Patent Publication Number: US-2023158634-A1

Title: Polish pad replacing apparatus

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims the benefits of Taiwan application Serial No. 110143927, filed on Nov. 25, 2021, the disclosures of which are incorporated by references herein in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates in general to a polish pad replacing apparatus. 
     BACKGROUND 
     In grinding and/or polishing a workpiece made of composite materials, the powder and/or dust generated in these processes is usually harmful to human body. 
     Currently, although the robotic arms have been widely applied to integrate grinding and polishing tools for performing automatic grinding and polishing so as to replace manpower, yet replacement of grinding and polish pads (commonly known as sandpapers) is still manually operated. When manually replacing the grinding and polish pad, the grinding and polishing machine needs to be stopped firstly. Thus, a time-consuming and labor-intensive process is inevitable, and the operating environment could be dangerous. 
     In addition, although some devices have claimed in open documents the ability of automatically replacing the polish pads, yet such devices are not good at removing or replacing the polish pads, generally by using jaws for scraping or clamping. However, these operations can only be performed through complex mechanical devices. In addition, in some replacing operations, additional mechanisms may be required. Inevitably, these above-mentioned factors may lead to higher cost, complicated structuring, complicated operation modes, time-consuming and labor-consuming. 
     SUMMARY 
     In one embodiment of this disclosure, a polish pad replacing apparatus, comprising:
     a polish spindle, configured to load a first polish pad;   a first roller, configured to move and/or roll reciprocally under the polish spindle;   a clamping element, disposed at the first roller, configured to clamp or release the first polish pad; and   a position sensor, configured to detect positions of the polish spindle and the first roller;   wherein, while in replacing the first polish pad, a controller moves the polish spindle to a replacing position; when the position sensor detects that the polish spindle is in position, the controller moves and/or rolls the first roller to insert the clamping element between the polish spindle and the first polish pad; after the clamping element clamps an edge of the first polish pad, the first roller is moved and/or rolled to peel the first polish pad off the polish spindle; and, the first roller is controlled to move and/or roll further to paste a second polish pad to the polish spindle.   

     Further scope of applicability of the present application will become more apparent from the detailed description given hereinafter. However, it should be understood that the detailed description and specific examples, while indicating exemplary embodiments of the disclosure, are given by way of illustration only, since various changes and modifications within the spirit and scope of the disclosure will become apparent to those skilled in the art from this detailed description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure will become more fully understood from the detailed description given herein below and the accompanying drawings which are given by way of illustration only, and thus are not limitative of the present disclosure and wherein: 
         FIG.  1    is a schematic view of an embodiment of the polish pad replacing apparatus in accordance with this disclosure; 
         FIG.  1 A  is a schematic enlarged view of the first roller and the clamping element of  FIG.  1   ; 
         FIG.  1 B  is another view of  FIG.  1 A ; 
         FIG.  1 C  shows schematically reciprocating motion of the first roller with respect to the clamping element of  FIG.  1   ; 
         FIGS.  2 A to  2 M  show schematically different operation states of  FIG.  1   ; 
         FIG.  3    is a schematic view of another embodiment of the polish pad replacing apparatus in accordance with this disclosure; and 
         FIGS.  4 A to  4 I  show schematically different operation states of  FIG.  3   . 
     
    
    
     DETAILED DESCRIPTION 
     In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing. 
     Referring to  FIG.  1   ,  FIG.  1 A  and  FIG.  1 B , a polish pad replacing apparatus 100 includes a polish spindle  10 , a first roller  20 , a clamping element  30  and a position sensor  40 . 
     The polish spindle  10 , the first roller  20 , the clamping element  30  and the position sensor  40  are all driven by a controller (not shown in the figure), and the controller can be a micro-processor, a computer, an industrial computer or a combination of at least two of the aforesaid devices. 
     The polish spindle  10  is configured for loading a first polish pad P. A velcro is provided between the first polish pad P and the polish spindle  10  for an adherence purpose, such that the first polish pad P can be fixed to a bottom surface of the polish spindle  10 . Generally, the polish spindle  10  is connected with a robotic arm. 
     The first roller  20 , shaped as a cylinder, has a first axle C20. The first roller  20  is driven to rotate about the first axle C20, or to move and/or roll reciprocally in a first direction F1 under the polish spindle  10 . 
     The first roller  20  is furnished thereon an adhesive area  22 A for adhering a second polish pad NP (as shown in  FIG.  2 A ). 
     The clamping element  30 , disposed on the first roller  20 , is configured for clamping or releasing the first polish pad P. 
     The position sensor  40  is configured to detect positions of the polish spindle  10  and the first roller  20 . 
     The first roller  20  and the position sensor  40  are individually disposed at a frame  50 . The frame  50  is provided thereunder a recycle tank  60  for collecting the first polish pad P separated from the polish spindle  10 . 
     Along the moving and/or rolling path of the first roller  20 , the frame  50  is further defined thereof with a polish-pad attachment area  51  for disposing thereon at least one third polish pad NP 1 . As the first roller  20  moves and/or rolls over the third polish pad NP 1 , the adhesive  22 A on the first roller  20  would adhere the third polish pad NP 1  prepared in the polish-pad attachment area  51 . 
     As described, the velcro may be provided between the first polish pad P and the polish spindle  10  of  FIG.  1   . Similarly, another velcro may be provided to a surface of the second polish pad NP of  FIG.  1 B  opposite to the first roller  20 , with the adhesion of this velcro between the second polish pad NP and the adhesive  22 A to be less than that between the second polish pad NP and the polish spindle  10 . In addition, a further velcro may be provided to a surface of the third polish pad NP 1  of  FIG.  1    opposite to the first roller  20 , with the adhesion of this velcro between the third polish pad NP 1  and the adhesive  22 A to be less than that between the third polish pad NP 1  and the polish spindle  10 . 
     Referring to  FIGS.  1 ,  1 A,  1 B and  1 C , the clamping element  30 , shaped as a slim plate, is disposed onto a cutout portion  21  formed on the first roller  20 . 
     The clamping element  30  has two pillars  32  with individual axes C32 parallel to each other. Each of the pillars  32  is protruded downward from a bottom surface  31  of the clamping element  30  toward the first roller  20 . 
     A pair of holes  23  are furnished at the cutout portion  21  of the first roller  20  to receive correspondingly the two pillars  32 . Each of the pillars  32  is inserted into the corresponding hole  23 . The pillars  32  are connected with a controller, so as for the controller to drive the two pillar  32  to undergo reciprocating motions parallel to the corresponding axes C32, such that the clamping element  30  can proceed reciprocating motions with respect to the surface of the cutout portion  21  on the first roller  20  for varying the spacing between the clamping element  30  and the cutout portion  21  of the first roller  20 . 
     Referring to  FIG.  2 A  to  FIG.  2 J , different states of the polish pad replacing apparatus 100 of  FIG.  1    are schematically provided to illustrate steps of separating the first polish pad from the polish spindle and adhering the second polish pad to the polish spindle. 
     Referring to  FIG.  2 A , the polish spindle  10  is loaded with the first polish pad P, the first roller  20  and the position sensor  40  are disposed at the frame  50 , and the clamping element  30  is disposed on the first roller  20 . One surface of the first roller  20  (i.e., the surface defining the adhesive  22 A of  FIG.  1 B ) is provided, by adhering, with a second polish pad NP. It is noted that, in this stage, the polish-pad attachment area  51  is free of any polish pad. 
     Referring to  FIG.  2 A  and  FIG.  2 B , in order to replace the first polish pad P, the controller firstly moves the polish spindle  10  to a replacing position, as shown in  FIG.  2 B . 
     Refer to  FIG.  2 C  and  FIG.  2 D , in which  FIG.  2 D  is a schematic enlarged view of area A of  FIG.  2 C . When the position sensor  40  of  FIG.  2 A  detects that the polish spindle  10  has been in position, the position sensor  40  would issue a signal to the controller, and then the controller would move and/or roll the first roller  20  to have the clamping element  30  to be inserted into the gap between the polish spindle  10  and the first polish pad P. Then, the clamping element  30  is controlled by the controller to move toward the cutout portion  21  of the first roller  20 , such that an edge of the first polish pad P can be clamped between the clamping element  30  and the first roller  20 . 
     Refer to  FIG.  2 E  and  FIG.  2 F , where the first roller  20  is rotated. When the first roller  20  passes thereunder through the polish spindle  10 , the first polish pad P can be peeled off from the bottom of the polish spindle  10 , and then attached onto the first roller  20 . The first roller  20  is then kept to roll to completely peel the first polish pad P away from the polish spindle  10 . 
     Referring to  FIG.  2 G  and  FIG.  2 H , after the first polish pad P is completely separated from the polish spindle  10  and clamped by the first roller  20 , the first roller  20  is kept to rotate to a position (as shown in  FIG.  2 G ), and then controlled to move and/or roll to pass thereunder through the polish spindle  10 . Since the adhesion of the velcro between the second polish pad NP and the adhesive  22 A (as shown in  FIG.  1 B ) is less than that between the second polish pad NP and the polish spindle  10 . Thus, while the first roller  20  passes thereunder through the polish spindle  10 , the velcro is applied to paste the second polish pad NP to the bottom of the polish spindle  10 . 
     Referring to  FIG.  2 I , after the second polish pad NP is completely pasted to the polish spindle  10 , then the first roller  20  would be located right above the recycle tank  60 . As the position sensor  40  of  FIG.  2 A  detects that the first roller  20  is posed above the recycle tank  60 , a signal would be generated to control the first roller  20  to stop moving and/or rolling, and then the clamping element  30  is raised to release the first polish pad P, such that the first polish pad P can drop into the recycle tank  60 . 
     Referring to  FIG.  2 J , after the second polish pad NP is completely pasted onto the bottom portion of the polish spindle  10 , then the polish spindle  10  can be controlled to raise and move to a polish operation area. 
     Referring to  FIGS.  2 K to  2 M , consecutive steps are demonstrated to illustrate how a third polish pad can be pasted onto the first roller. 
     As shown in  FIG.  2 K , after the step in  FIG.  2 J  is finished, the third polish pad NP 1  can be disposed in the polish-pad attachment area  51 , and then the first roller  20  is controlled to roll toward the third polish pad NP 1 . 
     Referring to  FIG.  2 L  and  FIG.  2 M , after the first roller  20  passes through the polish-pad attachment area  51 , the third polish pad NP 1  can be attached onto the first roller  20 . At this time, the first roller  20  is would be controlled to self-rotate so as to have the clamping element  30  to be on top of the first roller  20 , as shown in  FIG.  2 M . 
     Referring to  FIG.  2 M , after the clamping element  30  is rotated to top the first roller  20 , the first roller  20  is controlled to move to a dash-lined position shown in  FIG.  2 M ; i.e., the position of the first roller  20  shown in  FIG.  2 A . Thereafter, a next cycle of replacing the polish pad can be initiated. Namely, the second polish pad NP can be peeled off the first roller  20 . While the first roller  20  having the third polish pad NP 1  is to pass thereunder through the polish spindle  10 , the third polish pad NP 1  can be pasted to the bottom of the polish spindle  10 , and vice versa. 
     Referring to  FIG.  3   , a schematic view of another embodiment of the polish pad replacing apparatus in accordance with this disclosure is shown. In this embodiment, the polish pad replacing apparatus  100 A includes a polish spindle  10 , a first roller  20 A, a second roller  20 B, a clamping element  30  and a position sensor  40 . 
     The polish spindle  10 , the first roller  20 A, the second roller  20 B, the clamping element  30  and the position sensor  40  are all driven by a controller (not shown in the figure). 
     The polish spindle  10  is structured to load a first polish pad P. 
     The first roller  20 A, shaped as a cylinder, has a first axle C 20 A. The first roller  20 A is driven to rotate about the first axle C 20 A, or to move and/or roll reciprocally in a first direction F1 under the polish spindle  10 . 
     The second roller  20 B, shaped as another cylinder, has a second axle C 20 B. The second roller  20 B is driven to rotate about the second axle C 20 B, or to move and/or roll reciprocally in the first direction F1. In addition, the first axle C 20 A and the second axle C 20 B are parallel to each other. 
     The second roller  20 B is furnished thereon an adhesive area  22 B for adhering a second polish pad NP (as shown in  FIG.  4 A ). 
     The clamping element  30 , disposed on the first roller  20 A, is configured for clamping or releasing the first polish pad P. 
     The position sensor  40  is used for detect positions of the polish spindle  10 , the first roller  20 A and the second roller  20 B. 
     The first roller  20 A, the second roller  20 B and the position sensor  40  are individually disposed at a frame  50 . A recycle tank  60 , provided under the frame  50 , is configured to collect the first polish pad P peeled off the polish spindle  10 . 
     Along the moving and/or rolling path of the second roller  20 B, the frame  50  is further defined thereof with a polish-pad attachment area  51  for disposing thereon at least one third polish pad NP 1 . As the second roller  20 B moves and/or rolls over the third polish pad NP 1 , the adhesive  22 B on the second roller  20 B would adhere the third polish pad NP 1  prepared in the polish-pad attachment area  51 . 
     Similar to the embodiment shown in  FIGS.  2 A- 2 M , a velcro may be provided between the first polish pad P and the polish spindle  10  of  FIG.  3   . Similarly, another velcro may be provided to a surface of the second polish pad NP of  FIG.  4 A  opposite to the second roller  20 B, with the adhesion of this velcro between the second polish pad NP and the adhesive  22 B to be less than that between the second polish pad NP and the polish spindle  10 . In addition, a further velcro may be provided to a surface of the third polish pad NP 1  of  FIG.  1    opposite to the second roller  20 B, with the adhesion of this velcro between the third polish pad NP 1  and the adhesive  22 B to be less than that between the third polish pad NP 1  and the polish spindle  10 . 
     Referring to  FIG.  4 A  to  FIG.  4 I , different states of the polish pad replacing apparatus  100 A of  FIG.  3    are schematically provided to illustrate consecutive steps of separating and then adhering the polish pads. 
     Referring to  FIG.  4 A , the polish spindle  10  is loaded with the first polish pad P, the first roller  20 A, the second roller  20 B and the position sensor  40  are disposed at the frame  50 , and the clamping element  30  is disposed on the first roller  20 A. One surface of the second roller  20 B is provided, by adhering, with a second polish pad NP. 
     Referring to  FIG.  4 A  and  FIG.  4 B , in order to replace the first polish pad P, the controller firstly moves the polish spindle  10  to a replacing position, as shown in  FIG.  4 B . At this stage, the polish-pad attachment area  51  is free of any polish pad. 
     Refer to  FIG.  4 C . When the position sensor  40  of  FIG.  4 A  detects that the polish spindle  10  has been in position, the position sensor  40  would issue a signal to the controller, and then the controller would move and/or roll the first roller  20 A and the second roller  20 B to have the clamping element  30  to be inserted into the gap between the polish spindle  10  and the first polish pad P. Then, the clamping element  30  would be lowered to have an edge of the first polish pad P can be clamped between the clamping element  30  and the first roller  20 A. Please also refer to the foregoing description related to  FIG.  2 C  and  FIG.  2 D  for details of clamping the edge of the first polish pad P between the clamping element  30  and the first roller  20 A 
     Referring to  FIG.  4 D , after the first polish pad P is clamped by the clamping element  30  and the first roller  20 A, the first roller  20 A and the second roller  20 B would be moved and/or rolled further to peel the first polish pad P off the polish spindle  10 . Then, the first polish pad P would be adhered to and thus moved with the first roller  20 A. 
     Referring to  FIG.  4 E  and  FIG.  4 F , after the first roller  20 A peels the first polish pad P away from the polish spindle  10 , the second roller  20 B would be roughly moved and/or rolled to reach a position under the polish spindle  10 , such that the second roller  20 B can adhere the second polish pad NP to the bottom of the polish spindle  10 . By controlling appropriately moving/rolling speeds of the first roller  20 A and the second roller  20 B, the peeling and adhering operation of the polish pads can be continuously and smoothly performed. 
     Referring to  FIG.  4 G , after the first roller  20 A peels the first polish pad P of the polish spindle  10 , and the second polish pad NP is completely pasted to the bottom of the polish spindle  10 , the first roller  20 A would be located right above the recycle tank  60 . As the position sensor  40  of  FIG.  4 A  detects that the first roller  20 A is moved and/or rolled to top the recycle tank  60 , a corresponding signal would be issued to control the first roller  20 A and the second roller  20 B to stop moving and/or rolling, and then the clamping element  30  would be raised to release and drop the first polish pad P into the recycle tank  60 . 
     Referring to  FIG.  4 H , after the second polish pad NP is completely adhered to the bottom of the polish spindle  10 , the polish spindle  10  would be controlled to raise and displace to the polish operation area. Simultaneously, the first roller  20 A and the second roller  20 B would be reversely moved and/or rolled. At this time, the polish-pad attachment area  51  is already provided with the third polish pad NP 1 . 
     Referring to  FIG.  4 I , when the second roller  20 B reaches the polish-pad attachment area  51 , the third polish pad NP 1  would be adhered to a surface of the second roller  20 B (i.e., the adhesive  22 B of  FIG.  3   ), and the first roller  20 A would be controlled to self-rotate so as to have the clamping element  30  to top the first roller  20 A. Then, by keeping moving and/or rolling the first roller  20 A and the second roller  20 B, the state shown in  FIG.  4 A  can be resumed, and thus another cycle of replacing the polish pad can be initiated (i.e., to peel the second polish pad NP from the first roller  20 A). While the second roller  20 B carries the third polish pad NP 1  to pass thereunder the polish spindle  10 , the third polish pad NP 1  can be pasted to the polish spindle  10 , and vice versa. 
     In the foregoing description, two embodiments of this disclosure are introduced; one shown from  FIG.  1    to  FIG.  2 M , while another from  FIG.  3    to  FIG.  4 I . The major difference in between is that the embodiment shown in  FIG.  1    to  FIG.  2 M  provides a single roller to complete the operation of peeling the first polish pad P and pasting the second polish pad NP and the third polish pad NP 1 .The embodiment shown in  FIG.  3    to  FIG.  4 I  provides two rollers to complete, respectively, the operation of peeling the first polish pad P and another operation of pasting the second polish pad NP and the third polish pad NP 1 . In another example, the embodiment of  FIG.  3    to  FIG.  4 I  can have one of the two rollers to peel the first polish pad and also paste the second polish pad. 
     In summary, the polish pad replacing apparatus provided by any of  FIG.  1    (with the first roller  20 ) or  FIG.  3    (with the first roller  20 A and the second roller  20 B) of this disclosure is characterized in utilizing the roller(s) to separate one polish pad from the polish spindle and then paste another polish pad to the same polish spindle. 
     In addition, the embodiments of this disclosure are not limited to the replacing of old or new polishing pads, but can also be used to replace the polish pads of different specifications. 
     With respect to the above description then, it is to be realized that the optimum dimensional relationships for the parts of the disclosure, to include variations in size, materials, shape, form, function and manner of operation, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings and described in the specification are intended to be encompassed by the present disclosure.