CN108115567A - A kind of sand paper automatic-exchanging system - Google Patents

Abstract

The invention discloses a kind of sand paper automatic-exchanging systems, belong to sanding and polishing equipment field, including taking sand paper mechanism, sand supplying mechanism of paper and master control；The master control respectively with milling robot joined together, described sand paper mechanism and the sand supplying mechanism of paper signal is taken to be connected；It is described that sand paper mechanism is taken to include clip claw assembly；It is described that sand paper mechanism is taken to further include the first driving and reversing mechanism；First driving and reversing mechanism interlocks the clip claw assembly advance and retreat translation.Present invention mainly solves replace the problem of sand paper operation is needed between two clamping pieces that milling robot is controlled to drive the antiquated sand paper clamping jaw that is moved precisely to sand paper more exchange device so as to aggravate research staff's burden；Compare sand paper of the prior art more exchange device, only need two driving and reversing mechanisms of control carries out translation action, without controlling the milling robot with multiaxis that antiquated sand paper is driven accurately to run between two clamping jaws of clip claw assembly, reduce the workload of programming, the burden of the research staff of mitigation.

Description

A sandpaper automatic replacement system

technical field

The invention relates to the field of grinding and polishing equipment, in particular to an automatic sandpaper replacement system.

Background technique

With the improvement of the degree of automation, grinding robots are often used to grind various workpieces or steel plates. During the grinding process using the grinding robot, the sandpaper on the grinding tool of the grinding robot will be worn out and needs to be replaced.

When replacing the sandpaper manually, the grinding robot needs to drive the waste sandpaper to the predetermined sandpaper replacement station, and then manually remove the waste sandpaper and install new sandpaper; manual replacement of sandpaper is less efficient , and there are certain security risks.

At present, there are also sandpaper replacement equipment that can perform sandpaper replacement operations. This type of equipment includes grippers. When performing sandpaper replacement operations, it is necessary to control the grinding robot to drive the waste sandpaper to move accurately to the two clamping jaws of the sandpaper replacement equipment. Between the parts, then the jaws close and clamp the waste sandpaper, and the grinding robot moves to separate the waste sandpaper from the grinding robot; commonly used grinding robots have multiple axes, and controlling the precise movement of the grinding robot will increase the burden on the R & D personnel.

Contents of the invention

In order to solve the above problems, the present invention provides an automatic sandpaper replacement system, which can replace manual sandpaper replacement operations, and when performing sandpaper replacement operations, it is only necessary to let the grinding robot drive the waste sandpaper to the rough sandpaper removal station, without Make precise moves.

The technical solution adopted by the present invention is: an automatic sandpaper replacement system, including a sandpaper fetching mechanism, a sandpaper supply mechanism and a main control; Mechanism signal connection; the sandpaper taking mechanism includes a jaw assembly; the sandpaper taking mechanism also includes a first advance and retreat device; the first advance and retreat device links the jaw assembly to advance and retreat in translation, so that the jaw assembly can clamp to The sandpaper on the grinding tool of the matching grinding robot.

In the above technical solution, the sandpaper fetching mechanism is arranged adjacent to the sandpaper supply mechanism.

In the above technical solution, the jaw assembly includes jaws and an opening and closing device, and the opening and closing device drives the opening and closing of the jaws.

In the above technical solution, the sandpaper supply mechanism includes a placement platform and a pushing device, and the pushing device moves the placement platform up and down in translation, so that the topmost piece of sandpaper stacked on the placement platform is always at the same height.

In the above technical solution, the sandpaper feeding mechanism further includes at least two limit rods, and the limit rods are arranged around the placement platform.

In the above technical solution, the sandpaper supply mechanism further includes a brush for separating the sandpaper, and the brush is provided on the side of the placement platform to separate the stuck sandpaper.

In the above technical solution, the installation height of the brushes is equal to the height at which the matched grinding robot contacts the sandpaper on the placement platform.

In the above technical solution, the sandpaper automatic replacement system further includes a height detection device for detecting the height of the top surface of the sandpaper on the placement platform; the height detection device is connected to the main control signal.

In the above technical solution, the sandpaper automatic replacement system further includes a paper removal detection device for detecting whether the grinding tool on the matched grinding robot has taken sand paper; the paper removal detection device is connected to the main control signal.

In the above technical solution, the automatic sandpaper replacement system further includes a material detection device for detecting whether the sandpaper on the placement platform is used up; the material detection device is connected to the main control signal.

In the above technical solution, the sandpaper automatic replacement system also includes a correction mechanism; the correction mechanism and the sandpaper taking mechanism are opposite to each other; the correction mechanism includes a correction chuck and a second advance and retreat device; The second advancing and retreating device is linked with the forward and backward translation of the calibration chuck, so as to correct the grinding tool on the matched grinding robot.

In the above technical solution, the shape of the calibration chuck matches the shape of the grinding tool on the matched grinding robot.

In the above technical solution, the automatic sandpaper replacement system further includes a waste paper box; the waste paper box is arranged below the jaw assembly.

In the above technical solution, the sandpaper automatic replacement system further includes a fall-off detection device for detecting whether the sandpaper has fallen off; the fall-off detection device is connected to the main control signal.

The beneficial effects of the present invention are:

1. An automatic sandpaper replacement system provided by the present invention includes a sandpaper taking mechanism and a correction mechanism. The sandpaper taking mechanism includes a jaw assembly and a first advance and retreat device that moves forward and backward in parallel with the jaw assembly. The sandpaper taking mechanism and a correction mechanism With the cooperation of the mechanism, the waste sandpaper on the grinding robot running to the rough sandpaper taking station can be removed; Controlling the grinding robot with multi-axis drives the waste sandpaper to run accurately between the two jaws of the jaw assembly, which reduces the workload of program design and the burden of R&D personnel.

2. An automatic sandpaper replacement system provided by the present invention can complete the operation of removing waste sandpaper and replacing it with new sandpaper by using only three mechanisms, a sandpaper taking mechanism, a correction mechanism and a sandpaper supply mechanism, which are installed on the frame , which has a simple and compact structure and can replace manual sandpaper replacement operations at low cost.

Description of drawings

Fig. 1 is the integral perspective view of a kind of sandpaper automatic replacement system of the present invention;

Fig. 2 is an overall perspective view of an automatic sandpaper replacement system of the present invention after opening the protective cover;

Fig. 3 is an overall perspective view of another angle of the automatic sandpaper replacement system of the present invention after removing the protective cover;

Fig. 4 is a partial enlarged view of A in Fig. 2;

Fig. 5 is a perspective view of a sandpaper feeding mechanism of an automatic sandpaper replacement system of the present invention;

Fig. 6 is a partial enlarged view of B in Fig. 3;

Fig. 7 is a partial enlarged view of C in Fig. 3;

The reference numerals are: 1. frame; 11. drop hole; 12. support foot; 13. fixed seat; 14. protective cover; 141. through hole; 2. mechanism for taking sandpaper; Gripper; 212, opening and closing device; 22, first advance and retreat device; 3, sandpaper supply mechanism; 31, placing platform; 311, placing platform through hole; 32, pushing device; 33, limit rod; Brush; 341, support; 35, installation platform; 36, installation rod; 4, adjustment mechanism; 41, adjustment chuck; 42, second advance and retreat device; 5, waste paper box; 61, shedding detection device; 62 , Height detection device; 63, paper detection device; 64, material detection device.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, an automatic sandpaper replacement system includes a frame 1, a sandpaper fetching mechanism 2, a sandpaper supply mechanism 3, a correction mechanism 4, a waste paper box 5, and a main control (not shown in the figure) and testing agencies. This kind of sandpaper automatic replacement system is used in conjunction with a grinding robot.

The lower end of the frame 1 is provided with four support feet 12 that can be adjusted in height and four holders 13 for fixing the frame 1. The support feet 12 and the holders 13 are arranged at the four corners of the frame 1. Only the height of the support feet 12 can adjust the level of the frame 1; there is a drop hole 11 in the middle of the frame 1; the waste paper box 5 is located below the drop hole 11; the frame 1 is also equipped with a protection mechanism for taking sandpaper 2 and the protective cover 14 of correcting mechanism 4, protective cover 14 covers and gets sandpaper mechanism 2 and correcting mechanism 4, and the top plate of protective cover 14 is provided with through hole 141, stretches into for the arm body of grinding robot and grinding tool.

The detection mechanism includes a shedding detection device 61, a height detection device 62, a paper detection device 63 and a material detection device 64; the shedding detection device 61, the height detection device 62, the paper detection device 63 and the material detection device 64 are respectively connected to the main control signal .

As shown in Figures 4 and 6, the sandpaper-taking mechanism 2 includes a jaw assembly 21 and a first advance and retreat device 22; the jaw assembly 21 includes a jaw 211 and an opening and closing device 212, and the opening and closing device 212 can be a pneumatically operated horizontal opening and closing device. Fingers or electric fingers that open and close horizontally can also be pneumatic fingers that rotate and open or close; in this embodiment, the opening and closing device 212 is a pneumatic finger that opens and closes horizontally, and the opening and closing device 212 is electromagnetically The valve is connected to the air source, and the solenoid valve of the opening and closing device 212 is connected to the main control signal; there are two clamping jaws 211, which are respectively arranged on the two fingers of the opening and closing device 212, so that the opening and closing device 212 can be linked to clamp Claw 211 opens and closes. The jaw 211 matches the shape of the grinding tool, specifically, the contact surface of the jaw 211 and the grinding tool is a concave arc surface, and can match the shape of the side surface of the grinding tool.

The first advance and retreat device 22 can be a cylinder or an electric cylinder, and can also be a slide cylinder or an electric slide; connection, the solenoid valve of the first advance and retreat device 22 is connected with the main control signal; the first advance and retreat device 22 is set horizontally, and the opening and closing device 212 of the jaw assembly 21 is arranged on the slide table of the first advance and retreat device 22, so that the first advance and retreat The device 22 can move forward and backward in conjunction with the jaw assembly 21, and the stroke of the first advance and retreat device 22 makes the jaw 211 always above the drop hole 11, so the jaw 211 of the jaw assembly 21 is also located above the waste paper box 5 .

The correction mechanism 4 includes a correction chuck 41 and a second advance and retreat device 42, and the second advance and retreat device 42 is a cylinder or an electric cylinder; Connected to the air source, the solenoid valve of the second advance and retreat device 42 is connected to the main control signal; the second advance and retreat device 42 is set horizontally, and the calibration chuck 41 is arranged at the front end of the moving parts of the second advance and retreat device 42, so that the second advance and retreat The device 42 can be linked with the adjustment chuck 41 to advance and retreat in translation; the shape of the adjustment chuck 41 matches the shape of the grinding head on the grinding robot, specifically, the contact surface between the adjustment chuck 41 and the grinding tool is concave curved surface and can match the side shape of the grinding tool. The calibration mechanism 4 is used to correct the position of the grinding tool on the grinding robot.

As shown in Figure 6, the fall-off detection device 61 is a through-beam photoelectric sensor, and the light beam of the fall-off detection device passes through the drop path of the sandpaper taken off by the sandpaper-taking mechanism 2; specifically, the fall-off detection device 61 includes a transmitter and the receiving end; the transmitting end and the receiving end of the fall-off detection device 61 are separately arranged on both sides of the drop hole 11, so that the fall-off detection device 61 detects whether an object passes through the drop hole 11 by detecting whether an object passes through the drop hole 11, and then Detect whether the waste sandpaper on the grinding tool of the grinding robot has been clamped by the sandpaper taking mechanism 2 and falls off.

As shown in FIG. 5 and FIG. 7 , the sandpaper supply mechanism 3 includes a placement platform 31 , a pushing device 32 , a limit rod 33 , a brush 34 , a mounting platform 35 and a mounting rod 36 .

The pushing device 32 is a cylinder or an electric cylinder; in the present embodiment, the pushing device 32 is a cylinder, and the pushing device 32 communicates with the air source through a solenoid valve, and the solenoid valve of the pushing device 32 is connected with the main control signal. Mounting table 35 is square, and the middle part is provided with through hole; The cylinder block of pushing device 32 is vertically arranged on mounting table 35 lower ends, and the piston rod of pushing device 32 passes through the through hole of mounting table 35; Putting platform 31 is smooth circle Disk; the placing platform 31 is arranged at the front end of the piston rod of the pushing device 32, so that the pushing device 32 can be moved up and down in parallel with the placing platform 31. There are seven stop rods 33, all of which are located on the mounting platform 35, and all the stop rods 33 are evenly spaced around the placement platform 31, and the length of the stop rods 33 is greater than that of the pushing device 32 to move up and down the placement platform 31. Translational travel. The mounting table 35 is fixed on the frame 1 by screws, so that the sandpaper feeding mechanism 3 is fixed.

There are two brushes 34 for the sandpaper mechanism 3, and the two brushes 34 are square and of the same size. All are installed on the frame 1 by bearing 341, and the bristle of hairbrush 34 faces against putting platform 31; The bristles of each hairbrush 34 can contact with the top of the sandpaper heap stacked on the platform 31.

When the grinding robot takes away the sandpaper, two or more pieces of sandpaper may stick together; when the grinding robot moves the top piece of sandpaper up, the sticky sandpaper will be brushed off by the brush 34, so that the sticky sandpaper and the sandpaper to be polished The sandpaper taken by the robot is separated, so that the grinding tool of the grinding robot can only take one piece of sandpaper at a time, which improves the processing quality and reduces the waste of sandpaper.

As shown in Figure 7, two sensor installation rods 36 are arranged opposite to each other on both sides of the placement platform 31 of the sandpaper mechanism 3; On the top of the installation rod 36, the top of the installation rod 36 leaves a position for the installation of the paper detection device 63, that is, when the sandpaper is not placed on the platform 31, the light beam emitted by the emission end of the height detection device 62 is placed from the top of the platform 31. Pass through and be received by the receiving end of the height detecting device 62.

The height detecting device 62 makes the topmost piece of sandpaper stacked on the sandpaper stack on the placement platform 31 always be at the same height. At this time, if the height detection device 62 does not detect that there is an object between the transmitting end and the receiving end, the information will be fed back to the main control, and the main control will control the solenoid valve of the pushing device 32, so that the moving device 32 will be placed in a row The platform 31 moves upward until the height detection device 62 detects that there is an object between the transmitting end and the receiving end, that is, the top surface of the pile of sandpaper placed on the platform 31 reaches a preset height, so that the pile of sandpaper covers the height detection device 62 The light path keeps the topmost piece of sandpaper stacked on the sandpaper stack on the placement platform 31 at the same height, so that the polishing robot can take the sandpaper from the placement platform 31 at a preset fixed height.

The paper detection device 63 is a photoelectric sensor, which is located on the top of a sensor mounting bar 36 away from the frame 1, and the light beam of the paper detection device 63 is emitted vertically upwards; the program setting of the grinding robot, after taking away the sandpaper, makes The edge of the sandpaper passes above the paper detection device 63; if the paper detection device 63 detects that an object passes by, it indicates that the grinding robot has taken the sandpaper; The sandpaper removal action of the grinding robot failed, and the sandpaper removal action needs to be performed again.

The placement platform 31 is provided with a placement platform through hole 311; the material detection device 64 is a photoelectric sensor, located below the placement platform 31, and the light beam of the material detection device 64 passes through the placement platform through hole 311 on the placement platform 31 If the material detection device 64 detects that there is an article, then it shows that there is sandpaper on the platform 31 to put; if the material detection device 64 does not detect the article, it shows that there is no sandpaper on the platform 31 or the sandpaper has been taken.

As shown in Fig. 2 and Fig. 3, in the present embodiment, there are two sandpaper-taking mechanisms 2, and the two sandpaper-taking mechanisms 2 are adjacently arranged next to the drop hole 11, and one of the sandpaper-taking mechanisms 2 and the correction mechanism 4 are connected to each other. Opposite; two sandpaper-taking mechanisms 2 and a correction mechanism 4 are arranged around the drop hole 11. The jaw 211 of the sandpaper taking mechanism 2 faces the side of the correction mechanism 4 and is the contact surface with the grinding tool; the correction chuck 41 of the correction mechanism 4 faces the side of the sandpaper taking mechanism 2 and is the contact surface with the grinding tool surface; get between the sandpaper mechanism 2 and the correction mechanism 4 and form a space for getting sandpaper for the grinding tool of the grinding robot to get sandpaper here.

There are two sandpaper supply mechanisms 3, which are respectively fixed on the left and right sides of the frame 1; after opening the protective cover 14, one of the sandpaper supply mechanisms 3 is adjacent to the two sandpaper fetching mechanisms 2, and the other sandpaper supply mechanism 3 is adjacent to the school The whole mechanism 4 is adjacent.

The main control is a programmable controller, which is hung on the frame 1; the shedding detection device 61, the height detection device 62, the paper detection device 63 and the material detection device 64 are respectively connected with the main control signal through signal lines; Respectively with the solenoid valve of the opening and closing device 212 of the jaw assembly 21, the solenoid valve of the first advance and retreat device 22 of the sandpaper mechanism 2, the solenoid valve of the push device 32 of the sandpaper supply mechanism 3, and the second advance and retreat device of the correction mechanism 4 42 solenoid valve signal connection, so the main control can control the opening and closing and advancing and retreating of the jaw assembly 21, the up and down translation of the placement platform 31 of the sandpaper mechanism 3, and the adjustment of the chuck 41 by controlling the above-mentioned solenoid valves. advance and retreat.

An automatic sandpaper replacement system provided in this embodiment is used in conjunction with a grinding robot. The grinding robot uses sandpaper to polish the workpiece. After a certain period of time, the sandpaper will be worn. The through hole 141 on the protective cover 14 on the frame 1 stretches in to reach the sandpaper-taking space between the sandpaper-taking mechanism 2 and the correction mechanism 4; at this time, the grinding robot sends a signal in place to the main control, and the main control controls the second advancing and retreating device 42 The interlocking adjustment chuck 41 advances, so that the adjustment chuck 41 abuts against the grinding tool on the grinding robot to complete the position correction action of the grinding tool, and then the main control controls the first advance and retreat device 22 to link the jaw assembly 21 Forward, at this time the jaw assembly 21 is in the open state. After the first advance and retreat device 22 is linked with the jaw assembly 21 to advance to the position, the main control then controls the opening and closing device 212 to link the jaw 211 to close, that is, the jaw assembly 21 clamps. Waste sandpaper, at this time, the alignment chuck 41 and the two jaws 211 are all against the grinding tool, and then the grinding robot drives the grinding tool to rise, so that the waste sandpaper on the grinding tool is taken off by the jaw assembly 21, and the grinding robot leaves Finally, the opening and closing device 212 interlocks the jaws 211 to open, so that the waste sandpaper passes through the drop hole 11 and falls into the waste paper box 5; after the above process is completed, the first advance and retreat device 22 interlocks the jaw assembly 21 to reset; The two advance and retreat devices 42 are linked to reset the calibration chuck 41 .

The fall-off detection device 61 detects whether an object passes through the drop hole 11, and then detects whether the waste sandpaper has fallen off, and feeds back the information to the main control; if the fall-off detection device 61 does not detect that an object passes through the drop hole 11, that is It shows that the waste sandpaper on the grinding tool has not fallen off. At this time, the main control will feed back the information to the grinding robot, and the grinding robot will re-link the grinding tool to reach the sandpaper taking space between the sandpaper taking mechanism 2 and the correcting mechanism 4; The sandpaper mechanism 2 and the correction mechanism 4 re-operate, specifically, the correction mechanism 4 re-executes the position correction action of the grinding tool; the first advance and retreat device 22 moves forward with the jaw assembly 21 again; the opening and closing device 212 moves the clip again The jaws 211 close together and clamp the waste sandpaper; the grinding robot drives the grinding tool up again, so that the waste sandpaper on the grinding tool is removed by the jaw assembly 21; then the opening and closing device 212 is opened again in conjunction with the clamping jaw 211, so that the waste sandpaper passes through Pass drop hole 11 and fall in waste paper box 5. If the action of removing the sandpaper is repeated twice but fails, the main control will send out an error signal, which can be communicated to the user through HMI, signal lights or sound alarm devices.

After the sandpaper is removed, the grinding robot linked grinding tool reaches the top of the sandpaper supply mechanism 3, then the grinding robot linked grinding tool descends and takes away the uppermost piece of sandpaper from the sandpaper stacked on the placement platform 31, completing the removal. Sandpaper action; at this time, if any sandpaper is stuck, it will be brushed off by the brush 34, so that the stuck sandpaper will be separated from the sandpaper taken away by the grinding robot, and then the pushing device 32 will be moved upwards in conjunction with the placement platform 31 to make the stacking The uppermost piece of sandpaper on the pile of sandpaper placed on the platform 31 is always at the same height, which is convenient for the grinding robot to take the paper. The program setting of the grinding robot, after finishing the action of getting the sandpaper, makes the edge of the sandpaper pass above the paper detection device 63; if the paper detection device 63 detects that an object passes by, it shows that the grinding robot has taken the sand paper; on the contrary , if the paper-fetching detection device 63 does not detect the passing of the object, it indicates that the sandpaper-fetching action of the polishing robot has failed, and the sandpaper-fetching action needs to be re-executed. If there is no sandpaper on the placement platform 31, or the sandpaper on the placement platform 31 has been taken out, the material detection device 64 will feed back the information to the main control, and the main control will send the information to the main control through HMI, signal lights or sound alarm devices after processing. The information that there is no sandpaper on the platform 31 is communicated to the user.

When this kind of sandpaper automatic replacement system is used in conjunction with the grinding robot, it only needs to control the grinding tool of the grinding robot to run to the rough sandpaper taking station, that is, to take the sandpaper taking space between the sandpaper mechanism 2 and the correction mechanism 4. Take the cooperation of the sandpaper mechanism 2 and the adjustment mechanism 4 to remove the waste sandpaper; only need to control the translational movement of the two advance and retreat devices, and do not need to control the multi-axis grinding robot to drive the waste sandpaper to run accurately to the jaw assembly Between the two jaws, the workload of program design is reduced, and the burden of R&D personnel is reduced.

The above embodiments are only intended to illustrate rather than limit the present invention, so all equivalent changes or modifications made according to the methods described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims (14)

1. a kind of sand paper automatic-exchanging system, including taking sand paper mechanism (2), sand supplying mechanism of paper (3) and master control；The master control difference With milling robot joined together, described sand paper mechanism (2) and the sand supplying mechanism of paper (3) signal is taken to be connected；It is described to take sand paper Mechanism (2) includes clip claw assembly (21)；It is characterized in that, described take sand paper mechanism (2) to further include the first driving and reversing mechanism (22)；The One driving and reversing mechanism (22) interlocks clip claw assembly (21) the advance and retreat translation.

2. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：It is described take sand paper mechanism (2) with The sand supplying mechanism of paper (3) is disposed adjacent.

3. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：The clip claw assembly (21) includes Clamping jaw (211) and closing device (212), the closing device (212) interlock clamping jaw (211) folding.

4. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：Sand supplying mechanism of paper (3) bag Platform for placing (31) and push unit (32) are included, the push unit (32) interlocks platform for placing (31) upward-downward translation.

5. a kind of sand paper automatic-exchanging system according to claim 4, it is characterised in that：The sand supplying mechanism of paper (3) is also Including at least two gag lever posts (33), the gag lever post (33) is set around the platform for placing (31).

6. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：The sand supplying mechanism of paper (3) Further include to separate the hairbrush (34) of sand paper, the hairbrush (34) is located at the side of platform for placing (31).

7. a kind of sand paper automatic-exchanging system according to claim 6, it is characterised in that：The setting of the hairbrush (34) is high Degree is equal to the height that milling robot joined together is contacted with the sand paper on platform for placing (31).

8. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes to detect pendulum It is laid flat the height detecting device (62) of the sand paper apical side height on platform (31)；

The height detecting device (62) is connected with the master signal.

9. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes for detecting What whether the milling tools on the milling robot of cooperation had got sand paper takes paper detecting apparatus (63)；It is described to take paper detecting apparatus (63) it is connected with the master signal.

10. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes for detecting State the material detection device (64) whether the sand paper on platform for placing (31) has been used up；The material detection device (64) with it is described Master signal connects.

11. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：Further include alignment mechanism (4)； The alignment mechanism (4) takes sand paper mechanism (2) mutually opposed with described；The alignment mechanism (4) include alignment chuck (41) and Second driving and reversing mechanism (42)；Second driving and reversing mechanism (42) interlocks alignment chuck (41) the advance and retreat translation.

12. a kind of sand paper automatic-exchanging system according to claim 11, it is characterised in that：The alignment chuck (41) Shape and the form fit of the milling tools on milling robot joined together.

13. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：Further include litter decoration (5)；Institute Litter decoration (5) is stated to be located at below the clip claw assembly (21).

14. according to any a kind of sand paper automatic-exchanging system in claim 1,2,3 or 13, it is characterised in that：It further includes For detecting the detection device that comes off (61) whether sand paper comes off；The detection device that comes off (61) connects with the master signal It connects.