distortion. It can be very competent for the scene with high requirements for the paint removal depth, and the required one can be selected according to the actual application conditions. The power of the motor does not need to consider the limitation of the flexible force control on the weight of the motor. It can be equipped with a flexible force control, which can accurately control the process parameters of grinding and polishing, realize precise grinding and polishing of the paint surface, and ensure the stability and consistency of the product. Moreover, the system is also equipped with an automatic sandpaper replacement unit, which can automatically replace the sandpaper.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the structural representation of paint surface reciprocating grinding and polishing sandpaper system in the embodiment of the present invention;

Fig. 2 is the structural representation of grinding part in the embodiment of the present invention;

Fig. 3 is a schematic structural view of the grinding part in an embodiment of the present invention;

Fig. 4 is a schematic structural view of the follow-up lifting assembly in an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a reciprocating yaw assembly in an embodiment of the present invention;

Fig. 6 is a schematic structural view of the sandpaper automatic replacement part in an embodiment of the present invention;

Fig. 7 is the structural representation of sandpaper stripping mechanism in the embodiment of the present invention;

Fig. 8 is a schematic diagram of the sandpaper stripping mechanism peeling off the sandpaper in an embodiment of the present invention;

Fig. 9 is a schematic structural view of a belt sliding assembly in an embodiment of the present invention;

Fig. 10 is a schematic structural view of the belt sliding assembly after the belt is removed in an embodiment of the present invention;

Fig. 11 is a schematic structural view of the stripping assembly in an embodiment of the present invention;

Fig. 12 is a schematic structural view of the sandpaper installation mechanism in an embodiment of the present invention;

Fig. 13 is a schematic structural diagram of a positioning component in an embodiment of the present invention;

Fig. 14 is a schematic structural view of the sandpaper installation assembly in the embodiment of the present invention.

Detailed ways

Embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. The present application can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative work, all belong to the scope of protection of this application.

It is noted that the following describes various aspects of the embodiments that are within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is illustrative only. Based on the present application one skilled in the art should appreciate that an aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, any number and aspect set forth herein may be used to implement an apparatus and/or practice a method. In addition, such an apparatus may be implemented and/or such a method practiced using other structure and/or functionality than one or more of the aspects set forth herein.

It should also be noted that the diagrams provided in the following examples are only schematically illustrating the basic ideas of the present application, and only the relevant mechanisms in the application are shown in the drawings rather than the number, shape and Dimensional drawing, the shape, quantity and proportion of each mechanism can be changed arbitrarily during its actual implementation, and its mechanism layout type may also be more complicated.

Additionally, in the following description, specific details are provided to facilitate a thorough understanding of examples. However, it will be understood by those skilled in the art that aspects may be practiced without these specific details.

As shown in FIG. 1 , the embodiment of the present application provides a paint surface reciprocating grinding and polishing sandpaper system, including a robot arm 1 , a polishing part 2 and an automatic sandpaper replacement part 3 .

The robot arm 1 is located above the grinding part 2, and the function of the robot arm 1 is to drive the grinding part 2 to move freely. The robot arm 1 has a numerical control base and a robot hand body arranged on the numerical control base, and the tail end of the robot arm body is connected with the numerical control base. The numerical control base is connected with the driving mechanism in the grinding part 2, and the numerical control base can be connected with the driving mechanism through the wireless module, and can also be connected with the driving mechanism through the electric wire arranged in the manipulator body. The wireless module can be a bluetooth module, an infrared module, a wifi module, a zigbee module, etc. The numerical control base drives the grinding part 2 to move freely, and controls the driving mechanism to move the grinding assembly, thereby ensuring that the grinding part 2 corresponds to the paint surface of the workpiece to be ground and polished in real time.

The function of the grinding part 2 is to grind the paint surface of the workpiece surface. The grinding part 2 is connected to the head end of the robot body, and is used to grind the paint surface of the workpiece under the drive of the robot body, so as to control the removal depth of the paint surface. The grinding part includes a grinding assembly and a driving mechanism for driving the grinding assembly. The grinding assembly includes sandpaper 19 installed on the bottom surface of the driving mechanism and a grinding force control unit 21 passing through the driving mechanism. The force control motor of the grinding force control unit 21 is installed in the flange connected with the robot body, and the grinding force control unit 21 can realize flexible grinding on the paint surface according to the surface complexity of the workpiece.

As shown in FIG. 2 , in one embodiment, the driving mechanism includes a power transmission assembly 300 , a follow-up lifting assembly 400 and a reciprocating yaw assembly 500 .

The reciprocating yaw assembly 500 is used to drive the grinding assembly to perform reciprocating grinding on the paint surface of the workpiece.

The follow-up lifting assembly 400 is used for floating and lifting the grinding assembly.

The power transmission assembly 300 is used to drive the reciprocating yaw assembly and the follow-up lifting assembly. As shown in FIG. 3 , in one embodiment, a power transmission assembly 300 includes a transmission motor 6 , a driving wheel 7 , a driven wheel 8 and a transmission belt 10 . The output shaft of transmission motor 6 is connected with driving wheel 7 , driving wheel 7 and driven wheel 8 are connected by transmission belt 10 , transmission motor 6 drives driving wheel 7 and transmission belt 10 to rotate, and power is transmitted to driven wheel 8 . The driven wheel 8 is connected with the follow-up lifting assembly 400 . In one embodiment, the power transmission assembly 300 also includes an idler assembly 9. The main function of the idler assembly 9 is to compress the transmission belt 10, so that the transmission belt 10 is always in a tight state, so that the kinetic energy transmission is more stable. The idler assembly 9 can be parts such as projections or clips fixed on the end face. In one of the embodiments, the follow-up lifting assembly 400 includes a transmission sleeve 12 that receives the rotational power transmitted from the power transmission assembly, a transmission shaft 14 that rotates coaxially with the transmission sleeve, and a needle roller guide bearing 13 that drives the transmission shaft to slide up and down. The needle guide bearing 13 has a cavity to accommodate the transmission shaft.

In another embodiment, as shown in FIG. 4 , the follow-up lifting assembly 400 includes a bearing seat 11 , a transmission sleeve 12 , a needle roller guide bearing 13 , a transmission shaft 14 and a needle roller thrust bearing seat 15 . The rotational power is transmitted from the driven wheel 8 to the transmission sleeve 12 and then to the transmission shaft 14 . The up and down sliding of the power transmission shaft 14 is by installing a needle guide bearing 13 at the lower end of the drive sleeve 12, and the inside of the needle guide bearing 13 is a polygonal inner cavity. In one example, needle rollers are arranged between the inner wall of the needle roller guide bearing 13 and the transmission shaft 14, and the needle rollers can reduce the frictional force of sliding up and down. The transmission shaft 14 is also a polygonal structure corresponding to the inner cavity of the needle guide bearing 13, so that power can be effectively transmitted. In one embodiment, two deep groove ball bearings can be embedded inside the bearing with seat 11, and a plane bearing and a needle roller bearing are embedded inside the needle roller thrust bearing seat 15, so that the deflection force in the direction of rotation can be effectively controlled, Make the component run stably.

As shown in FIG. 5 , in one embodiment, the reciprocating yaw assembly 500 includes a yaw wheel 16 , a yaw rod 17 , a reciprocating plate 18 and a miniature guide rail 20 . The yaw wheel 16 receives the rotational power transmitted by the drive shaft 14 of the follower lifting assembly 400 . One end of the yaw rod 17 is connected with the yaw wheel 16, and the other end is fixed on the reciprocating plate 18. The reciprocating plate 18 reciprocates along the micro guide rail 20 . One end of the yaw rod 17 is fixed on the yaw wheel 16 and the other end is fixed on the reciprocating plate 18, and the left and right sides of the reciprocating plate 18 are equipped with miniature guide rails 20, thus forming a three-link assembly to ensure that the reciprocating plate 18 reciprocates back and forth swing. The grinding assembly includes sandpaper installed on the bottom surface of the reciprocating plate and a grinding force control unit arranged on the other side of the reciprocating plate.

The function of the sandpaper automatic replacement part 3 is to automatically replace the sandpaper on the grinding part 2, so as to reduce manual participation and improve work efficiency. The sandpaper automatic changing part 3 is used for changing the sandpaper used for grinding the paint surface of the workpiece in the grinding assembly.

The above-mentioned reciprocating grinding and polishing sandpaper system for the paint surface adopts the motor drive method for precise control of the reciprocating frequency, and the motor is set in the flange connected to the robot body, which does not occupy the end load of the flexible force control, and solves the problem of flexible force control end tools. The weight limit makes the end load of the flexible force control light, and can accurately control the force output below 10N without distortion. It can be well suited for scenes with high requirements for paint removal depth, and the required motor power can be selected according to the actual application conditions. Regardless of the limitation of the motor weight by the flexible force control, it can be equipped with a flexible force control, which can accurately control the parameters of the grinding and polishing process, realize precise grinding and polishing of the paint surface, and ensure the stability and consistency of the product. Moreover, the system is also equipped with an automatic sandpaper replacement unit, which can automatically replace the sandpaper.

As shown in FIG. 6 , in one embodiment, the automatic sandpaper replacement unit includes a workbench 22 , a sandpaper peeling mechanism 23 , a sandpaper installation mechanism 24 and a pneumatic control mechanism 25 .

The workbench 22 is used to fix the sandpaper peeling mechanism 23 , the sandpaper installation mechanism 24 and the pneumatic control mechanism 25 .

The sandpaper stripping mechanism 23 is arranged on the upper surface of the workbench, and is located at one side of the workbench, has a belt that can contact the sandpaper of the grinding assembly and a peeling assembly that peels off the sandpaper on the belt from the side of the grinding assembly.

As shown in FIGS. 7 and 8 , in one embodiment, the sandpaper stripping mechanism includes a belt sliding assembly 26 and a stripping assembly 27 . When replacing the grinding sandpaper 19, because the grinding force control unit 21 of the grinding part 2 exerts force on the sandpaper 19, the grinding sandpaper 19 is closely attached to the belt sliding assembly 26. When the grinding part 2 moves to the right in FIG. The assembly 27 can hook the root of the sandpaper 19 to peel off the used sandpaper 19 from the sanding part 2 .

In one embodiment, as shown in FIGS. 9 and 10 , the belt sliding assembly 26 has a belt 31 abutting against the lower surface of the sandpaper, a supporting plate 30 positioned below the belt 31 for supporting the downward pressure of the sanding assembly, and is arranged on The two ends of the supporting plate 30 cooperate with the tensioning roller 28 and the orientation roller 29 of the tensioning belt. The tension roller 28 and the orientation roller 29 at the front and rear ends of the sliding belt 31 can keep the sliding belt 31 in a tensioned state all the time, and slide linearly towards the opposite direction. The supporting plate 30 is located between the tensioning roller 28 and the orientation roller 29 , and it can support the downward pressure of the grinding part 2 . In one embodiment, lubricating grease is provided between the sliding belt 31 and the supporting plate 30 to better reduce friction.

In one embodiment, the tensioning pulley 28 includes a tensioning pulley center shaft 33 , a tensioning pulley sleeve 34 , and a tensioning pulley bearing 35 . The outer surface of the tension roller cover 34 has a certain slope, so that when the sliding belt 31 is doing a translational movement, it can be automatically centered. In one embodiment, fine-tuning screws are installed on the left and right sides of the tensioning roller 28, which is convenient for commissioning personnel to carry out installation and commissioning. The shape of the tensioning roller cover 34 can be a fixed-width figure or other irregular circles, such as a triangle of Relo. Orientation drum 29 comprises orientation wheel axis 32, orientation wheel bearing 36. Orientation cylinder 29 can do follow-up rotation motion when sliding belt 31 does translational movement like this.

The stripping assembly 27 is arranged above the belt and on one side close to the tension roller, and has a sandpaper stripping plate 37 in contact with the upper surface of the sandpaper. In one embodiment, the stripping assembly 27 includes a sandpaper stripping plate 37 and a cleaning nozzle 39 . The sandpaper peeling plate 37 is fixed on the workbench and is in contact with the upper surface of the sandpaper, and has an undercut for peeling off the sandpaper. The cleaning nozzle 39 is used to remove the stripped sandpaper. In one embodiment, as shown in FIG. 11 , the automatic sandpaper replacement part 3 can also be provided with a photoelectric sensor 38 and a color sensor 40 . The sandpaper peeling plate 37 can peel off the polished sandpaper 19 that has moved in translation, and the photoelectric sensor 38 can detect whether there is any waste and old sandpaper 19 that has fallen off. If it does not fall, it means that the peeling is not successful. Or equipment alarm to remind the staff. The function of clearing nozzle 39 is to blow the grinding sandpaper 19 peeled off to the bottom of the equipment, so that waste and old grinding sandpaper 19 are not blocked in the feed port area (ie the installation area of sandpaper). Color sensor 40 is after the installation of new sandpaper, detects whether the sandpaper 19 is successfully attached on the grinding part 2, if the detection is not successfully attached, the grinding part 2 repeats the action of attaching the sandpaper until it succeeds.

In one embodiment, as shown in FIG. 12 , the sandpaper installation mechanism 24 is located on the other side of the workbench, including a positioning assembly 41 positioned on the upper surface of the workbench for positioning the grinding assembly and an installation sandpaper located inside the workbench. The sandpaper mounting assembly 42.

The pneumatic control mechanism 25 is arranged inside the workbench and is used to drive the sandpaper peeling mechanism and the sandpaper installation mechanism.

As shown in Figure 13, in one of the embodiments, the positioning assembly 41 includes a positioning pole 46 that can slide on the upper surface of the workbench, a telescopic cylinder 43 that is arranged near the edge of the workbench for driving the positioning pole to move, and a matching A limiter 44 and a limiter block 45 that limit the positioning pole. The telescopic shaft of telescopic cylinder 43 is ejected, and because limiter 44 withstands stopper block 45, telescopic cylinder 43 stops action, thereby guarantees that location pole 46 has moved to relative position. The position of the stopper 44 is not fixed, and can be locked as required. When debugging the equipment, the front and rear positions of the stopper 44 can be fine-tuned to position the grinding part 2 .

As shown in Figure 14, in one of the embodiments, the sandpaper installation assembly 42 includes a jacking plate 50 for replacing the sandpaper, a jacking cylinder 47 fixed inside the workbench for driving the jacking plate, and a jacking cylinder 47 for guiding the jacking plate. The guide bar 48 and the guide sleeve 49 of the plate lifting, and the support bar 51 that the lifting plate is fixed on the inside of the workbench. Jacking cylinder 47 is connected on the jacking plate 50, and it gives the push-pull force that jacking plate 50 stretches up and down. Guide sleeve 49 and guide rod 48 play the guiding effect of straight line lifting. The support bar 51 connects the whole sandpaper installation assembly 42 on the one hand, and on the other hand can play the peripheral limit of the four directions of the front, rear, left, and right sides of the sandpaper 19, preventing the sandpaper 19 from falling out of the sandpaper installation assembly 42 li.

The pneumatic control mechanism 25 is located inside the workbench 22, and the independent pneumatic control mechanism 25 is convenient for debugging personnel to debug and maintain the equipment.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A paint surface reciprocating grinding and polishing sandpaper system is characterized in that it comprises:

The robot has a numerical control base and a robot body arranged on the numerical control base, and the tail end of the robot body is connected to the numerical control base;

The grinding part is connected to the head end of the robot arm body, and is used to grind the paint surface of the workpiece driven by the robot arm body, thereby controlling the removal depth of the paint surface. The grinding part includes a grinding assembly and drives the The drive mechanism for the reciprocating motion of the grinding assembly;

the sandpaper automatic replacement part is used to replace the sandpaper used in the grinding assembly for grinding the paint surface of the workpiece,

Wherein, the grinding assembly includes sandpaper installed on the bottom surface of the driving mechanism and a grinding force control unit that runs through the driving mechanism, and the force control motor of the grinding force control unit is installed on the flange connected to the robot body Among them, the grinding force control unit can realize flexible grinding on the paint surface according to the complex surface conditions of the workpiece.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 1, wherein the drive mechanism comprises:

A reciprocating yaw assembly is used to drive the grinding assembly to reciprocate the paint surface of the workpiece;

The follow-up lifting component is used to float and lift the grinding component;

The power transmission assembly is used to drive the reciprocating yaw assembly and the follow-up lifting assembly.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 2, characterized in that, the follow-up lifting assembly includes a transmission sleeve that receives the rotational power transmitted from the power transmission assembly, and a transmission sleeve that rotates coaxially with the transmission sleeve. A transmission shaft and a needle roller guide bearing that drives the transmission shaft to slide up and down, and the needle roller guide bearing has a cavity for accommodating the transmission shaft.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 2, wherein the reciprocating yaw assembly includes a yaw wheel, a yaw rod, a reciprocating plate and a miniature guide rail,

The yaw wheel receives the rotational power transmitted by the drive shaft of the follow-up lifting assembly; one end of the yaw rod is connected to the yaw wheel, and the other end is fixed on the reciprocating plate; the reciprocating plate moves along the The micro guide rail reciprocates;

The grinding assembly includes sandpaper installed on the bottom surface of the reciprocating plate and a grinding force control unit arranged on the other side of the reciprocating plate.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 1, wherein the automatic replacement part of the sandpaper comprises:

workbench;

The sandpaper stripping mechanism is arranged on the upper surface of the workbench and is located on one side of the workbench, has a belt that can contact the sandpaper of the grinding assembly and removes the sandpaper on the belt from the grinding Stripped components with one side peeled off;

The sandpaper installation mechanism is located on the other side of the worktable, including a positioning assembly located on the upper surface of the workbench for positioning the grinding assembly and a sandpaper installation located inside the workbench for installing the sandpaper. components; and

The pneumatic control mechanism is arranged inside the workbench and is used to drive the sandpaper stripping mechanism and the sandpaper installation mechanism.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 5, wherein the sandpaper stripping mechanism comprises:

The belt sliding assembly has a belt abutting against the lower surface of the sandpaper, a supporting plate under the belt for supporting the downward pressure of the grinding assembly, and is arranged at both ends of the supporting plate to cooperate with tensioning the belt Tensioning rollers and orientation rollers;

The peeling assembly is arranged above the belt and on a side close to the tensioning roller, and has a sandpaper peeling plate in contact with the upper surface of the sandpaper.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 6, wherein the tensioning roller comprises a tensioning wheel central shaft fixed on the workbench, sleeved on the tensioning wheel central shaft The tensioning roller sleeve and the tensioning wheel bearing supporting the rotation of the tensioning roller sleeve, the outer surface of the tensioning roller sleeve is provided with a slope.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 6, wherein the stripping assembly comprises:

A sandpaper peeling plate, fixed on the workbench and in contact with the upper surface of the sandpaper, has a barb for peeling off the sandpaper;

Cleaning nozzle for removing the stripped sandpaper.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 6, wherein the positioning assembly includes a positioning pole that can slide on the upper surface of the workbench, and is arranged near the edge of the workbench for driving the The telescopic cylinder that moves the positioning pole, and the limiter and the limiter block that cooperate to limit the position of the positioning pole.
The paint surface reciprocating grinding and polishing sandpaper system according to claim 6, wherein the sandpaper installation assembly includes a lifting plate for replacing the sandpaper, and a lifting plate fixed inside the workbench for driving the lifting plate. A jacking cylinder, a guide rod and a guide sleeve for guiding the jacking plate up and down, and a support bar for fixing the jacking plate inside the workbench.