LT6304B - Car body with fillers treatment device and method - Google Patents

Abstract

The invention relates to repair installation of a vehicle body and a method of performing repair works with said installation, in particular for removal of excess of hardened filling material (grinding) from defective vehicle body parts, using a computer-controlled robotic device. The installation consists of three main units – the master and slave units and a computer control unit. The operation of said three main units is based on scanning the undamaged corresponding part of the same vehicle or any other vehicle and executing the processing of the damaged area of the vehicle body. Aim of the invention is to provide an installation and method for operating said installation with respect to the thin-walled, complex configurations of a vehicle body and repair specifics without damaging the metal (tin) part of the vehicle body.

Description

Field of the Invention

BACKGROUND OF THE INVENTION The invention relates to a vehicle body repair technique and relates to the removal (grinding) of excess material cured filler material from defective car body parts using a computer controlled robotic device.

Technical field

Robotic equipment is widely used in the vehicle manufacturing and repair industry, where various operations are performed by programmable robotic equipment, e.g. when the robot is programmed using the CAD model. In the case of mass production, robotic equipment is an efficient workforce that results in lower labor costs and increased production productivity. However, most if not all robots of this type are pre-programmed. This is impractical when it comes to machining individual parts of many different vehicles. Operations such as removal of excess hardened putty after sanding of damaged body parts using a machining operation will be different for each part. For this reason, reprogramming of the robotic installation would be required for each new operation.

Car body repair equipment has the following specific requirements: it must be easy to set up - simple to program and calibrate, compact and mobile.

There is a known method and device for painting cars (see patent EP0408563). It describes the equipment and method for painting cars after repair work using a computer-robotic device. This unit has eight degrees of freedom - a robot with six degrees of freedom, a robot's displacement along the car and the lift-lowering of the car's platform. In most cases, the computer receives data about the coordinates of the surface of the car to be painted from the car manufacturers' databases or from its own database of cars that were previously repaired. The operator only has to specify the areas to be painted.

The disadvantage of the present invention is that the dyeing instrument operates over a distance, i. non-contact method which cannot be applied to the surface treatment of the body.

US4523409 describes an automated body contour grinding machine for surface smoothing using a robot and a computer for remote operator operation. the operation of the unit is based on the contour data and sensor information. The instrument obtains data on body surface interaction with the instrument from sensors, which determine which material the sander is grinding based on the response difference between the body material and the filler material. Sensors measure material interaction characteristics such as friction, emitted light reflected light, or sparking of the work surface to obtain a smooth sanding surface contour.

The device described can only be used for sanding very small areas where it is practically impossible to deviate significantly from the original body shape.

EP1422379 discloses an automated airplane surface finishing method and apparatus comprising a central controller, a universal airplane shield conveyor, a scan tool and a shield surface treatment unit that can be moved in multiple axes. A plurality of surface finishing tools are used for processing the panel, wherein the scanning means is adapted to generate an output control signal to actuate and control the surface processing means, wherein the processing means is operable to eliminate surface misalignments. The method and apparatus are only applicable in conjunction with programmed panel geometry that is confirmed by the use of a scanning device.

The repair of the curved part of the body of a damaged car (hereinafter "surface") is usually done by preparing the surface of the damaged part, filling the recesses with excess putty and, after the putty has hardened, treating the filled putty until the required surface curvature "Curvature"). Surface finishing operations such as sanding, coarse sanding, several other machining operations are usually performed manually using hand held devices. This is a time-inefficient process that requires a highly skilled workforce to achieve a near-factory curvature curvature.

By mechanically removing filler material, the process requires re-coating the filler surface and removing it as it hardens, several to several times, which not only wastes time, but also consumes more filler material than is necessary to repair the damaged surface. In addition, it is impossible to restore the damaged part of the vehicle to the factory-made surface contour quality level.

The currently used car bodywork technology is used to restore a severely damaged surface of a complex shape (arch, sill) to its original appearance by cutting the body surface with the damaged surface and welding it back up. After several additional processes, the weld and the welded part are covered with an insulating material against environmental influences. Work done in this way requires specific knowledge. Frequently poor welding results in reduced body strength. The welded metal is more easily affected by corrosion. Isolation of the weld from the environment on both sides of the joint is often difficult, which often results in poor quality sealing. The proposed equipment and method produces a factory-shaped surface, leaving the original body trimmed. As a filler for the grooved surface, it is also possible to use hard-to-machinable epoxy materials, which add extra strength to the damaged part and provide a high level of protection against the environmental impact of the metal.

The specificity of car body repair is that the body is made of thin (about 1 mm thick) steel sheets (tin). If the metal is roughened during machining (grinding), it will become thinner at machining points and deteriorate its mechanical properties, which will reduce body stiffness, which is unacceptable. If the sheet had anti-corrosion coating, it will be damaged. Therefore, body repair requires special equipment, equipment and special machining techniques to minimize metal damage. The disadvantages and disadvantages of the patents and patent applications quoted above are remedied by the proposed device and method. It is obvious that the patented device has not been implemented so far and has a clear application in the field of automotive body parts processing. The present invention seeks to provide an innovative method of surface treatment of a car body using a specially adapted surface treatment device.

Brief Description of the Invention

The present invention relates to a device and a method for removing additional material to harden filler material from defective car body parts using a real-time computer controlled robotic device.

The proposed vehicle body-filler machining unit consists of a computer control unit and a leading and executing part (VeD and VyD). VeD and VyD are two independent parts that can be mobile, spaced relative to each other, with no significant working distance, or stationary and adaptable to the shape of the car body.

VeD and VyD consist of a series of identical units - racks with rack mounts, robotic racks with robots, orientation units and impact sensors, with the only difference being that VeD has a profilometer with a profilometer holder and VyD has a rear tool with a machining tool. The above VeDs and VyDs can exchange functions by transferring nodes that differ from one another.

The proposed machine also differs in that the VyD terminal unit is provided with a rotating device incorporating a brush for electrical contact with the electrically conductive shaft of the rotary machine, a tool gripper, and a machining tool and brush terminals through which it is connected to a computer control unit.

The proposed device also differs in that a brush is mounted on the rotating machine, through the brush holder, to provide electrical contact with the electrically conductive tool and the brush terminals through which the contact is connected to the computer control unit.

The proposed machine also differs in that the electrical contact between the computer control unit and the machining tool is made through a rotating machine, an electrically conductive spindle bearing, a spindle, possibly a housing and a tool gripper.

The proposed machine has a marker that accurately reproduces the machining tool by shape and method of attachment.

It is possible to produce a machining tool template head according to the machining tool profile.

Techniques and subassemblies are proposed that enable the use of robots with less than 3 degrees of freedom and 3 or more degrees of freedom in the device (at least 6 degrees of freedom are recommended).

In the proposed device, the computer control unit is connected to the electrically conductive part of the work surface.

The proposed method of treating a vehicle body with excess fill using a computerized, semi-automatic unit consisting of a computer control unit (1), VeD and VyD, involves operations: aligns Ved and VyD with each other and with reference and machined surfaces, detects damaged surface machining area contour, captures machining area contour on reference surface opposite to mirror body, scans reference surface in contour area, performs reconditioning quality check on reclaimed body reconditioning surface, performs reconditioning (if required), after filling the surface of the etched surface, performs the surface treatment in real time by scanning the reference surface, or by coordinates of the previously scanned reference surface.

It is proposed to fix the reference surface on the body surface of another vehicle of the same make, series or shape, or on a spare part of such a vehicle.

It is proposed to scan the points of machined and reference surfaces with contactless, semi-contact, or contact profilometers.

Brief description of the drawings

BRIEF DESCRIPTION OF THE FIGURES

Fig.1 - general view of the device,

Fig.2 - general view of the device, variant 2,

Fig.3 - Terminal unit with orientation unit, impact sensor and machining tool,

Fig.4 - Rotary view:

(a) when the electrical contact is in the rotating machine,

(b) electrical contact with the tool,

Fig.5 - production of template for profilometer measuring head,

Fig.6 - Overall view of the cursor

Fig.7 - a block diagram of a machining device with a robot having 3 degrees of freedom or less,

Fig.8 is a block diagram of a machining device using a robot having more than 3 degrees of freedom.

Detailed Description of the Invention

Car body surface treatment device, Figs. 1, consists of two main parts - a master (hereinafter referred to as "VeD") and an executive (hereinafter referred to as "VyD") and a computer control unit (1) with a display (1a) and data entry equipment (1b). Hereafter, the analogous VeD and VyD nodes will be denoted by the same position numbers, except that the VeD nodes will not have a Strich and VyD will have a Strich. VeD and VyD have similar (identical) assemblies - two stands (2, 2 ') with stand holders (2a, 2'a), robot holders (3, 3'), robot carrier distance meters (3a, 3'a), robots (4, 4 '), orientation units (5, 5') and impact sensors (6, 6 '). The VeD is additionally equipped with a profilometer holder (7) and a profilometer (8), while the VyD has a terminal device (9) and a machining tool (10). The profilometer holder (7) for mounting and / or replacing the profilometer (8) can be mechanical or automatic controlled by a computer control unit (1). The processing tool (10) must be electrically conductive and intended for machining the work surface (13) and, if necessary, for making electrical contact with the electrically conductive part of the work surface (13). The robotic brackets (3, 3 ') are fitted with robotic bracket distance gauges (3a and 3'a). The car body surface treatment unit also has one or more image recorders (11). The following VeD units are mechanically interconnected - stand bracket (2a), stand (2), robot bracket (3), robot bracket distance gauges (3a), robot (4), orientation unit (5), impact sensor (6) and profilometer bracket (7) with profilometer (8), and VyD nodes respectively - stand bracket (2'a), stand (2 ¹ ), robot bracket (3 '), robot bracket distance gauges (3'a), robot (4') ), orientation unit (5 '), impact sensor (6'), and end unit (9) with tool 10. Robots (4,4 ') are coordinate measuring machines for controlling the tool (10) and profilometer (8) xyz space and be controlled by a computer control unit (1). Depending on the level of complexity, the robots (4, 4 ') can have 2 degrees of freedom, free weight with their units, weight compensation, rebound, tactile sensation, vibration absorption or other functions, and their units must be protected from water and dust. The computer control unit (1) has the hardware and software necessary for the job to receive, process, output and control the device, and can transmit and receive information from all connected nodes via wired, wireless, or other means of data transmission / reception. The profilometer (8) can be contact, semi-contact, contactless, e.g. laser scanner.

FIG. 1 also shows the reference (12) and machined (13) surfaces. The reference surface (12) has the desired shape for extraction on the work surface (13). The machined surface (13) has a damaged body surface area (13a) for machining, and the intact area around it is intended for calibration with a reference surface (12). The electrically conductive part of the working surface (13) must have electrical contact with the computer control unit (1).

The affected area (13a) is shown filled with excess, usually electrically impermeable filler. The reference (12) and machined (13) surfaces may be the same object (14), in our case symmetrical parts of the car body. FIG. 1 does not show the electrical connection of the computer control unit (1) to all of the above units of the device, but this should be taken for granted.

The stand brackets (2a, 2'a) are equipped with orientation, mounting, tilt angle, locking and shifting units for the stand brackets (2a, 2'a). The robotic brackets (3, 3 ') are equipped with robotic brackets (3, 3') for orientation, tilt angle adjustment, mounting on stands (2, 2 ') and robotic brackets (4, 4'). Distance sensors (3a, 3a ') mounted at robot angle holders (3, 3') for measuring distance to reference (12) and machined (13) surfaces with respect to selected points and rails (2, 2 ') for determining inclination angle of reference (12) and machined (13) surfaces. Orientation, tilt angle adjustment units and distance gauges (3a, 3a ') for robot holders (3, 3') and for calibration of robot plane (3, 3 ') and reference (12) and machined (13) surfaces. Depending on their complexity, the rack mounts (2a, 2'a) and the robotic mounts (3, 3 ') can be manually operated or electromechanically controlled by a computer control unit (1). Orientation units (5, 5 ') for orienting and locking the profilometer (8) and the machining tool (10) with respect to the reference (12) and machined (13) surfaces.

The VeD and VyD assemblies, in particular the robots (4, 4 ') and the computer control unit (1), are selected to provide the desired performance and quality, and compatibility between VeD and VyD equipment. When using a robot with more than three degrees of the ship, it has robot brackets (3, 3 '), robot bracket spacers (3'a, 3a), riser brackets (2a, 2'a) and orientation units (5, 5'). redundant. Impact sensors (6, 6 ') are required for the surfaces of robots (4, 4'), end unit (9), machining tool (10), profilometer holder (7), profilometer (8) and reference (12) and machined (13) protection against unintended mechanical damage. The impact sensors (6, 6 ') may have a lock with the possibility of being activated by mechanical means.

FIG. Fig. 2 shows a padding machine for a car body where the reference surface is not a symmetrical part of the car being treated but a separate part removed from the car or an analogous part of another car surface which may be in a separate room without significant influence on the working process. The VeD and VyD constructions differ from Fig. 1 - the stands (2, 2 ') additionally have extension elements (2b, 2'b) and their orientation units 2c, 2'c. They are adjustable by means of guide units (2c, 2'c) and rack extensions (2b, 2'b).

FIG. 3 shows a terminal device (9) with an impact sensor (6 '), an orientation unit (5') and a machining tool (10). The end device (9) comprises a tool grip (15), a sensor assembly (16), a rotating device (17) and a holder (18) therefor. The tool gripper (15) is for mounting and / or replacing the tool, it can be mechanical or automatic, controlled by a computer control unit (1). Attached to the bracket (18) is a mobile control panel (19) with indicators, control buttons and a display, possibly touchable. The mobile control panel (19) may also be attached to the bracket (18) and may be several. The sensor unit (16) is attached to the rotating device (17) via the sensor unit holders (20). The sensor unit holders (20) are selected so that the sensors have sufficient stability and can be oriented at the required angles, positions and distances. The sensor unit (16) comprises at least one profilometer, a temperature sensor, an ultrasonic sensor, a sound sensor, a light sensor, an inductive sensor, a laser distance meter, a humidity sensor, and others necessary for the operation of the device.

FIG. 4 shows a rotating machine (17) (in section), a machining tool (10) and a machining surface (13). The rotating machine (17) comprises a housing (21), a rotating mechanism (22), (a rotary power source, e.g., an electric motor, a shaft, a reducer, or a vibrating mechanism, e.g., ultrasonic, piezoelectric) and a tool grip (15). To make electrical contact between the tool (10) and the computer control unit (1), a brush (23) (electrically conductive assembly connecting the brush outlet with the shaft of the turning mechanism (22)) to the terminals (23a) is pressed against the spindle (22). (for connection to a computer control unit (1)) (Fig. 4a). Fig. 4b shows a brush (24) through the brush holder (24a) pressed against the outer surface of the machining tool (10) axis and connected to the outlets (24b). To establish an electrical contact between the electrically conductive part of the work surface (13) and the computer control unit (1), a contact outlet (13b) is shown. The contact outlet (13b) is electrically conductive and is connected to a computer control unit (1) and an electrically conductive part of the work surface (13). The brushes (23, 24) are electrically conductive assemblies that connect the brush terminals to the shaft of the rotating mechanism (22) and / or the outer surface of the axis of the machining tool (10). The brush holder (24a) is a unit for holding the outlet (24b) and the brush (24) and for damping it and pressing it against the outer surface of the attachment portion of the tool (10). Also, the brush holder (24a) is designed to pull the brush (24) away from the tool (10) when changing the tool and may itself make an electrical contact between the tool (10) and the computer control unit 1.

The rotating machine (17) has at least one electrical contact outlet (23a, 24b) for connection to a computer control unit (1) connected via a brush (23, 24) to a processing tool (10). If the electrical contact is between the tool (10), the gripper (15), the spindle (22) of the rotating mechanism, the bearing of the rotary (22) and possibly the housing (21), the brushes also do not require electrical contact between the computer control unit (1). ) and the processing tool (10) is formed through a shaft bearing or housing (21) of the rotation mechanism (22).

On the working surface (13), the damaged body surface area (13a) with the filler is shown.

FIG. 5a shows a rotating machine (17) with a tool (10) and a contactless profilometer (25) mounted in a tool grip (15). The contactless profilometer (25) can be a separate element or can be used as one of the sensors of the sensor unit (16) oriented to scan the tool (10). FIG. 5b shows a rotating machine (17) fitted with a tool grip (15) with a profilometer head template blank (26) having sufficient material for making a profilometer head template and a machining knife or machining device (27).

FIG. 6 is a general view of the cursor (28). The cursor (28) comprises a fastener (29), a controller (30), an extension (31), and a head (32). According to the method of attachment in the tool grip (15) and the shape and size of the head (32), the pointer (28) accurately reproduces the tool (10). The surface of the head (32) is subdivided into separate zones (32a). The zones (32a) are made of electrically conductive material, e.g. of metal and insulated from one another. Each zone has ink supply conduits (32b) which are connected to the controller (30) via an extension element (31), and each zone (32a) of the head (32) is electrically connected separately to the controller (30). The controller (30) has a connector (not shown in the drawing) for connection to the computer control unit (1) either directly or via the circuits of the terminal device (9) and the fastening element (29). The controller (30) includes an ink cartridge (not shown) that is connected to the ink supply conduits (32b) through the ink nozzles (not shown) in the controller (30) for controlling the ink supply. The ink cartridge is pressurized, or the compressed air is supplied to the ink cartridge by a separate element (not shown in the drawing) at the required pressure to spray the ink. An electrical contact between the electrically conductive portion of the work surface and at least one zone (32a) activates the ink nozzle and, through the ink supply conduit of that area, at least one of the ink cartridges in the controller (30) contact area (32a), at the same time the electrical signal goes to the computer control unit (1). The head (32) of the marker (28) may also be made of a soft material, such as paralone, sponge, rubber, silicone, the surface of which is coated with a dyeing liquid or powder for marking a contact with the machining surface. Any coloring liquid may be used instead of ink.

FIG. Fig. 7 is a block diagram showing functional links between VeD and VyD nodes, as well as other nodes, with a computer control unit (1) using robots (4,4 ') having degrees of freedom of 3 or less.

FIG. Fig. 8 is a block diagram showing functional links between VeD and VyD nodes, as well as other nodes, with a computer control unit (1) using robots (4, 4 ') having more than 3 degrees of freedom.

Each time the tool (10) touches the electrically conductive part of the work surface (13), a signal is generated to the computer control unit (1).

Calibration of VeD and VyD erection.

Following the installation of VeD and VyD on the workplaces in front of the reference (12) and machining (13) surfaces, the following operations are performed:

Calibration of the stands (2, 2 ') with respect to each other and their supporting surfaces is performed, the calibration of the robotic holders (3, 3') with respect to the reference (12) and machined (13) surfaces, i.e. determination of tilt angle, distances and positioning. Adjustable orientation units (5, 5 '). When calibrating VeD and

The VyDs arranged as shown in Fig. 2 are firstly adjusted by the orientation units (3, 3 ') along the extension elements (2b, 2'b) and the extension elements (2b, 2'b) by the orientation units (2c, 2'c). along the stands (2, 2 ') and then the calibration of the VeD and VyD erection is continued. With robots with 3 degrees of freedom and more, it is possible to skip the build calibration.

Depending on the construction and complexity of the stand holders (2a, 2'a) and the robotic holders (3, 3 '), the calibration of the building can be done manually or electromechanically, by the calibration units located on the stands (2a, 2'a) and the robots (3). , 3 ') brackets, distance meters (3a, 3'a), rack brackets (2a, 2'a), and robot brackets (3, 3'a) with tilt angle adjustment units and a computer control unit (1). By determining the distances between the robot holders (3, 3'a) and the reference (12) and machining (13) surfaces, the travel of the robot (4, 4 ') and the machining tool (10), and the profilometer (8) is estimated during operation and leave a safe xyz space reserve for unhindered movement of VeD and VyD. During calibration, all data is recorded on the computer control unit (1).

During the fine-tuning calibration of the tool (10) and the profilometer (8), the distances between the tool (10) and the reference (12) planes of the tool (10) and the profilometer (8) are determined and aligned, and their positions recorded. Instead of a machining tool (10), a profilometer is installed for calibration. VeD and VyD calibration is done by measuring the distances between the tool (10) and the work surface (13) and between the profilometer (8) and the reference surface (12) and input the measurement results into the computer control unit (1). At least three points in the intact area of the work surface (13) and three identical points on the reference surface (12) shall be selected for calibration.

Adjustment calibration can be performed by mechanical control of the parking calibration units and VeD and VyD profilometers (profilometer (8) and profilometer in place of the tool (10)) manually or automatically by the computer control unit (1).

The identical surface points of the intact surface areas of the reference (12) and machined (13) scans and recorded in the computer control unit (1) become the contour defining the working area of the machining tool (10) and the profilometer (8).

After the precision calibration, the computer control unit (1) has known coordinates and positions in the intact (13) and reference (12) surface areas of the generated points xy and robots (4, 4 '), and the parallelism of the xy planes between machining the tool (10) and the profilometer (8) and the workpiece (13) and the reference (12) surfaces.

Positioning at reference points. The machining tool (10) is returned (inserted) to the VyD tool chuck (15). Repeat calibration of the tool (10) and profilometer (8) in the z-axis. This is done by aligning the tool (10) and the profilometer (8) on identical surface points of the intact (13) and reference (12) areas of the surface, entering the coordinates of these points using the mobile control panel (19) or data entry equipment (1b). a computer control unit (1). From this moment, the machining tool (10) and the profilometer (8) move at identical xyz space points with respect to the machined (13) and reference (12) surfaces. A controlled mechanical inspection of the matched VeD and VyD can be performed by manually inserting a profilometer (8) at any point in the contour to be machined and observing the movement of the machining tool 10 on the work surface (13). If necessary, the travel of the working tool (10) and the profilometer (8) in the x, y, z space can be adjusted with the help of the program.

To produce a profile profilometer head, the machining tool (1) embedded in the rotator (22) is scanned by a contactless profilometer (25) and the data collected is recorded to the computer control unit (1). Replace the tool (10) with the profilometer head template template (26). According to the scanned data of the machining tool (10), VyD carries out the machining of the template workpiece with a machining knife or machine (27).

When repairing the damaged surface, it is recommended to leave a space of at least 1-2 mm to the intended surface for restoring the filler. Insert a profilometer into the VyD tool chuck (15), or the cursor (28) into the VyD tool chuck (15) and re-position the VeD and VyD at the reference points. VeD and VyD are released to control the machining of the work surface (13), i.e. the electrical contact between the working surface (13) and the cursor (28) is checked by scanning the target points of the reference surface (12). After fixing the electrical contact between the work surface (13) and the marker (28), the marker (28) sprays paint on the work surface (13) or otherwise marks the location. Once the control on the machined surface (13) has been completed, all electrical contact points remain marked and the operator has to decide whether a re-surface re-coating is necessary and / or the VeD and VyD are recalibrated. After re-reworking, the re-quality control of the work surface (13) is re-performed, if necessary. If no electrical contact is detected, the work surface (13) can be covered with filler (13a).

Grinding of the work surface (13) is accomplished by curing the excess coated filler (13a) on the work surface (13). Insert the machining tool (10) into the VyD tool chuck (15) and, if necessary, calibrate the VeD and VyD again. the unit starts up for work. There are two modes of operation - when VeD scans the reference surface (12) and VyD processes the surface (13) in real time, or when the computer control unit (1) controls VyD according to previously recorded and possibly corrected reference surface (12) data. If the electrical contact between the electrically conductive part of the work surface (13) and the work tool (10) is still detected during machining, an emergency has occurred and the computer control unit 1 receives a signal according to the program to adjust the machining process.

Corrective actions may include:

the machining process is stopped and further action is taken by the operator, the machining tool 10 is moved away from the working surface 13 at a certain predetermined distance and direction, the program execution process is moved, the specified number of positions is reversed, the program execution process is moved , the machining program enters the small electrical contact area into calibration mode and then returns to machining mode again.

The corrective action must take into account the current position of the VyD equipment so that there is no risk of damage to the equipment or work surface (13). The work of VeD and VyD can always be intervened by the operator and, if necessary, adjusted or stopped. This ability to sense contact with metal enables safer operation of the equipment and protects its assemblies and workpiece from unintended damage.

Not all body parts of the car have a mirror reflection in the right place, or even body parts have a mirror reflection, but both are damaged. In this case, it is necessary to find a second intact car of the same model, series or shape, or a part of such a car, eg. hood, arch, sill, or other intact detail. Minor damage to the reference surface (12) in the working area can be filled with material suitable for the removal of the damage and repaired without damage to the reference surface (12). Minor damage in the working area 12 of the reference surface may also be left. After the surface 13 has been repaired, minor damage can be rectified by standard vehicle body repair.

Further calibration and preparation of the equipment for operation is carried out in the same manner as described above.

There are several ways to use the device:

VeD and VyD are mobile and adapt (displacing) to the bodywork position of the vehicle - as shown in Fig. 1,2 and described above;

VeD and VyD are stationary and the bodywork area of the car adapts to VeD and VyD.

In machining the parts of a mirrored car body, when the VeD and VyD stationary, the VeD and VyD analogue units change functions and only the divergent units are rotated, i.e. a terminal device (9) with a machining tool (10) and a profilometer holder (7) with a profilometer (8).

VeD and VyD can have different sets, including robots (4, 4 '), with different degrees of freedom. Then the calibration follows the calibration specifics of the robot with less degrees of freedom.

The operator has the ability to monitor the operation of device processes on the display (1a) or on the mobile control panel (19) at a safe distance from the device and intervene in, and adjust or control, any work process.

For work with a semi-contact or non-contact profilometer (8), additional reference points are added on the machined (13) and reference (12) surfaces, if necessary, to facilitate tethering.

For manual control of VyD or VeD, the computer control unit (1) program shall provide for a gentle (without sudden movement) repetition of the VeD or VyD action.

VeD and VyD must work synchronously, but in the event of a machining tool lag, the computer control unit (1) program must provide for slowing down VyD and Ved, or it may be done with the intervention of the operator.

Vacuuming of machining must be provided for in VyD. Instead of the machining tool (10) and the rotating machine (17), other assemblies, possibly with abrasive materials, may be used to perform the machining function of the work surface (13) according to the above method.

As the number of cars grows every year, the number of minor accidents resulting in damage to the car body increases, so high-quality car body repair is very important. The proposed device and method have the following advantages:

enables body repair work to be performed with such quality and precision that most often cannot be achieved by hand-operated tools;

reduces body repair time;

saves materials for repair;

minimally damaged metal parts of the car body;

bodywork is performed in automatic mode, without the direct involvement of the operator in the machining process, thus protecting the operator from adverse effects on his health with the machining products.

While the embodiment of the present invention, as exemplified in the drawings and drawings, is particularly applicable to car body parts surface removal operations using a car body filler treatment device and method, it should be understood that the present invention may be applied to material removal operations when using at least two substantially identical objects using any type of substantially fully or partially automated and automatically or manually calibrated VeD and VyD capable of performing the above functions. One VeD can serve any number of other VyDs performing the same operation.

Claims (18)

Definition A vehicle body-filler machining unit consisting of a drive and actuating part (VeD and VyD) and a computer control unit (1), characterized in that the VeD and VyD consist of identical units: stands (2, 2 ') with guiding brackets (2a, 2'a), guidance units (5, 5 ') for robotic brackets (3, 3') with distance gauges (3a, 3a '), robots (4, 4') having 2 or more degrees of freedom ) and impact sensors (6, 6 '); and only in that the VeD has a profilometer holder (7) with a profilometer (8) and a VyD terminal device (9) having a tool grip (15), a sensor unit (16), a mobile control panel (19), a rotary device (17). ) with a machining tool (10) and a machining tool (10) template (cursor (28)). Device according to claim 1, mobile. characterized by the presence of VeD and VyD 3. The device of claim 1, wherein the VeD and VyD are stationary. 4. A device according to claim 1, characterized in that the VeD and VyD can exchange functions by transferring nodes that are different from one another. 5. A device as claimed in claims 1 to 4, characterized in that the device has the ability to detect electrical contact between the electrically conductive part of the body and / or the workpiece surface of the body part and the machining tool (10). 6. Apparatus according to claim 5, characterized in that the processing tool (10) has an electrical contact through the brush (24) with the holder (24a). 7. A device according to claim 5, characterized in that the shaft of the rotating mechanism (22) has an electrical contact through the brush (23). A device according to claims 1-4, characterized in that the marker (28) mimics the machining tool (10) in terms of shape and method of attachment. 9. Apparatus according to claim 8, characterized in that the marker (28) comprises an electrically conductive fastener (29), a controller (30) with an ink cartridge, ink, a pressurized air supply, ink nozzles connected to the ink supply conduits (32b). ), through an extension member (31) and a head (32), the surface of which is subdivided into discrete, electrically conductive zones (32a), each containing an ink supply conduit (32b), and electrical contact with the ink nozzles and fastener (32). 29). Device according to claims 8 to 9, characterized in that the head (32) is made of a soft material, the surface of which is covered with a dye or powder. 11. A device according to claim 1, characterized in that the device is capable of machining the profilometer head template blank (26) according to the profile of the machining tool (10) using an additional contactless profilometer (25) and a cutting knife or machining device (27). 12. The device according to claim 1, characterized in that the rack mounts (2a, 2'a) have rack mounts (2a, 2'a) for automatic and / or mechanical orientation, inclination angle adjustment, surface mounting, locking and shift nodes. 13. A device according to claim 1, characterized in that the robotic holders (3, 3 ') have robots (3, 3') for automatic and / or mechanical orientation, stands (2, 2 ') with respect to tilt angle detection, mounting on stands (2, 2') and robots (4, 4 '), and distance meters (3a, 3a') mounted at a known angle. A method of treating a vehicle body filled with filler material by means of a computerized semi-automatic device, comprising calibrating the leading and actuating parts (VeD and VyD), verifying the calibration, and mechanically removing excess filler material from the body surface (13). operations: aligns Ved and VyD with each other, aligns Ved and VyD positions with reference (12) and machined (13) body surfaces, determines the contour of the working surface of the damaged machined surface (13), fixes the contour of the working surface (13) scans the profile of the reference surface (12) in the work area, performs a quality check of the machining surface (13) of the bodywork, identifying and marking the locations of electrical and / or mechanical contact with the tool (10) with the marker (28) electrical and / or mechanical contact points, if necessary, re-rework or align VeD and VyD, perform machining (13a) of filler surface (13a), fill (13a), continuously check electrical contact between machined surface (13) ) and the machining tool (10) and as it adjusts the machining progress according to the program and / or operator decision ą. 15. A method according to claim 14, characterized in that the locking of the working area is carried out at the designated body parts at the reference surface (12). 16. The method of claim 14, wherein the reference surface profile is scanned at identical locations in another vehicle of the same make and series or shape. 17. A method according to claim 14, characterized in that the profile of the reference surface (12) is scanned by identical parts of the car body in identical locations. 18. The method of claim 14, wherein the contour of the working area is determined separately at the intact, intact areas of the treated (13) and reference (12) surfaces.