Automatic finishing method and system for automobile body

Abstract

The invention discloses an automatic finishing method and system for an automobile body, and relates to the technical field of automobiles. The automatic finishing method comprises the following steps that pressure between a plurality of execution units and the automobile body is obtained; and if the pressure between the execution unit and the vehicle body meets the preset condition, the whole vehicle body is ground and / or polished. The whole vehicle body is ground and / or polished through the execution unit, so that grinding and polishing of the execution unit on the vehicle body are indifferent and are carried out on the whole vehicle body, and different from a traditional finishing method, only a defect part is ground, so that the defect position of the vehicle body does not need to be recognized by a visual recognition system, and the defect position is not damaged. Errors during defect identification are reduced, and time and equipment for identifying the defects are saved. And meanwhile, the surface of the vehicle body can be more uniform through undifferentiated grinding and / or polishing, defective parts are ground and / or polished, non-defective parts are also ground and / or polished, the thickness of the whole paint film of the vehicle body is more uniform, and chromatic aberration and orange peel are reduced.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to an automated finishing method and system for an automobile body. Background Art

[0002] Automobile body finishing is used to deal with dust, particles, impurities, ash, fibers, and pinholes, bubbles, shrinkage holes, sagging and other defects caused by poor molecular film formation or external pollution on the surface or inner layer of polymer coatings that have completed film formation. The finishing method is usually to smooth the concave and convex defects on the surface of the coating with high-grit sandpaper, and then polish the polished area with a polishing sponge or wool polishing wheel to obtain a smooth and bright surface. Making the surface of the defective points after treatment consistent with the appearance of the normal surface can improve the refinement of the car body, enhance the commerciality and product strength of automobile coating products, and is an indispensable part of automobile coating operations.

[0003] The existing technology of general finishing lines is manual finishing operations. The process generally includes inspection-grinding of defective points of the whole vehicle-polishing of polished points-painting-film wax injection-final inspection-delivery. The processing efficiency of single manual operations is low. Generally, grinding operations require 5-10 seconds / point, and polishing operations require 12-20 seconds / point. Therefore, when there are many defective points to be processed, a lot of working hours will be wasted. If it is a continuous assembly line operation, defects such as line stoppage and production delay will occur. If more workers are used for collaborative work, it will lead to crowded workstations or too long and too large workstation rooms. Manual operations rely on the proficiency of operating techniques, which is prone to omissions, resulting in obvious color differences. Therefore, this type of position generally has a large difference in the working speed of novices and experienced workers, which is very likely to cause large fluctuations in production when personnel are absent or leave. In the grinding and polishing operations, especially in the polishing process, the operator needs to apply greater pressure to ensure the polishing effect, and conditions such as the vibration of the polishing machine have hidden dangers of labor protection damage to the operator. Summary of the invention

[0004] The present application provides an automated finishing method and system for an automobile body, so as to solve the existing problems of low efficiency and obvious color difference of vehicles.

[0005] In a first aspect, the present application provides a method for automated finishing of an automobile body, comprising the following steps:

[0006] Obtain the pressure between multiple actuators and the vehicle body;

[0007] If the pressure between the execution unit and the vehicle body meets the preset condition, the entire vehicle body is ground and / or polished.

[0008] The present application uses the execution unit to grind and / or polish the entire vehicle body, so that the execution unit can grind and polish the vehicle body indiscriminately, and perform it on the entire vehicle body, which is different from the traditional finishing method, which only grinds the defective parts, so that the present application does not need a visual recognition system to identify the defective position of the vehicle body, which reduces the error in identifying defects and saves the time of equipment for identifying defects. At the same time, the indiscriminate grinding and / or polishing can make the surface of the vehicle body more uniform, not only the defective parts are grinded and / or polished, but also the parts without defects are grinded and / or polished, and the thickness of the entire paint film of the vehicle body is more uniform, reducing color difference and orange peel.

[0009] The pressure between the execution unit and the car body meets the preset conditions, that is, the execution unit cannot be too far away from the car body to polish the car body, nor can it be too close to the car body, causing excessive polishing pressure. At the same time, in the window area where polishing is not required, when the pressure of the execution unit is 0, the corresponding execution unit does not perform the polishing and / or polishing steps.

[0010] It should be noted that the execution unit may have only the grinding function, only the polishing function, or both the grinding and polishing functions. When the execution unit has both the grinding and polishing functions, the grinding head and the polishing head may be separately provided or integrated in different positions of the same execution unit.

[0011] In some embodiments, the pressure between the execution unit and the vehicle body is F, and the preset condition is 1.05Fmin≤F≤0.97Fmax, where:

[0012] Fmin is the minimum stress of grinding and / or polishing, i.e., the pressure applied when a paint film of fixed hardness (s) is ground off to a fixed thickness (H) in a fixed time (t) with zero wear of sandpaper;

[0013] Fmax is the maximum grinding and / or polishing stress, i.e. the pressure applied when a paint film of fixed hardness (s) is ground off to a fixed thickness (H) in a fixed time (t) when the sandpaper is 90% worn out.

[0014] The pressure F between the execution unit and the vehicle body is between 1.03 times the minimum grinding stress and 0.97 times the maximum grinding stress, so that the pressure of the execution unit when grinding and / or polishing the vehicle body is within an appropriate range, thereby improving the grinding and / or polishing effect and reducing the wear of the grinding and / or polishing head.

[0015] In some embodiments, 1.05Fmin≤F≤0.95Fmax. The pressure F between the execution unit and the vehicle body is between 1.05 times the minimum value of the grinding stress and 0.95 times the maximum value of the grinding stress, which can further make the pressure of the execution unit when grinding and / or polishing the vehicle body within a suitable range, improve the grinding and / or polishing effect, and reduce the wear of the grinding and / or polishing head. The grinding effect can be improved, making it easier to grind away defects. At the same time, it can reduce the polishing marks caused by over-grinding and the inability to polish and the irreparable orange peel.

[0016] In some embodiments, the pressure between the actuator and the vehicle body is F, which satisfies:

[0017] F=H / (k·C·p·Y -n );

[0018] Wherein, H is the thickness of the paint film that is ground and / or polished away;

[0019] k is the wear removal rate of the grinding and / or polishing material itself;

[0020] C is the cutting force of the grinding and / or polishing abrasive;

[0021] p is the rotation speed;

[0022] Y is the hardness of the grinding and / or polishing material;

[0023] n is the slope of the linear regression equation between k and Y.

[0024] The pressure between the execution unit and the vehicle body is related to the thickness of grinding and / or polishing, the wear removal rate of the material itself, the cutting force of the abrasive, the rotation speed of the execution unit, and the hardness of the grinding and / or polishing material. The appropriate pressure F can be adapted according to different materials to improve the grinding and / or polishing effect.

[0025] In some embodiments, the original paint film thickness of the automobile body is H0, and the thickness of the paint film after grinding and / or polishing is H, wherein:

[0026] 35μm≤H0≤100μm, H0 within this range can make it possible to maintain a good shielding effect and appearance and reduce the bottom exposure after grinding and / or polishing to a thickness of H; and / or,

[0027] 5μm≤H≤10μm, H within this range can improve the defect removal rate, improve the finishing effect, and save costs; and / or,

[0028] 5%≤H / H0≤20%. When H / H0 is within this range, the influence of the thickness removed by grinding and / or polishing on the appearance of the paint film can be reduced, thereby maintaining a good shielding effect and appearance and reducing bottom exposure.

[0029] In some embodiments, the operating radius of the execution unit is r, the travel radius of the execution unit is A, the number of execution units is X, and the outer surface area of ​​the vehicle body is S, satisfying: πr 2 ·8A·X>S.

[0030] The execution unit works in a circular trajectory during the grinding and / or polishing process, so πr 2 8A·X is the effective working area of ​​the execution unit. The effective working area of ​​the execution unit is larger than the outer surface area of ​​the vehicle body, so that the entire vehicle body can be polished and / or polished, thereby improving the polishing and / or polishing effect. Usually, the execution tracks of adjacent execution units have overlapping parts so that no part of the vehicle body is left out.

[0031] In some embodiments, the travel radius of the execution unit is A, the linear speed of the vehicle is s, and the cycle time of a single vehicle is t, which satisfies: 8A / s<t. This allows the vehicle body to be polished and / or buffed within one vehicle cycle.

[0032] In some embodiments, if the pressure between the execution unit and the vehicle body meets a preset condition, then after grinding and / or polishing the entire vehicle body, the method further includes:

[0033] If the pressure between the execution unit and the vehicle body does not meet the preset conditions, the abnormal execution unit is retracted and the abnormal execution unit information is recorded;

[0034] Normal execution unit sands and / or polishes the car body.

[0035] When an actuator fails so that the pressure between the actuator and the vehicle body does not meet the preset conditions, the abnormal actuator will be retracted while other normal actuators continue to grind and / or polish the vehicle body. The abnormal body parts are then recorded and manually repaired after the vehicle is offline, which can improve the efficiency of grinding and / or polishing. At the same time, the abnormal actuators are recorded for inspection or replacement.

[0036] When the execution unit corresponds to the window position of the vehicle and does not need to be polished, when the pressure between the execution unit and the vehicle body does not meet the preset conditions, the execution unit corresponding to the window position will also be retracted.

[0037] In some embodiments, if the pressure between the execution unit and the vehicle body meets the preset condition, after grinding and / or polishing the entire vehicle body, the method further includes:

[0038] Record the actual finish quantity of the vehicle and compare the actual finish quantity of the vehicle with the preset finish quantity of the vehicle;

[0039] If the actual finishing quantity of the vehicle is less than the preset finishing quantity of the vehicle, continue to finish the vehicle;

[0040] If the actual finishing amount of the vehicle is equal to the preset finishing amount of the vehicle, the grinding and / or polishing consumables of the execution unit are replaced.

[0041] Since the grinding and / or polishing consumables will also wear out during the grinding process of the car body, the grinding and / or polishing effect will be affected as the use time increases. Therefore, when the grinding and / or polishing consumables of the execution unit have been used for a certain period of time, they need to be replaced. The actual number of vehicle finishings is usually used to determine the usage of the grinding and / or polishing consumables of the execution unit. The wear cycle of grinding materials is usually 5-10 vehicles, and the wear cycle of polishing materials is usually 15-20 vehicles.

[0042] It should be noted that the execution units are usually arranged in multiple numbers around the vehicle body in various directions to ensure that the surface of the vehicle body can be ground and / or polished.

[0043] In a second aspect, the present application provides an automated finishing system for an automobile body, comprising:

[0044] A pressure sensor is used to obtain the pressure between multiple actuators and the vehicle body;

[0045] A processing unit, used to determine whether the pressure between the execution unit and the vehicle body meets a preset condition; and

[0046] Actuator unit for sanding and / or polishing the entire car body.

[0047] In some embodiments of the present application, the automobile body automated finishing system may also include a visual unit for detecting the position of the automobile body, an action unit for moving the execution unit, a replacement unit for replacing grinding and / or polishing consumables, and a processing unit that is communicatively connected to other units.

[0048] In order to facilitate the collection of discarded grinding and / or polishing consumables, a recovery channel may be provided below the grinding and / or polishing station to collect replaced grinding and / or polishing consumables. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0050] Automobile body finishing is used to deal with dust, particles, impurities, ash, fibers, and pinholes, bubbles, shrinkage holes, sagging and other defects caused by poor molecular film formation or external pollution on the surface or inner layer of polymer coatings that have completed film formation. The finishing method is usually to smooth the concave and convex defects on the surface of the coating with high-grit sandpaper, and then polish the polished area with a polishing sponge or wool polishing wheel to obtain a smooth and bright surface. Making the surface of the defective points after treatment consistent with the appearance of the normal surface can improve the refinement of the car body, enhance the commerciality and product strength of automobile coating products, and is an indispensable part of automobile coating operations.

[0051] The existing technology of general finishing lines is manual finishing operations. The process generally includes inspection-grinding of defective points of the whole vehicle-polishing of polished points-painting-film wax injection-final inspection-delivery. The processing efficiency of single manual operations is low. Generally, grinding operations require 5-10 seconds / point, and polishing operations require 12-20 seconds / point. Therefore, when there are many defective points to be processed, a lot of working hours will be wasted. If it is a continuous assembly line operation, defects such as line stoppage and production delay will occur. If more workers are used for collaborative work, it will lead to crowded workstations or too long and too large workstation rooms. Manual operations rely on the proficiency of operating techniques, which is prone to omissions, resulting in obvious color differences. Therefore, this type of position generally has a large difference in the working speed of novices and experienced workers, which is very likely to cause large fluctuations in production when personnel are absent or leave. In the grinding and polishing operations, especially in the polishing process, the operator needs to apply greater pressure to ensure the polishing effect, and conditions such as the vibration of the polishing machine have hidden dangers of labor protection damage to the operator.

[0052] Common automatic finishing lines generally include automatic inspection methods and algorithms and integrated equipment for coordinated grinding and polishing, including a set of manipulators, grinding heads, polishing heads and servo equipment that can automatically replace grinding and polishing consumables. After receiving the inspection results, the grinding and polishing equipment automatically grinds and polishes the points in the three-dimensional grid, and automatically replaces the consumables within the set range. The process does not require human intervention. Its advantages mainly include releasing operators, higher inspection detection rates than manual inspections, especially when workers are fatigued by continuous operation for several hours, and more standardized grinding and polishing operations, which reduces time waste. However, the accuracy of the grinding head is extremely difficult to control. The difference in coating depth that needs to be processed in the classification of some defects is in the range of 5-10μm. When the automatic equipment performs grinding operations, it is easy to produce grinding marks, orange peel and color differences, which still cannot meet the needs.

[0053] In view of this, the present application provides an automated finishing method and system for an automobile body to solve the existing problems of low efficiency and obvious color difference of vehicles.

[0054] In a first aspect, the present application provides a method for automated finishing of an automobile body, comprising the following steps:

[0055] Obtain the pressure between multiple actuators and the vehicle body;

[0056] If the pressure between the execution unit and the vehicle body meets the preset condition, the entire vehicle body is ground and / or polished.

[0057] The present application uses the execution unit to grind and / or polish the entire vehicle body, so that the execution unit can grind and polish the vehicle body indiscriminately, and perform it on the entire vehicle body, which is different from the traditional finishing method, which only grinds the defective parts, so that the present application does not need a visual recognition system to identify the defective position of the vehicle body, which reduces the error in identifying defects and saves the time of equipment for identifying defects. At the same time, the indiscriminate grinding and / or polishing can make the surface of the vehicle body more uniform, not only the defective parts are grinded and / or polished, but also the parts without defects are grinded and / or polished, and the thickness of the entire paint film of the vehicle body is more uniform, reducing color difference and orange peel.

[0058] The pressure between the execution unit and the car body meets the preset conditions, that is, the execution unit cannot be too far away from the car body to polish the car body, nor can it be too close to the car body, causing excessive polishing pressure. At the same time, in the window area where polishing is not required, when the pressure of the execution unit is 0, the corresponding execution unit does not perform the polishing and / or polishing steps.

[0059] It should be noted that the execution unit may have only the grinding function, only the polishing function, or both the grinding and polishing functions. When the execution unit has both the grinding and polishing functions, the grinding head and the polishing head may be separately provided or integrated in different positions of the same execution unit.

[0060] In combination with the first aspect, in some embodiments provided in the present application, the pressure between the execution unit and the vehicle body is F, and the preset condition is 1.05Fmin≤F≤0.97Fmax, wherein:

[0061] Fmin is the minimum stress of grinding and / or polishing, i.e., the pressure applied when a paint film of fixed hardness (s) is ground off to a fixed thickness (H) in a fixed time (t) with zero wear of sandpaper;

[0062] Fmax is the maximum grinding and / or polishing stress, i.e. the pressure applied when a paint film of fixed hardness (s) is ground off to a fixed thickness (H) in a fixed time (t) when the sandpaper is 90% worn out.

[0063] The pressure F between the execution unit and the vehicle body is between 1.05 times the minimum grinding stress and 0.97 times the maximum grinding stress, so that the pressure of the execution unit when grinding and / or polishing the vehicle body is within an appropriate range, thereby improving the grinding and / or polishing effect and reducing the wear of the grinding and / or polishing head.

[0064] In combination with the first aspect, in some embodiments provided in the present application, 1.05Fmin≤F≤0.95Fmax. The pressure F between the execution unit and the vehicle body is between 1.05 times the minimum value of the grinding stress and 0.95 times the maximum value of the grinding stress, which can further make the pressure of the execution unit when grinding and / or polishing the vehicle body within a suitable range, improve the grinding and / or polishing effect, and reduce the wear of the grinding and / or polishing head. The grinding effect can be improved, making it easier to grind away defects. At the same time, it can reduce polishing marks caused by over-grinding and the inability to polish and the inability to repair orange peel.

[0065] In combination with the first aspect, in some embodiments provided in the present application, the pressure between the execution unit and the vehicle body is F, which satisfies:

[0066] F=H / (k·C·p·Y -n );

[0067] Wherein, H is the thickness of the paint film that is ground and / or polished away;

[0068] k is the wear removal rate of the grinding and / or polishing material itself;

[0069] C is the cutting force of the grinding and / or polishing abrasive;

[0070] p is the rotation speed;

[0071] Y is the hardness of the grinding and / or polishing material;

[0072] n is the slope of the linear regression equation between k and Y.

[0073] The pressure between the execution unit and the vehicle body is related to the thickness of grinding and / or polishing, the wear removal rate of the material itself, the cutting force of the abrasive, the rotation speed of the execution unit, and the hardness of the grinding and / or polishing material. The appropriate pressure F can be adapted according to different materials to improve the grinding and / or polishing effect.

[0074] In combination with the first aspect, in some embodiments provided in the present application, the original paint film thickness of the automobile body is H0, and the thickness of the paint film after grinding and / or polishing is H, wherein: 35μm≤H0≤100μm, and H0 is within this range, so that after grinding and / or polishing to a thickness of H, it can still maintain a good shielding effect and appearance and reduce the bottom exposure.

[0075] In combination with the first aspect, in some embodiments provided in the present application, the original paint film thickness of the automobile body is H0, and the thickness of the paint film after grinding and / or polishing is H, wherein: 5μm≤H≤10μm. When H is within this range, the defect removal rate can be increased, the finishing effect can be improved, and costs can be saved.

[0076] In combination with the first aspect, in some embodiments provided in the present application, the original paint film thickness of the automobile body is H0, and the thickness of the paint film after grinding and / or polishing is H, wherein: 5%≤H / H0≤10%. When H / H0 is within this range, the effect of the thickness after grinding and / or polishing on the appearance of the paint film can be reduced, thereby maintaining a good shielding effect and appearance and reducing the bottom exposure.

[0077] In combination with the first aspect, in some embodiments provided in the present application, the operating radius of the execution unit is r, the travel radius of the execution unit is A, the number of execution units is X, and the outer surface area of ​​the vehicle body is S, satisfying:

[0078] πr 2 ·8A·X>S.

[0079] The execution unit works in a circular trajectory during the grinding and / or polishing process, so πr 2 8A·X is the effective working area of ​​the execution unit. The effective working area of ​​the execution unit is larger than the outer surface area of ​​the vehicle body, so that the entire vehicle body can be polished and / or polished, thereby improving the polishing and / or polishing effect. Usually, the execution tracks of adjacent execution units have overlapping parts so that no part of the vehicle body is left out.

[0080] In combination with the first aspect, in some embodiments provided in the present application, the travel radius of the execution unit is A, the linear speed of the vehicle is s, and the cycle time of the single vehicle is t, satisfying:

[0081] 8A / s<t. The body can be polished and / or buffed within one body cycle.

[0082] In combination with the first aspect, in some embodiments provided in the present application, if the pressure between the execution unit and the vehicle body meets a preset condition, then after grinding and / or polishing the entire vehicle body, the method further includes:

[0083] If the pressure between the execution unit and the vehicle body does not meet the preset conditions, the abnormal execution unit is retracted and the abnormal execution unit information is recorded;

[0084] Normal execution unit sands and / or polishes the car body.

[0085] When an actuator fails so that the pressure between the actuator and the vehicle body does not meet the preset conditions, the abnormal actuator will be retracted while other normal actuators continue to grind and / or polish the vehicle body. The abnormal body parts are then recorded and manually repaired after the vehicle is offline, which can improve the efficiency of grinding and / or polishing. At the same time, the abnormal actuators are recorded for inspection or replacement.

[0086] When the execution unit corresponds to the window position of the vehicle and does not need to be polished, when the pressure between the execution unit and the vehicle body does not meet the preset conditions, the execution unit corresponding to the window position will also be retracted.

[0087] In combination with the first aspect, in some embodiments provided in the present application, if the pressure between the execution unit and the vehicle body meets the preset condition, after grinding and / or polishing the entire vehicle body, the method further includes:

[0088] Record the actual finish quantity of the vehicle and compare the actual finish quantity of the vehicle with the preset finish quantity of the vehicle;

[0089] If the actual finishing quantity of the vehicle is less than the preset finishing quantity of the vehicle, continue to finish the vehicle;

[0090] If the actual finishing amount of the vehicle is equal to the preset finishing amount of the vehicle, the grinding and / or polishing consumables of the execution unit are replaced.

[0091] Since the grinding and / or polishing consumables will also wear out during the grinding process of the car body, the grinding and / or polishing effect will be affected as the use time increases. Therefore, when the grinding and / or polishing consumables of the execution unit have been used for a certain period of time, they need to be replaced. The actual number of vehicle finishings is usually used to determine the usage of the grinding and / or polishing consumables of the execution unit. The wear cycle of grinding materials is usually 5-10 vehicles, and the wear cycle of polishing materials is usually 15-20 vehicles.

[0092] It should be noted that the execution units are usually arranged in multiple numbers around the vehicle body in various directions to ensure that the surface of the vehicle body can be ground and / or polished.

[0093] The automated finishing method for automobile bodies of the present application can perform indiscriminate treatment on target defects of the automobile bodies, and its efficiency is much higher than that of conventional automatic polishing solutions. The varnish layer on the surface of the paint film is evenly removed and then the entire film is polished. Therefore, the appearance of the treated coating film will greatly reduce the orange peel feeling, and the overall flatness and smoothness will be better in appearance. It is not only suitable for automobile painting production lines, but also for complete vehicles. Its application areas can be final assembly, segmented finishing solutions, 4S stores, automobile beauty, etc.

[0094] In a second aspect, the present application provides an automated finishing system for an automobile body, comprising:

[0095] A pressure sensor is used to obtain the pressure between multiple actuators and the vehicle body;

[0096] A processing unit, used to determine whether the pressure between the execution unit and the vehicle body meets a preset condition; and

[0097] Actuator unit for sanding and / or polishing the entire car body.

[0098] In some embodiments of the present application, the automobile body automated finishing system may also include a visual unit for detecting the position of the automobile body, an action unit for moving the execution unit, a replacement unit for replacing grinding and / or polishing consumables, and a processing unit that is communicatively connected to other units.

[0099] The action unit pushes the execution unit forward, and each pressure sensor sends an operation signal after reaching the force feedback range. The pressure sensor can detect the force application of each execution unit. If the action unit in the same plane exceeds the travel range by 20% and has no force feedback signal or the force feedback signal is abnormal, the abnormal execution unit is recovered and the abnormal information is recorded;

[0100] The motion structure of the actuator performs a single motion in a predetermined direction, and the slipknot on its surface keeps it from tilting within a limited range. During this period, the force feedback unit limits the force feedback value F to 1.05Fmin≤F0.97≤Fmax. After completing the preset time t of a single motion, the whole is kept in a uniform grinding state; Fmin is the force consumed when a paint film with a fixed hardness (s) is ground off a fixed thickness (H) in a fixed time (t) under the condition of 0 wear of sandpaper; Fmax is the force consumed when a paint film with a fixed hardness (s) is ground off a fixed thickness (H) in a fixed time (t) under the condition of 90% wear of sandpaper. Based on the actual verification state, the F value corresponding to the change is matched according to the state of different coating products and the use cycle.

[0101] After the car body enters the finishing station and is locked, the spray unit sprays the car body or the processing unit. The spray unit consists of a 2-axis reciprocating machine with a spray head. For grinding work, the polishing paste is sprayed. Then the car body is ground and / or polished.

[0102] In order to facilitate the collection of discarded grinding and / or polishing consumables, a recovery channel may be provided below the grinding and / or polishing station to collect replaced grinding and / or polishing consumables.

[0103] The technical solution provided in this application is described in detail below in conjunction with embodiments.

[0104] Example 1

[0105] An automobile body automation method, applied to a main painting production line, comprises the following steps:

[0106] Obtain the pressure between multiple actuators and the vehicle body;

[0107] If the pressure between the actuator unit and the vehicle body meets the preset conditions, the entire vehicle body is ground and polished;

[0108] Among them, the net cycle time of the finishing production line is 119s, the construction area of ​​a single vehicle is 11.58㎡, the average varnish film thickness of the outer surface is 55μm, and the overall offline film thickness is 115μm;

[0109] External surface grinding operation radius r = 140mm, travel radius A250mm, running line speed s = 45mm / s, pressure F = 12 ~ 18N, speed p = 850rpm, number of working units X = 108, sandpaper is 282mm diameter round 3000 mesh wet grinding adhesive sandpaper, the film thickness is 7μm, and the replacement cycle is 10 vehicles;

[0110] The outer surface polishing operation radius r = 220mm, the stroke radius A200mm, the running line speed s = 14mm / s, the pressure F = 15-25N, the rotation speed p = 1200rpm, the number of working units X = 60, the polishing head is a 445mm diameter round wool Velcro polishing wheel, the film thickness of the material removal is 4μm, and the replacement cycle is 20 vehicles;

[0111] The actual total film thickness of the vehicles produced by this production line is 100-106μm, the beat can be achieved, and the beat margin is 14%.

[0112] Example 2

[0113] An automobile body automation method, applied to a small test line of a complete vehicle working condition, comprises the following steps:

[0114] Obtain the pressure between multiple actuators and the vehicle body;

[0115] If the pressure between the actuator unit and the vehicle body meets the preset conditions, the entire vehicle body is ground and polished;

[0116] The construction area of ​​a single vehicle is 9.91㎡, and the overall average film thickness is 100μm;

[0117] External surface grinding operation radius r = 210mm, travel radius A100mm, running line speed s = 45mm / s, pressure F = 7.9N, speed p = 700rpm, number of working units X = 156, sandpaper is 420mm diameter round 3000 mesh wet grinding adhesive sandpaper, the film thickness is 4μm, and the replacement cycle is 5 vehicles;

[0118] The outer surface polishing operation radius r = 210mm, the stroke radius A100mm, the running line speed s = 14mm / s, the pressure F = 11 ~ 14N, the speed p = 1000rpm, the number of working units X = 52, the polishing head is a 445mm diameter round wool Velcro polishing wheel, the film thickness of the material removal is 3μm, and the replacement cycle is estimated to be 15 vehicles;

[0119] The grinding head and polishing head are integrated in the same equipment. The same group contains two units, one for grinding and one for polishing. When grinding is activated, the grinding head descends, and when polishing is activated, the polishing head descends. First, the glass, unpainted decorative cover, metal decorative strip, etc. are affixed with a hard protective film and then parked in the work station to activate the grinding and polishing processes.

[0120] The total film thickness of the vehicle is 92-95μm, and the working time of a single vehicle is about 270s. The average long-wave value of the overall orange peel can be reduced by 9.2, the average long-wave value before treatment is 11.7, and the average long-wave value after treatment is 2.5.

[0121] Example 3

[0122] An automobile body automation method, applied to partial replacement of a main line, comprises the following steps:

[0123] Obtain the pressure between multiple actuators and the vehicle body;

[0124] If the pressure between the actuator unit and the vehicle body meets the preset conditions, the entire vehicle body is ground and polished;

[0125] The net cycle time of the finishing production line is 121s, the construction area of ​​a single vehicle is about 10㎡, the average varnish film thickness of the outer surface is 40μm, and the overall film thickness of the offline line is 95-110μm;

[0126] The outer surface polishing operation radius r = 130mm, the travel radius A200mm, the running line speed s = 14mm / s, the pressure F = 20N, the speed p = 1800rpm, the number of working units X = 90, the polishing head is a 270mm diameter round wool Velcro polishing wheel, the film thickness of the material removal is 3-5μm, and the replacement cycle is 17 vehicles;

[0127] The total film thickness of the vehicle is 92-108μm, the beat can be achieved, and the beat margin is 7%.

[0128] In summary, by grinding and / or polishing the entire vehicle body through the execution unit, the execution unit can grind and polish the vehicle body indiscriminately, and perform the grinding and polishing on the entire vehicle body, which is different from the traditional finishing method, which only grinds the defective parts, so that the present application does not need a visual recognition system to identify the defective position of the vehicle body, which reduces the error in identifying defects and saves the time of equipment for identifying defects. At the same time, the indiscriminate grinding and / or polishing can make the surface of the vehicle body more uniform, not only the defective parts are ground and / or polished, but also the parts without defects are ground and / or polished, and the thickness of the entire paint film of the vehicle body is more uniform, reducing color difference and orange peel.

[0129] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0130] It should be noted that, in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. In the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically stipulated.

[0131] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An automated finishing method for an automobile body, characterized in that: The following steps are involved: Obtain the pressure between multiple actuators and the vehicle body; If the pressure between the execution unit and the vehicle body meets the preset condition, the entire vehicle body is ground and / or polished.

2. The method for automated finishing of an automobile body according to claim 1, characterized in that: The pressure between the actuator and the vehicle body is F, and the preset condition is 1.03Fmin≤F≤0.97Fmax, where: Fmin is the minimum value of grinding stress; Fmax is the maximum value of grinding stress.

3. The method for automated finishing of an automobile body according to claim 2, characterized in that: 1.05Fmin≤F≤0.95Fmax.

4. The method for automated finishing of automobile bodies according to claim 1, characterized in that: The pressure between the actuator and the vehicle body is F, which satisfies: F=H / (k·C·p·Y -n ); Wherein, H is the thickness of the paint film that is ground and / or polished away; k is the wear removal rate of the grinding and / or polishing material itself; C is the cutting force of fixed abrasive; p is a material and size constant; Y is the hardness of the grinding and / or polishing material; n is the slope of the linear regression equation between k and Y.

5. The method for automated finishing of automobile bodies according to claim 4, characterized in that: The original paint film thickness of the car body is H0, and the thickness of the paint film after grinding and / or polishing is H, where: 35μm≤H0≤100μm; and / or, 3μm≤H≤10μm; and / or, 5%≤H / H0≤20%.

6. The method for automated finishing of an automobile body according to claim 1, characterized in that: The operating radius of the actuator is r, the travel radius of the actuator is A, the number of actuators is X, and the outer surface area of ​​the vehicle body is S, satisfying: πr 2 ·8A·X>S。 7. The method for automated finishing of automobile bodies according to claim 1, characterized in that: The travel radius of the execution unit is A, the linear speed of the vehicle is s, and the cycle time of a single vehicle is t, which satisfies: 8A / s<t.

8. The method for automated finishing of an automobile body according to claim 1, characterized in that: If the pressure between the execution unit and the vehicle body meets the preset condition, then after grinding and / or polishing the entire vehicle body, the method further includes: If the pressure between the execution unit and the vehicle body does not meet the preset conditions, the abnormal execution unit is retracted and the abnormal execution unit information is recorded; Normal execution unit sands and / or polishes the car body.

9. The method for automated finishing of automobile bodies according to claim 1, characterized in that: If the pressure between the execution unit and the vehicle body meets the preset condition, after grinding and / or polishing the entire vehicle body, the method further includes: Record the actual finish quantity of the vehicle and compare the actual finish quantity of the vehicle with the preset finish quantity of the vehicle; If the actual finishing quantity of the vehicle is less than the preset finishing quantity of the vehicle, continue to finish the vehicle; If the actual finishing amount of the vehicle is equal to the preset finishing amount of the vehicle, the grinding and / or polishing consumables of the execution unit are replaced.

10. An automated finishing system for automobile bodies, characterized in that: include: A pressure sensor is used to obtain the pressure between multiple actuators and the vehicle body; A processing unit, used to determine whether the pressure between the execution unit and the vehicle body meets a preset condition; as well as Actuator unit for sanding and / or polishing the entire car body.