APPARATUS FOR CHANGING AN ABRASIVE SHEET IN AN ABRADING MACHINE

Abstract

A system for replacing an abrasive sheet in a sanding machine including a working head in which it is provided a support body having an engagement surface arranged to engage with an abrasive sheet. The sanding machine also includes a handling device arranged to actuate the support body in space according to at least two degrees of freedom. The system may include a computing device to compute the spatial orientation of the support body. Furthermore, the system may include a removal station having a gripping element configured to grip the abrasive sheet in order to disengage the abrasive sheet from the support body.

Claims

1. A system for changing an abrasive sheet in a sanding machine comprising: a sanding machine having a support body with an engagement surface arranged to engage with the abrasive sheet and a handling device for handling spatially the support body according to at least two degrees of freedom; a removal station having a gripping element configured to grip the abrasive sheet in order to disengage the abrasive sheet from the support body; and a computing device to compute the spatial orientation of the support body, and the handling device arranged to bring the support body to a position having a known spatial orientation.

2. The system of claim 1, wherein the removal station includes a detection device that detects the presence of the abrasive sheet on the engagement surface of the support body.

3. The system of claim 2, wherein the detection device is a sensor of color recognition of an abrasive side of the abrasive sheet, which is of a color different from the engagement surface of the support body.

4. The system of claim 2, wherein the detection device is a diffuse-type laser sensor.

5. The system of claim 1, wherein the removal station includes an edge to disengage the abrasive sheet on the engagement surface of the support body.

6. The system of claim 5, wherein the edge is a sharp edge.

7. The system of claim 1, wherein the handling device is arranged to actuate the support body with respect to the removal station to bring the support body to a removal position in which the sharp edge of the removal device is located between the abrasive sheet and the support body to detach at least a portion of the abrasive sheet from the engagement surface.

8. The system of claim 1, further comprising at least one application station having a container for storing a new abrasive sheet.

9. The system of claim 8, wherein the handling device positions the support body at the container to engage the new abrasive sheet with the engagement surface of the support body.

10. The system of claim 9, wherein the container of the at least one application station includes a push element to push the new abrasive sheet against the engagement surface of the support body when positioned at the container to assist the engagement of the abrasive sheet with the engagement surface.

11. The system of claim 1, wherein the support body includes at least one main suction hole in pneumatic connection with an air suction system to remove dust and fragments from the working surface.

12. The system of claim 1, wherein the handling device is arranged to position the support body at the computing device for computing the orientation with the support body free of rotating about a rotation axis, the computing device including an actuation member arranged to cause a rotation of the support body about the rotation axis to place the support body to the position having known spatial orientation.

13. A method for changing an abrasive sheet in a sanding machine, the method comprising: providing a sanding machine including: a support body having an engagement surface arranged to engage with the abrasive sheet, and a handling device configured to handle spatially the support body according to at least two degrees of freedom; providing a removal device having a gripping element; moving the support body with the handling device with respect to the removal device to place the support body in a removal position in which the gripping element disengages at least one portion of the abrasive sheet from the engagement surface; and computing the spatial orientation of the support body, the handling device arranged to bring the support body to a position having a known spatial orientation.

14. The method of claim 13, further comprising detecting the presence of the abrasive sheet with a detection device.

15. The method of claim 13, further comprising controlling the presence of the abrasive sheet on the engagement surface of the support body.

16. The method of claim 15, wherein positioning the support body with the handling device at an application station having a container for storing a new abrasive sheet to engage the new abrasive sheet with the engagement surface of the support body.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The various embodiments will be now shown with the following description of an exemplary embodiment thereof, exemplifying but not limitative, with reference to the attached drawings in which:

[0046] FIG. 1 diagrammatically shows a perspective view of a possible exemplary embodiment of an apparatus, according to the invention, for changing an abrasive sheet in a sanding machine;

[0047] FIGS. 2 and 3 diagrammatically show a perspective elevational side view and in a side view, respectively, of a working head that can be associated with the apparatus of FIG. 1 to which is constrained the support body that causes the abrasive sheet;

[0048] FIGS. 4 to 6 show a perspective rear view of an elevational side view of and in a perspective front view, respectively, a device for removing the abrasive sheet for highlighting some technical features;

[0049] FIGS. 7 and 8 show in a perspective rear view and in a perspective front view, respectively, a container of abrasive sheets for highlighting some technical features;

[0050] FIGS. 9 and 10 show an elevational front view of a container of abrasive sheets with a coverin a closed configuration and in an open configuration, respectively;

[0051] FIG. 11 shows a perspective view of a possible exemplary embodiment of the apparatus, according to the invention, in which a removal station, a station of computing the spatial orientation of the support body and an application station of the abrasive sheets are provided;

[0052] FIG. 12 shows in a cross section longitudinal view a particular exemplary embodiment of the container of FIG. 7;

[0053] FIG. 13 shows a perspective elevational side view of an exemplary embodiment of the support body and of the abrasive sheet of FIG. 2;

[0054] FIG. 14 shows a perspective elevational side view of a station of computing the spatial orientation of the support body;

[0055] FIG. 15 shows in a perspective elevational front view the working head FIG. 13 during a step of approaching the station of computing the spatial orientation of the support body of FIG. 14 for arranging the support body on the rollers;

[0056] FIG. 16 shows a cross sectional view of the spatial orientation computing device of the support body of FIG. 14;

[0057] FIG. 17 shows an enlarged view of a portion of the spatial orientation computing device of the support body of FIG. 16 for highlighting some structural features; and

[0058] FIG. 18 diagrammatically shows an elevational front view of a device, according to the invention, for computing the space position of the axis of the support body.

DETAILED DESCRIPTION

[0059] In FIG. 1, an apparatus is diagrammatically shown 100, according to the invention, for replacing an abrasive sheet 25 in a sanding machine 120. It comprises a working head 50 in which a support body 10 is provided having an engagement surface 15 arranged to engage with an abrasive sheet 25. The support body 10 has normally at least one rotation movement about a rotation axis 110 with respect to the working head 50. The sanding machine 120 can also be of roto-orbital type and therefore in this case, in operating conditions, the support body 10 describes an orbital eccentric path with respect to an axis 150 of the working head 50.

[0060] The sanding machine 120 also comprises a handling device 40 arranged to handle spatially the support body 10 according to at least two degrees of freedom. As diagrammatically shown in FIG. 1, the handling device 40 can be an anthropomorphic robot, for example with six rotational degrees of freedom.

[0061] Normally, the side 26 of the abrasive sheet 25 facing, in use, the support body 10 and the engagement surface 15 of the latter comprise a mutual engagement means of removable type. For example, the mutual engagement means can provide a layer of Velcro, i.e. a velvet layer on a face and a plurality of hooks on the other face, or an adhesive layer, in particular of reversible glue layer, or a plurality of projections and recesses mutually engageable with each other, or similar engagement elements.

[0062] According to the invention, the apparatus 100, in addition to the sanding machine as described above, comprises a removal station 30 in which a removal device 35 is installed having an sharp edge 31 arranged to remove the sheet 25 from the support body 10 through the operations described below. More in detail, the handling device 40 is arranged to position the support body 10 in a removal position in which the sharp edge 31 is located between the abrasive sheet 25 and the support body 10.

[0063] Through this step the mutual engagement means that engage the face 26 of the abrasive sheet 25 and the engagement surface 15 of the support body 10 and pass, at least at the beginning, from an engagement configuration to a configuration of disengagement in which at least one portion of the abrasive sheet 25 does not adhere any more to the engagement surface 15.

[0064] More in detail, once arranged the support body 10 in a ready-for-removal position, i.e. the first position, in which the support body 10 has at least one portion located opposite to the abrasive sheet 25 with respect to the sharp edge 31, the handling device 40 can actuate the support body 10 with respect to the sharp edge 31, in order to bring the sharp edge 21 between the support body 10 and the abrasive sheet 25 at a plurality of points. This way, a detached portion of the abrasive sheet from the support body 10 is obtained, comprising all the points of the abrasive sheet 25 detached from the engagement surface 15 of the support body 10.

[0065] In the exemplary embodiment of FIGS. 1, 4 and 6, the sharp edge 31 is circular, but it may also have different shape, for example substantially linear, or it can have an open curved profile, or a combination of linear and curved segments.

[0066] In case of a sharp edge 31 having substantially circular shape, the support body 10 can be advantageously moved by the handling device 40 along a substantially circular trajectory, or elliptical, such that a disengagement of more points of the abrasive sheet 25 from the support body 10 is obtained.

[0067] The removal station 30 is, advantageously, equipped with a gripping element 38 arranged to grip the abrasive sheet 25 at the detached portion. In particular, in this case, the handling device 40 is arranged to position the abrasive sheet 25, advantageously the detached portion thereof, at the gripping element 38. When the gripping element 38 is arranged in the gripping configuration in which it grips the sheet 25, a relative movement between the gripping element 38 and the support body 10, for example made by the handling device 40, causes a full disengagement of the abrasive sheet 25 from the support body 10. In the example shown in FIGS. 4 and 5, the gripping element 38 comprises two parts and precisely a first part 38a and a second part 38b movable with respect to each other. For example, the part 38a can be connected to the removal device 35 and the part 38b can be slidingly mounted towards/away from the part 38a, for example along a direction substantially orthogonal to the plane on which the sharp edge 31 lays.

[0068] The removal station 30 can also have a device for detecting the presence of the abrasive sheet 25 on the engagement surface 15 of the support body 10. For example, the detection device can be a sensor of colour recognition 36, i.e. sensing the variation of the colour. In this case, the abrasive side 26 of the abrasive sheet 25 is of a colour different from the engagement surface 15 of the support body 10. Therefore, the sensor of colour recognition 36 can recognize the presence, or the absence, of the abrasive sheet 25 on the support body 10 according to the detected colour. The sensor 36 can also be a sensor of different type, normally a presence sensor.

[0069] The removal station can also be equipped with a delivery member 37 of a jet of air, or other pressurized gas, arranged to deliver the jet on the engagement surface 15 of the support body 10, once removed the abrasive sheet 25, for removing possible dust and fragments of abraded material from the working surface.

[0070] The apparatus 100 can also comprise at least one application station 70 in which an abrasive sheet 25 is mounted at the engagement surface 15 of the support body 10. At the application station 70 of the abrasive sheet at least one container 75 is arranged, containing at least one abrasive sheet 25, but preferably a stack of abrasive sheets 25. More in particular, the handling device 40 is arranged to position the support body 10 at the container 75 up to cause the engagement of an abrasive sheet 25 with the engagement surface 15 of the support body 10.

[0071] More in detail, at the application station 70 several containers 75 can be provided, for example each containing a sheet 25, or, more in general a stack of abrasive sheets 25 that have a different sand size, i.e. smaller or larger, and then used for a variety of Works, or for different sanding steps.

[0072] The or each container 75 has a cover 76 arranged to pass from a closed position of container 75, in order to avoid that dust and other material can make dirty the abrasive sheets 25 (FIG. 9), to an open position, in which it allows the access of the support body 10, moved by the handling device 40, to the mouth 79 of the container 75, for being able, then, to apply a sheet 25 to the support body 10 (FIG. 10).

[0073] In the container 75 a push element can be provided of arranged to push the abrasive sheet 25, or the stack of sheets 25, towards the opening 79, in order to push the abrasive sheet 25 against the engagement surface 15 previously positioned at the opening 79. For example, the push element can be an actuator, such as a pneumatic piston 85, arranged to translate longitudinally in the container 75, and to act on a support body on which the abrasive sheets 25 are arranged, or directly on the first abrasive sheet 25 of the stack, i.e. farther from opening 78.

[0074] The actuator 85 can be associated with at least one stop element, for example two stop elements 86a and 86b, arranged to stop the withdrawal during a step of back stroke towards the starting position after having applied the abrasive sheet 25 to support body 10.

[0075] According to a further aspect of the invention, the wall 77 of container 75 has at least one protruding element 87, for example at opening 79. The protruding element 87 is arranged to protrude towards the inside of the container 75, i.e. in a recess 77, and is configured to cause the separation of two abrasive sheets 25 that can adhere to each another. The abrasive sheets 25, in fact, are arranged in the container 75 with the abrasive side of one sheet oriented towards the engagement side of the next one and, accordingly, the two sheets can adhere to each other and could erroneously applied together to the support body 10, with subsequent waste of material and with the risk of affecting the sanding step. The presence of the protruding elements 87, instead, produces an action of separating the two sheets 25 that can adhere to each other and allows, therefore, to avoid said disadvantage. In particular, the protruding element 87 can be a knurled element, or indented, for example having a screwed surface. Therefore, when translating the abrasive sheets 25 towards the support body, the protruding element 87 separates by friction the two abrasive sheets 25.

[0076] In the exemplary embodiment shown for example in FIG. 13, the support body 10 has at least one main suction hole 18, for example three suction holes 18 at an angle of 120 from one another. The or each main suction hole 18, is in pneumatic connection with an air suction system diagrammatically shown in FIG. 13 with a block 300. This way, when sanding a workpiece it is possible to cause the suction from the environment of surrounding dust and fragments from the working surface ensuring, on the one hand, to possible operators in the working area to work in safety conditions and, on the other hand, to avoid that dust and fragments material removed by the working surface can affect the sanding step.

[0077] Also the abrasive sheet 25 can be advantageously equipped with at least one secondary suction hole 28. In this case, therefore, it is necessary to provide a device for overlapping the, or each, main suction hole 18 with the, or a respective, secondary suction hole 28.

[0078] Alternatively, or in addition, to the device for overlapping, a computing device can be provided for determining the spatial orientation of the support body 10. More in detail, the spatial orientation computing device of the support body 10 is arranged to position the support body 10 to a position whose orientation is known.

[0079] An example of spatial orientation computing device of the support body 10 is shown in FIGS. 14 to 17.

[0080] The handling device 40 is configured to position the support body 10 at the device for computing the orientation 60 in such a way that the support body 10 is free of rotating about its own rotation axis 110. In particular, the handling device 40 is arranged to position the support body 10 with the engagement surface 15 in contact of rollers 65, whose operation is disclosed in detail hereinafter. The device 60 can provide a side wall 62 to define laterally a housing 61, to avoid possible side movements of the support body 10 during the step of computing the spatial orientation.

[0081] The spatial orientation computing device 60 comprises an actuation member 63,64 and 65, arranged to cause the rotation of the support body 10 up to bring it in a position whose spatial orientation is known. The actuation member for causing the rotation of the support body 10 can rotate the support body 10 up to place the suction holes 18 in a predetermined angular known position. Therefore, when the handling device 40 draws the support body its spatial orientation and, in particular the angular position of the holes 18, is known with precision. This allows moving in the application station 70 above described with the reliability of overlapping precisely the secondary suction holes 28, i.e. those made on the abrasive sheets 25, with the main suction holes 18, i.e. those of the support body 10.

[0082] In a possible exemplary embodiment, the device 63,64,65 is arranged to cause the rotation of the support body 10 about its rotation axis 110 up to a known position, comprising an element of transmission 63 arranged to transmit the movement of a motor, or a gear motor 66, to at least one roller 65 at a distance from the rotation axis 110 of the support body 10 corresponding to the radial distance of one of the main suction holes 18. More in detail, the roller 65 can rotate about an axis 165, for example substantially horizontal. The rotation of the roller 65 causes the rotation of the support body 10 positioned on it. For increasing the grip of the surface of the or each roller 65 on the engagement surface 15 of the support body 10 it is possible to provide that the roller surface is knurled, or indented. When the rotation of the support body 10 has brought the roller 65 at the suction hole 18, the rotation of the support body 10 stops.

[0083] The means for transmitting the movement of the gear motor 66 to the rollers 65 can provide, as shown in detail in FIG. 17, a rotatable plate 63. The rotation of the plate about an axis 160 causes the rotation of the rollers 65. For example, the or each roller 65 can be pivotally engaged to a pin 69 connected to a plate 67. This is in turn fastened, for example by a bolt 68, to the wall delimiting laterally the housing 61. Therefore, the rotation of plate 63 about its axis 160 causes the rotation of the or each roller 65 about the respective rotation axis 165. For increasing the friction between the plate 63 and the roller 65 it is possible to provide a layer of a high friction material, such as rubber.

[0084] Therefore, by knowing the angular position of the rollers 65 the spatial orientation of the support body 10 is determined and, in particular, the angular position of each suction hole 18 present on it is known. This makes it possible to arrange precisely the support body 10 by the handling device 40 at the application station of the abrasive sheet 25, and, in particular to cause the suction holes 18 of the support body 10 to overlap the suction holes 28 of the abrasive sheets 25 housed within the container 75.

[0085] To assist the relative positioning of the support body 10 and the stack of abrasive sheets 25 in container 75, it is possible to provide a reference element, in particular a reference bolt 78. For example, the reference element 78 is arranged to engage with one of the holes 18 of the support body 10, in order to keep the support body 10 to a correct position during the approaching movement of the stack of sheets 25 and the following application of an abrasive sheet 25 on the surface 15.

[0086] In case of a sanding machine of roto-orbital type the support body 10, in addition to rotate about its own axis 110, moves along an orbital eccentric path with respect to the axis 150 of the working head 50 of the handling device 40 to which it is constrained.

[0087] The detection device 36 above described with reference to FIGS. 5, 6 and 7, can be used both for testing the correct removal of the abrasive sheet 25 from the engagement surface 15 of the support body 10 and to check the successful application of the abrasive sheet 25 to the engagement surface 15 and then to test the correct removal carried out by removal station 30 and the correct application in the application station 70.

[0088] Therefore, in this case, a device can be provided for computing the position of the rotation axis 110 of the support body 10, for determining the position of the axis 110 in space and then execute the different operations with high precision.

[0089] In an exemplary embodiment of the invention, the axis 150 of the working head 50 has a 'known position, and so it is enough to know the relative position of the axis 110 of the support body 10 from axis 150. Therefore, in this case, the device for computing the position of the axis 110 can be arranged to determine the distance of the axis 110 from the axis of the working head 50.

[0090] An example of the process through which it is possible to determine the position of the axis 110 with respect to the axis 150 is shown in FIG. 18. In this case, the handling device 40 is arranged to actuate the working head 50, and then the support body 10 to it constrained, in order to bring the axis 110 of the support body 10 to a known position, for example at a maximum distance from the axis 150. This can be made by the handling device 40, for example by forcing the support body 10 against a wall 200 up to maximize the distance from axis 150. In fact, by knowing the eccentricity of the support body, i.e. a maximum distance dmax of the axis 110 from axis 150, and by knowing the position of the latter, it is possible to determine the spatial position of the axis 110.

[0091] Notwithstanding the abrasive sheet shown in FIGS. 1 to 18 is substantially circular, i.e. It is an abrasive disc, this structure is to be intended as an exemplary one, since it is possible to use the apparatus, according to the present invention, for replacing abrasive sheets with different shape, for example rectangular.

[0092] The foregoing description of specific exemplary embodiments will so fully reveal the invention according to the conceptual point of view, so that others, by applying current knowledge, will be able to modify and/or adapt in various applications the specific exemplary embodiments without further research and without parting from the invention, and, accordingly, it is meant that such adaptations and modifications will have to be considered as equivalent to the specific embodiments. The means and the materials to realise the different functions described herein could have a different nature without, for this reason, departing from the field of the invention. It is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation.