Low-viscosity polish systems for robotic repair operations

Abstract

To provide a low viscosity polish kit for a robotic repair unit.SOLUTION: The kit includes a sealed container containing a low viscosity polish. The sealed container has a coupling mechanism. The kit also includes a connector configured to couple to the coupling mechanism on a first end, and to a dispenser of a robotic repair unit on a second end. The sealed container and the connector are single-use articles.SELECTED DRAWING: Figure 2A

Description

[Background technology]

[0001] Clearcoat repair is one of the final operations to be automated in the automotive original equipment manufacturing (OEM) sector. Techniques are desired to automate this process as well as other paint applications (e.g., primer sanding, clearcoat defect removal, clearcoat polishing, etc.) that are amenable to the use of abrasives and / or robotic inspection and repair.

[0002] Prior efforts to automate paint defect detection and repair include the system described in U.S. Patent Application Publication No. 2003 / 0139836, which discloses the use of electronic imaging to detect and repair paint defects on a vehicle body. The system compares vehicle imaging data with CAD data for the vehicle to generate three-dimensional paint defect coordinates for each paint defect. These paint defect data and paint defect coordinates are used to develop a repair plan for automated repair using multiple automated robots that perform various tasks, including sanding and polishing the paint defects. Summary of the Invention

[0003] A low-viscosity polish kit for a robotic repair unit. The kit includes a sealed container containing the low-viscosity polish. The sealed container has a coupling mechanism. The kit also includes a connector configured to couple at a first end to the coupling mechanism and at a second end to a dispenser of the robotic repair unit. The sealed container and connector are single-use items.

[0004] The details of one or more embodiments of this disclosure are set forth in the accompanying drawings and the following description. Other features, objects, and advantages of the present disclosure will become apparent from the description and drawings, and from the claims. [Brief explanation of the drawings]

[0005] The drawings, which are not necessarily drawn to scale, and in which like numerals may refer to like elements in different views, illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0006] [Figure 1A] 1 is a schematic diagram of a robotic paint repair system in which embodiments of the present invention are useful; [Figure 1B] 1 is a schematic diagram of a robotic paint repair system in which embodiments of the present invention are useful;

[0007] [Figure 2A] FIG. 1 shows a schematic diagram of paint repair robot components that may be useful in embodiments of the present invention. [Figure 2B] FIG. 1 shows a schematic diagram of paint repair robot components that may be useful in embodiments of the present invention.

[0008] [Figure 3] 1 illustrates a method of using a self-contained fluid distribution system according to embodiments herein.

[0009] [Figure 4] 1 illustrates a method for replacing a component of a self-contained fluid distribution system according to an embodiment herein.

[0010] [Figure 5] 1 illustrates a robotic repair unit, according to embodiments herein.

[0011] [Figure 6] 1 illustrates a replacement kit for a self-contained fluid distribution system according to an embodiment herein.

[0012] [Figure 7] 1 shows a sprayed polish as described in the Examples herein. [Figure 8] 1 shows a sprayed polish as described in the Examples herein. DETAILED DESCRIPTION OF THE INVENTION

[0013] Recent advances in imaging technology and computing systems have made the process of clearcoat inspection feasible at production speeds. Specifically, stereo deflectometry has recently been shown to be capable of providing images and locations of paint and clearcoat defects with adequate resolution, along with spatial information (providing coordinate location information and defect classification) to enable subsequent automated spot repair.

[0014] Improved defect detection and classification technology enables the ability to automate the repair of detected defects. Automated repair processes present new challenges, including supplying materials, such as abrasive articles for sanding or polishing, fluids, such as water for wet sanding or polishing, and removing used materials and waste from the vehicle surface. Several solutions for supplying polishes to the repair area are described herein. While paint spraying uses large volumes and requires longer pressurized lines extending from the source to the dispenser, the polishes used in defect repair are used in much smaller quantities. When automating smaller volumes of fluid, the presence of long fluid lines and dedicated machinery increases the likelihood that the fluid will remain in the lines and dry out, causing clogs. Additionally, some polishes can solidify upon contact with certain metals. Currently, polishing is a manual process, with operators using higher viscosity polishes dispensed from squeeze bottles to distribute the polish over the defect repair spot. A solution for using dispensing in an automated robotic repair unit is desired.

[0015] As used herein, the term "vehicle" is intended to encompass a wide variety of mobile structures that are coated with at least one paint or clear coat during manufacture. While many examples herein relate to automobiles, it is expressly contemplated that the methods and systems described herein are also applicable to trucks, trains, boats (with or without motors), airplanes, helicopters, and the like.

[0016] As used herein, the term "robotic repair unit" refers to a robotic repair system that interacts with a surface to remove defects. In some embodiments, the robotic repair unit may be a fixed unit that operates on a stationary surface. In other embodiments, the robotic repair unit is a mobile repair unit that can move along rails, tracks, or other mechanisms to address defects on a moving surface. The robotic repair unit may have one or more end effectors with one or more tools, such as those described in U.S. Provisional Patent Application Nos. 62 / 940950, filed November 2, 2019, and 62 / 940960, filed November 2, 2019. However, other robotic repair unit configurations are also expressly contemplated.

[0017] Paint repair is one of the last remaining steps in the vehicle manufacturing process that remains largely manual. Historically, this has been due to two main factors: a lack of sufficient automated inspection and the difficulty of automating the repair process itself.

[0018] Progress has been made on the problem of polishing surfaces to inspect parts and to address defects in a visually acceptable manner, as described in U.S. Provisional Patent Application No. 62 / 941,286, filed November 27, 2019. However, as automation advances, additional problems arise, including how to supply the abrasive material, including the abrasive article, and the fluids required for the polishing process, as well as how to remove or replace used abrasive material from the surface.

[0019] Additionally, while higher viscosity polishes are currently used in manual repair processes, viscosity poses additional challenges for robotic repair processes because a more viscous fluid requires a larger pressure drop to deliver, potentially increasing the likelihood of blockages in the delivery lines. Additionally, while higher viscosity makes the manual process easier, it is not a necessary characteristic for successful polishing. It is desirable for the polish to be dispensable by a pneumatic dispenser and to remain in place during the repair process without significant dripping.

[0020] In some embodiments described herein, it is further desirable to provide a polishing agent with a viscosity that can be implemented into a self-contained solution for a robotic arm. In some embodiments, a self-contained solution would benefit from a lower viscosity polishing agent because a pump or other pressure-inducing mechanism is not required to aid in dispensing the polishing agent. Fewer components allow for easier replacement of the self-contained system. A lower viscosity polishing agent can simplify the delivery system and result in better uniformity of the spray pattern.

[0021] Conventional abrasive polishes for vehicle surface repair products are made with high viscosity to facilitate manual application. Robotic polishing can use nozzles that spray material that does not have the typical "running" issues of polishes on vertical surfaces. Low viscosity polishes offer improvements to this system, resulting in better spray patterns, lower delivery pressures, and smaller components that fit more easily onto the end of the arm robotic assembly.

[0022] FIG. 1A is a schematic diagram of a robotic paint repair system in which embodiments of the present invention are useful. The system 100 generally includes two units: a visual inspection system 110 and a defect repair system 120. Both systems can be controlled by motion controllers 112, 122, respectively, which can receive instructions from one or more application controllers 150. The application controllers can receive input from or provide output to a user interface 160. The repair unit 120 includes a force control unit 124 that can interface with an end effector 126. As shown in FIG. 1, the end effector 126 includes two tools 128, which in one embodiment can be arranged as further described in U.S. Provisional Patent Applications Nos. 62 / 940,950 and 62 / 940,960, both filed November 2, 2019. However, other arrangements are expressly contemplated. A visual inspection unit 110 can detect defects on the vehicle surface 130 , which can be repaired by a repair unit 120 .

[0023] The presence of a capable inspection system 110 is important for identifying and addressing defects to be repaired by the repair unit 120. The current state of the art in vehicle paint repair involves manually sanding / polishing defects using fine abrasives and / or polishing systems, with or without the assistance of power tools, all the way through while maintaining the desired finish (e.g., comparable to a mirror finish in a clear coat). Skilled personnel performing such repairs utilize extensive training and their senses to monitor the progress of the repair and make changes accordingly. Such advanced techniques are difficult to incorporate in robotic solutions, which have limited sensing capabilities.

[0024] Furthermore, while abrasive material removal is a pressure-driven process, many industrial manipulators typically operate natively in a position tracking / control regime and are optimized with positional accuracy in mind. This results in extremely rigid systems with very stiff error response curves (i.e., small misalignments result in very large corrective forces) that are inherently poor at force control (i.e., joint torques and / or orthogonal forces). Closed-loop force control techniques have been used (with limited utility) to address the latter, with more recent (and more successful) force-controlled flanges providing softer (i.e., less rigid) displacement curves that are much more suitable for sensitive force / pressure-driven processes.

[0025] Some repair processes use fluids to accelerate or assist the abrasive removal process. For example, some sanding operations are wet sanding operations, which require dispersing water or another fluid on the repair area before or during the sanding operation. Wet sanding may extend the life of the abrasive article, limit dust and contaminants, and keep sanding temperatures low. In addition, polishing often requires that an abrasive be dispensed before or during the polishing operation. After the repair is completed, water or another removal solvent may be dispensed to remove debris.

[0026] In manual polishing operations, buffing pads made from foam or wool are typically pretreated with a small amount of polishing agent in addition to the polishing agent that is applied to the defect area. Currently, pea-sized droplets are applied per defect. Polishing agents for manual polishing operations are intentionally formulated with a high viscosity to reduce the risk of the polishing agent dripping or running on the vehicle surface.

[0027] 1B , the fluid required for an automated painting and repair system includes a fluid source 170 coupled to a fluid line 180 that extends from the fluid source 170 to a dispenser (e.g., located at or near the tool 128). However, the longer the fluid line 180 must be, the greater the pressure differential required to transport the fluid from the source 170 to the dispense location. This may require a dedicated pump located near the source 170, near the dispense point, or both. Furthermore, as the viscosity of the fluid increases, the pressure required to both dispense the fluid and flush the dedicated fluid line further increases.

[0028] 2A , the line 180 also needs to be flexible to accommodate the various configurations required for the tool 128 to interact with defects at various points on the surface 130. Fluid may need to be dispensed to a first defect 192 and then to a second defect 194. Because the defects 192, 194 are at different distances and heights from the fluid source 170, this may require dynamic pressure control provided by pumps at the source 170 and / or dispenser. A solution that reduces the need for dedicated machinery and offers a lower-cost option for delivering fluid to the repair area on the work surface is desired.

[0029] Additionally, different portions of the repair process require different fluids. For example, wet sanding requires a water supply 170. A polishing operation may use a first polishing agent from a first polishing agent source 170 for the first polishing operation, followed by a second polishing agent requiring a second polishing agent source 170 for the second polishing operation. This necessitates several fluid sources 170, each with a fluid line 180, to avoid contamination or mixing of the dispensed fluids. Many of these fluids are used in relatively small quantities for a given repair operation, resulting in fluids remaining in the fluid lines 180 when not in use, potentially drying out, separating, or clogging. In addition to potentially delivering substandard dispensed fluid, this can cause damage to the lines 180 and any associated pumps, dispensers, or nozzles downstream of the sources 170. Currently, this risk is mitigated by running solvent through lines 180, dispensers and nozzles, and any pumping mechanisms to ensure there is nothing in the fluid path before connecting to new fluid source 170. However, this often requires the use of environmentally unfriendly solvents, resulting in waste of polishing agents or other fluids that are washed out of lines 180. A solution that reduces the need for dedicated fluid delivery machinery and reduces the potential for damage to robotic repair unit 120 or associated components, while providing a steady source of fluid needed for polishing operations, is desirable.

[0030] FIG. 2A is a schematic diagram of a paint repair robot that may be useful in embodiments of the present invention. The robot repair unit 200 has a base 210, which may be stationary in some embodiments. In other embodiments, the base 210 may move in any of six dimensions: translation or rotation about the x-, y-, and / or z-axes. For example, the robot 200 may have a base 210 fixed to a rail system configured to move with the vehicle being repaired. Depending on the defect location, the robot 200 may need to move closer to or farther from the vehicle, or may need to move higher or lower relative to the vehicle. A mobile base 200 can make repairing hard-to-reach defects easier.

[0031] The robotic repair unit 200 has one or more tools 240 capable of interacting with the work surface. The tools 240 may, in one embodiment, include a back-up pad or another suitable abrasive tool. During the abrading operation, the tools 240 may have an abrasive disc or other suitable abrasive article attached using adhesive, hook and loop, clip systems, vacuum, or other suitable attachment systems. Because the tools 240 are mounted to the robotic repair unit 200, they have the ability to be positioned within the degrees of freedom provided by the robotic repair unit 200 (in most cases, six degrees of freedom), as well as within any other degrees of freedom with their reference coordinate system (e.g., compliant force control 230 unit).

[0032] 2A, the robotic repair unit 260 has several joints 260, each of which can be movable in the x and y directions. Additionally, in some embodiments where the joints 260 are ball joints, each of which can be movable in the z direction. The ability to move the robotic repair unit is important because it allows access to defects at different locations on the vehicle being repaired. However, difficulties exist when designing the supply of fluid from an external source.

[0033] A solution is desired that reduces the distance polishing agents must travel from the polishing agent source to the dispensing location. Additionally, a solution is desired that reduces the use of hazardous or environmentally unfriendly solvents. Additionally, a solution is desired that provides improved control over polishing agent dispensing. Embodiments provided herein provide a self-contained polishing agent dispensing system that can be attached to a robotic repair unit and can be easily replaced without the need for hazardous solvents.

[0034] 2A illustrates several possible locations for mounting a self-contained fluid dispensing system. A dispenser may be located near a dispensing location 290. The dispenser may include a pneumatic gun that uses an air source (not shown) to atomize an incoming fluid stream and dispense the fluid stream through a nozzle. Many components of the self-contained system may be disposable or easily replaceable. For example, the polish line, polish container, and nozzle may all be easily replaceable. In some embodiments, the replaceable components are made from a plastic that is inert to the polish being dispensed.

[0035] As shown in FIG. 2A , robotic repair unit 200 can have a self-contained polish dispensing system located in any suitable location. For example, polish container 285 can be located on or downstream of the force controller so that polish travels only through line 286 before reaching dispensing location 290. This location allows for automatic detection of low fluid levels, for example, by sensing the current weight of container 285 approaching or reaching empty. Additionally, in some embodiments, low-viscosity polish can be dispensed from a location remote from the robot. In some cases, this can be an advantage.

[0036] In another embodiment, polish container 280 is located on the third arm portion such that the fluid travels through line portion 281 and line portion 286 before reaching dispensing location 290. Line 281 may need to experience some flexibility, but by placing the polish container at location 280, the vertical travel distance traveled by the polish remains relatively constant.

[0037] In another embodiment, the polish container may be located on the second arm portion at location 275. The presence of a joint between the second and third arm portions may require line portion 276 to have some flexibility or may require some built-in slack to accommodate movement of robotic unit 200 during repair of defects on the vehicle surface.

[0038] In another embodiment, polishing agent container 270 can be located on the first arm portion such that polishing agent flows through fluid line 272 to dispensing location 290. This location may require additional pressure control to ensure that polishing agent can be dispensed to the repair defect location where dispensing location 290 is located lower than the fluid exit point from fluid container 270.

[0039] 2A, as the polish container is located further away from the dispensing location 290, the length of the fluid line required increases, as does the amount of pressure required to transport the fluid to the dispensing location 290. Having a polish with a lower viscosity reduces the need for specialized equipment and may also allow for either the use of less expensive single-use pumps in some embodiments, or no pumps in other embodiments where gravity alone is sufficient to drive the polish into and through the dispenser.

[0040] 2A shows polish containers 270, 275, 280, and 285 mounted directly to components of robotic repair unit 200. However, this is for purposes of understanding only. The polish containers may also be mounted on components extending from the first, second, or third arm portions, for example, to utilize gravity to assist in fluid distribution.

[0041] Some examples of self-contained fluid systems are shown and described in co-pending US Provisional Patent Application No. 62 / 981,058.

[0042] FIG. 2B illustrates a pneumatic dispenser for an automated repair unit. However, while a pneumatic dispenser is illustrated, the polish supply pressure can be provided by a pump or cylinder that provides backpressure instead of air pressure. The pneumatic dispenser 220 includes an air inlet 202 and a fluid inlet 204. A fluid distribution control 206 may allow for adjustment of the fan spray width, for example, by increasing or decreasing the applied fluid pressure. The pneumatic dispenser 220 may also include an air flow control 208 that allows for decreasing or increasing the air pressure. The dispenser 220 may include an attachment mechanism 224 that allows for attachment to a tool or end effector of a robotic repair unit. In some embodiments, the system may also include a fluid needle adjustment 222.

[0043] Figure 3 illustrates a method for robotic defect repair according to one embodiment of the present invention. The method of Figure 3 is an overview of how a robotic repair system repairs defects in accordance with at least some embodiments described herein.

[0044] In block 310, a defective area is detected and instructions related to the detected defect are received by the repair unit from a robotic controller, such as application controller 150 of FIG. 1A. While not limited to the embodiments discussed herein, the defective area may be detected by an image 302 of the surface or may be associated with a location 304 on the vehicle.

[0045] Blocks 320, 330, and 340 relate to repairing the detected defects. The defects may be repaired in one or more polishing operations. For example, the defective area may be first sanded and then polished. The defects may be inspected between the sanding and polishing steps, and depending on whether the defects were successfully repaired, the sanding and / or polishing steps may be repeated.

[0046] At block 320, a polishing agent is dispensed onto the repair area. The fluid may be, for example, water 312 for wet sanding or wet polishing operations. The fluid may also be a low viscosity polishing agent 314 for polishing operations. The polishing agent 314 may actually refer to a variety of polishing agents useful for different operations.

[0047] Different polishing agents 314 may have different viscosities. As described herein, a low-viscosity polishing agent is defined as a polishing agent having a viscosity of less than 40,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than 30,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than 20,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 10,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 5,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 4,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 3,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 2,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,800 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,500 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,200 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,100 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,000 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 900 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 800 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 700 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 600 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 500 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 400 cp.In some embodiments, the low-viscosity polish is a polish having a viscosity of less than about 300 cp, in some embodiments, the low-viscosity polish is a polish having a viscosity of less than about 200 cp, in some embodiments, the low-viscosity polish is a polish having a viscosity of less than about 100 cp.

[0048] In some embodiments, the low-viscosity polishing agent is an aqueous polishing agent. In some embodiments, the low-viscosity polishing agent comprises a petroleum distillate. In some embodiments, the petroleum distillate is a hydrotreated light petroleum distillate or an (acid-treated) light petroleum distillate, or a solvent-refined hydrotreated middle distillate, or other petroleum distillate. In some embodiments, the low-viscosity polishing agent comprises an aluminum oxide mineral, which may be present in a non-fibrous form. In some embodiments, the low-viscosity polishing agent comprises glycerin. In some embodiments, the low-viscosity polishing agent comprises a mineral oil, such as white mineral oil.

[0049] In some embodiments, the low viscosity polish is a wax-free polish. In some embodiments, the low viscosity polish is silicone-free. Waxes and silicones are often avoided in vehicle polishes due to the risk that they may contaminate other surfaces and cause paint adhesion problems.

[0050] Depending on the repair work, other fluids 316 may also be dispensed. The fluids may be dispensed using, for example, a self-contained fluid distribution system described in the embodiments herein, or any other suitable self-contained fluid distribution system.

[0051] In block 330, the defect is polished. Polishing the defect may include a sanding operation 322, a denibbing operation 324, a polishing operation 326, or another operation 328. Polishing the defect includes contacting a tool with the defect area. Polishing may occur before, after, or simultaneously with the fluid dispensing of block 320.

[0052] At block 340, the fluid is removed from the work surface. Removing the fluid may also include removing waste products generated from the sanding operation, including clear coat or paint "swarf." Removing the fluid may be done manually during a human inspection operation, or may be done entirely automatically with a tool on the repair unit or by a separate robotic unit. Fluid removal may include physical wiping 332 with an absorbent article, or may include the use of a spraying operation 334, a vacuum 336, or another suitable operation 338.

[0053] FIG. 4 illustrates a method for replacing a self-contained polish dispensing system. The system may include, for example, components similar to those described in commonly owned U.S. Provisional Application No. 62 / 981,058, which is incorporated herein by reference, or another suitable self-contained system. A self-contained polish dispensing system contemplated by embodiments herein includes several single-use components mounted on a robotic repair arm. The self-contained system is mounted entirely on the robotic repair unit. Some single-use components include, for example, a liner or container that directly contacts the low-viscosity polish. Additionally, the fluid line or connection between the polish container and the dispenser may be a single-use component. Any pump associated with the fluid line may also be a single-use component. The nozzle mounted on the dispenser may also be disposable. At least some polish compositions may solidify upon contact with carbon steel. For this reason, it is desirable for the polish to be contained in a manner that allows it to be replaced without contacting the metal components of the robotic repair unit. Single-use, disposable components help reduce solvent use in the repair area.

[0054] At block 410, the polish is dispensed by a polish dispensing system. A pump 402, which may have an associated motor 404, may be used to dispense the polish. However, other fluid movement mechanisms are also contemplated, as shown in block 406. For example, in embodiments where the polish viscosity is sufficiently low, a pump may not be required, and the polish container may be positioned so that gravity provides sufficient pressure. Additionally, the polish container may be coupled to a compressed air source, which may provide compressed air at a pressure sufficient to drive the polish to the dispenser.

[0055] At block 420, it is detected that the polishing agent container is empty or low. A low fluid level can be detected using volumetric tracking 412, for example, using a pump or motor system that can volumetrically track the polishing agent as it flows into the dispenser. For example, in one embodiment in which the polishing agent container is mounted on the tool side of the force control, a low fluid level can also be detected using weight sensing unit 414. The force control may be weight-sensitive and be able to accurately measure a change in weight corresponding to most (or all) of the polishing agent being dispensed from the polishing agent container, or detect that a current weight corresponds to a low fluid level. In another embodiment, a low fluid level can be detected with an optical sensor 416. For example, the polishing agent may not be optically transparent. In one embodiment, an optical sensor may be able to detect the current fluid level and when the current fluid level drops to or below the replacement level. In another embodiment, an optical sensor may be able to detect when a bag-type fluid container has reduced in volume or is sufficiently compressed to achieve a low fluid level.

[0056] At block 430, the polishing agent source is replaced. A self-contained fluid dispensing system may include a dispenser, a fluid container, a fluid liner within the fluid container, a line connecting the container to the dispenser, and a nozzle. Replacing the polishing agent source may include replacing some or all of these components. To avoid the use of potentially carcinogenic or other harmful solvents, it may be preferable for components that interact with the dispensed polishing agent to be replaced each time the polishing agent is changed or replaced. For example, a used polishing agent liner and a used polishing agent line may be replaced with a new polishing agent liner and a new polishing agent liner filled with the dispensed polishing agent. In some embodiments, the nozzle may also be replaceable. In embodiments in which the polishing agent is dispensed directly from a container, the used container is replaced with a new container. In some embodiments, as shown in FIG. 6, new components may be provided in a kit, with a new fluid-filled liner or fluid-filled container filled with a predetermined amount of a given fluid.

[0057] As indicated by block 422, polish replacement may require some manual intervention. For example, if a low or empty polish level is detected, the robotic repair unit may indicate the need for replacement either visually, audibly, or via another suitable alarm. A human operator may then remove the used components and replace them with new components. In another embodiment, at least some portions of the replacement are automatic, as indicated by block 424. For example, the robotic repair unit or another robotic unit may retrieve the used components, dispose of the used components, retrieve new components, and / or install new components.

[0058] At block 440, the replaced polish is detected. In some embodiments, the robotic repair unit may detect that the polish has been replaced. The replacement may be detected, for example, by an operator manually resetting a fluid flow counter, as shown in block 432. For example, in embodiments where the self-contained polish dispensing system includes a servo motor capable of measuring the volume of dispensed fluid, the manual reset may include resetting the count to zero. In embodiments where the polish container is mounted on a portion of the robotic repair unit where weight sensing is possible, detecting the new polish unit may also include a weight sensor detecting that the tool-side weight corresponds to a full polish container, as shown in block 434. Detecting the replaced polish unit may also include optical sensing, for example, an optical sensor detecting that a new polish container has been reinstalled. In other embodiments, other suitable sensing systems may be possible.

[0059] At block 450, the type of polish installed in the robotic repair unit is recorded. For example, in embodiments where the new component is part of a kit, the new polish container or liner may include a barcode / QR code or other signifier of the contents. Depending on the given polish installed, the controller may alter the repair trajectory or force profile of the abrasive tool. In embodiments where the new component includes signification, the fluid parameters may be automatically detected and communicated to the controller, as shown in block 444. However, it is also contemplated that manual recording may occur, as shown in block 442.

[0060] In some embodiments, the components of the self-contained polish dispensing system are designed to be disposable, reducing the need for harsh, harmful, and environmentally corrosive chemicals. In some embodiments, the only component that is not replaced is the dispenser itself. All replaceable components, including the liner, container, fluid lines, and nozzle, may be made of plastic materials inexpensive enough to replace with each polish change. In embodiments in which the nozzle is one of the replaced components, replacement is essentially solvent-free. In embodiments in which the dispenser is mounted on a robotic arm, the polish container may be designed to provide enough polish for at least one day's worth of polishing and up to one week's worth of polishing. This may be achieved with a volume of about 1 liter, about 2 liters, about 3 liters, about 4 liters, or even about 5 liters. However, in other embodiments, the polish is supplied from another location, either mounted elsewhere on the robotic repair unit or stored in a separate polish storage container.

[0061] 5 illustrates a robotic repair unit 500 according to embodiments discussed herein. The robot 500 may have a robot movement mechanism 508 that may enable the robot 500 to move, for example, relative to the vehicle being repaired. The robot 500 also includes a controller 530 that may control the operation of the robot 500 and its components based on either manual input or input received from sensors 502. The robot 500 may also include sensors specific to the self-contained polish dispensing system 520, such as a fluid level detector 504 and a fluid change detector 506. However, these sensors may be mounted separately from the robot 500, on the robot arm 510, or as part of the self-contained polish dispensing assembly 520.

[0062] Robotic repair unit 500 includes a robotic arm 510. Robotic arm 510 includes one or more tools on an end effector (not shown) attached to a force control 512. In embodiments where compressed air is required to drive polish through fluid line 528 to dispenser 526, robotic arm 510 may also be attached to air line 514. Robotic arm 510 may have its own movement mechanism 516 to facilitate positioning of the arm components and tool (not shown) relative to the surface being repaired.

[0063] The self-contained polish dispensing system 520 is mounted on the robotic arm 510. As mentioned above, the self-contained polish dispensing system may be mounted on any suitable arm component of the robotic arm 510. However, it may be beneficial to mount the fluid source 522 on the tool side of the force control 512 to utilize weight sensing. However, other arrangements are also expressly contemplated. The self-contained polish dispensing system includes components intended to be disposed of after a single use to reduce the use of harmful solvents in the repair area. A fluid line 528 transports the polish from the polish source 522 to the dispenser 526. Depending on the viscosity of the polish being dispensed and the relative placement of the polish container 522 to the dispenser 526, a pump 524 may be required to facilitate fluid flow. In some embodiments, an air line 514 is provided to the fluid source 522 to provide an additional source of pressure for the dispensed fluid and promote uniform flow.

[0064] When polish container 522 is empty or reaches a low enough level to indicate replacement, a replacement component is removed from replacement polish source 540. Replacement of fluid line 528, polish container 522, and / or pump 524 can be done manually, semi-automatically, or automatically.

[0065] 6 illustrates a replacement kit for a self-contained polish dispensing system. Replacement kit 600 includes polish container 610 containing low-viscosity polish 612. Polish container 610 is a single-use container intended to be replaced after polish 612 has been used. Polish container 610 may include an opening 613 that can be coupled to a compressed air source, which provides additional pressure for dispensing polish 612. However, in embodiments where polish 612 has a sufficiently low viscosity such that the fluid flows on its own, or in embodiments where pump 630 is present to facilitate fluid flow, opening 613 may not be necessary.

[0066] As described herein, a low-viscosity polishing agent is defined as a polishing agent having a viscosity of less than 40,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than 30,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than 20,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 10,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 5,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 4,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 3,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 2,000 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,800 cp. In some embodiments, a low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,500 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,200 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 1,000 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 800 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 700 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 600 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 500 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 400 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 300 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 200 cp. In some embodiments, the low-viscosity polishing agent is a polishing agent having a viscosity of less than about 100 cp.

[0067] In some embodiments, the low-viscosity polishing agent is an aqueous polishing agent. In some embodiments, the low-viscosity polishing agent comprises a petroleum distillate. In some embodiments, the petroleum distillate is a hydrotreated light petroleum distillate. In some embodiments, the low-viscosity polishing agent comprises an aluminum oxide mineral, which may be present in a non-fibrous form. In some embodiments, the low-viscosity polishing agent comprises glycerin. In some embodiments, the low-viscosity polishing agent comprises a mineral oil, such as white mineral oil. In some embodiments, the low-viscosity polishing agent is a wax-free polishing agent. In some embodiments, the low-viscosity polishing agent is silicone-free.

[0068] Because the low-viscosity polishes described herein are intended to be stored in single-use containers and easily installed and removed from a robotic arm, it is important that the polishes be able to be manufactured and stored prior to use. Low-viscosity polishes must contain components that are inert and stable with respect to each other. In some embodiments, low-viscosity polishes can also be installed without further processing, such as heating or cooling. The polishes should also contain components that remain in solution and do not substantially separate during storage.

[0069] Replacement kit 600 may also include a connection 616 for coupling polish container 610 directly to a dispenser or directly to fluid line 614. In some embodiments, replacement kit 600 also includes a nozzle 620. Connection 616 may couple polish container 610 directly to nozzle 620 such that fluid line 614 is not required.

[0070] In some embodiments, polish container 610 may be a liner coupled to fluid line 614 through a separate container that does not need to be replaced every time the fluid needs to be replenished.

[0071] A polish dispensing system for a robotic repair unit is presented, including a polish container filled with a low-viscosity polish, a polish dispenser associated with the robotic repair unit, a coupler connecting the polish container to the fluid dispenser, and an attachment mechanism configured to couple the polish container to the robotic repair unit.

[0072] The polish dispensing system may be implemented such that the polish dispensing system is self-contained on the robotic repair unit.

[0073] The polish dispensing unit may be implemented such that the robotic repair unit is a first robotic repair unit, the polish dispenser is a first polish dispenser, and the polish container also supplies polish to a second robotic repair unit using a second dispenser.

[0074] The polish dispensing system may also be implemented to include a pump.

[0075] The polishing agent dispensing system may also be implemented to include a motor.

[0076] The polish dispensing system may also be implemented to include an air source coupled to the polish container.

[0077] The fluid dispensing system may be implemented such that the polish dispenser is a pneumatic polish dispenser.

[0078] The polish dispensing system may be implemented such that the polish container and coupler are disposable.

[0079] The polish dispensing system may be implemented such that the polish container and coupler comprise plastic.

[0080] The polish dispensing system may be implemented such that the polish container is the liner. The liner may be disposable.

[0081] The polish dispensing system may be implemented such that the polish liner is a compressible liner that compresses in volume as the low viscosity polish is dispensed.

[0082] The polishing agent dispensing system may be implemented such that the polishing agent dispensing system is mounted such that gravity provides a portion of the pressure necessary for the polishing agent to flow from the polishing agent container to the dispenser.

[0083] The polish dispensing system may be implemented such that the polish dispensing system is mounted such that gravity provides all of the pressure necessary for the low viscosity polish to flow from the polish container to the fluid dispenser.

[0084] The polish dispensing system may be implemented such that the polish container includes a port configured to receive a source of compressed air.

[0085] The polishing agent dispensing system may be implemented such that the polishing agent dispensing system includes a disposable nozzle that couples to a dispenser.

[0086] The polish dispensing system may be implemented such that the polish container and coupler are single-use components.

[0087] The polish dispensing system may be implemented such that the polish container and coupler comprise plastic.

[0088] The polish dispensing system may be implemented such that the polish container includes indicia identifying the low viscosity polish within the polish container.

[0089] The polishing agent dispensing system may be implemented such that the polishing agent dispensing system is a solvent-free system.

[0090] The polish dispensing system may be implemented such that the coupler includes a connector that directly connects the polish container to the dispenser.

[0091] The polishing agent dispensing system may be implemented such that the coupler includes a fluid line.

[0092] The polishing agent dispensing system may be implemented such that the fluid lines are flexible.

[0093] The polish dispensing system may be implemented such that the polish container is configured to be attached to the tool side of the force control.

[0094] The polish dispensing system may be implemented to include a sensor for detecting low fluid levels. The sensor may include a weight sensor, an optical sensor, or a volume sensor.

[0095] The polish dispensing system may be implemented such that the low-viscosity polish has a viscosity of less than 40,000 cp, or less than 30,000 cp, or less than 20,000 cp, or less than 10,000 cp, or less than 8,000 cp, or less than 6,000 cp, or less than 5,000 cp, or less than 4,000 cp, or less than 3,000 cp, or less than 2,000 cp, or less than 1,000 cp, or less than 800 cp, or less than 600 cp, or less than 400 cp, or less than 200 cp, or less than 150 cp.

[0096] The polish dispensing system may be implemented such that the low viscosity polish does not contain wax compounds.

[0097] The polish dispensing system may be implemented such that the low viscosity polish is silicone-free.

[0098] The polish dispensing system may be implemented such that the low viscosity polish contains multiple compounds that are inert to each other.

[0099] The polish dispensing system may be implemented so that low viscosity polishes do not require the use of additional processing.

[0100] The polish dispensing system may be implemented such that the low viscosity polish comprises water.

[0101] The polish dispensing system may be implemented such that the low viscosity polish comprises a petroleum distillate.

[0102] The polishing agent distribution system may be implemented such that the low viscosity polishing agent comprises a hydrotreated light petroleum distillate.

[0103] The polish dispensing system may be implemented such that the low viscosity polish includes aluminum oxide minerals.

[0104] The polish dispensing system may be implemented such that the low viscosity polish includes glycerin.

[0105] The polish dispensing system may be implemented such that the low viscosity polish comprises mineral oil.

[0106] The polish dispensing system may be implemented such that the mineral oil is a white mineral oil.

[0107] A method for supplying a low-viscosity polish for a repair job is presented, comprising: positioning a polish dispenser proximate to a repair area; and automatically dispensing the low-viscosity polish from the dispenser to the repair area. The dispenser receives the low-viscosity polish from a self-contained polish dispensing system mounted on a robotic repair unit. The self-contained polish dispensing system includes a polish container coupled to the dispenser and configured to hold the low-viscosity polish prior to dispensing.

[0108] The method may be implemented such that the polish container includes a disposable liner that contains the polish.

[0109] The method may be implemented such that the polish container includes an air port for receiving compressed air.

[0110] The method may also be implemented to include metering the dispensed polish.

[0111] The method may be implemented such that the disposable liner is a bag-type liner that compresses as the polish is dispensed.

[0112] The method may be implemented such that the disposable liner is plastic.

[0113] The method may be implemented such that the polish container is coupled to the dispenser using a coupler. The polish container is a single-use container.

[0114] The method may be implemented such that the coupler is a single-use fluid line.

[0115] The method may be implemented such that the coupler is a single-use coupler.

[0116] The method may be implemented such that a dispenser is coupled to the nozzle.

[0117] The method may be implemented such that the nozzle is a single-use nozzle.

[0118] The method may be implemented such that the self-contained polish dispensing system is configured to be changed without the use of solvents or cleaning agents.

[0119] The method may also be implemented to include removing the dispensed polishing agent from the repair area.

[0120] The method may be implemented such that the repair area includes the defect.

[0121] The method may be implemented such that the defect is on a vehicle.

[0122] The method may be implemented such that the vehicle and robotic repair unit are moving during the step of automatically dispensing the polish to the repair area.

[0123] The method may be implemented such that automatically dispensing fluid includes dispensing a metered amount of polish.

[0124] The method may be implemented such that the measured quantity is controlled by a controller associated with the robotic repair unit.

[0125] The method may be implemented such that the low-viscosity polish has a viscosity of less than 40,000 cp, or less than 30,000 cp, or less than 20,000 cp, or less than 10,000 cp, or less than 8,000 cp, or less than 6,000 cp, or less than 5,000 cp, or less than 4,000 cp, or less than 3,000 cp, or less than 2,000 cp, or less than 1,000 cp, or less than 800 cp, or less than 600 cp, or less than 400 cp, or less than 200 cp, or less than 150 cp.

[0126] The method may be implemented such that the low viscosity polish does not contain wax compounds.

[0127] The method may be implemented such that the low viscosity polish is silicone-free.

[0128] The method may be implemented such that the low viscosity polish comprises multiple compounds that are inert to each other.

[0129] The method may be implemented such that low viscosity polishes do not require the use of additional processing.

[0130] The method may be implemented such that the low viscosity polish comprises water.

[0131] The method may be implemented such that the low viscosity polish comprises a petroleum distillate.

[0132] The method may be implemented such that the low viscosity polishing agent comprises a hydrotreated light petroleum distillate.

[0133] The method may be implemented such that the low viscosity polish comprises an aluminum oxide mineral.

[0134] The method may be implemented such that the low viscosity polish comprises glycerin.

[0135] The method may be implemented such that the low viscosity polish comprises mineral oil.

[0136] The method may be implemented such that the mineral oil is a white mineral oil.

[0137] A method for replacing a polishing agent source on a robotic repair system is presented, comprising: using a first sensor to detect when a polishing agent level in a used polishing agent source has reached a replacement fluid level; removing the used polishing agent source; installing a new polishing agent source; and using a second sensor to detect that the new polishing agent source has been installed.

[0138] The method may be implemented such that installing the new source of polish includes installing the new source of polish in a container attached to the robotic repair system.

[0139] The method may be implemented such that installing the new source of polishing agent includes connecting the new source of polishing agent to a dispenser mounted on the robotic repair system.

[0140] The method may be implemented such that a source of fresh polishing agent is connected to the dispenser via a fluid line.

[0141] The method may be implemented such that the fluid line is a flexible fluid line.

[0142] The method may be implemented such that the flexible fluid line and the source of new polishing agent contain single-use materials.

[0143] The method may be implemented such that the dispenser is attached to a robotic repair system.

[0144] The method may be implemented such that a source of fresh polishing agent is attached to the tool side of the robotic repair system.

[0145] The method may be implemented such that the first sensor is a weight sensor that detects the weight of the used polishing agent source, indicating a replacement polishing agent level.

[0146] The method may be implemented such that the replacement polish level is empty.

[0147] The method may be implemented such that the replacement polish level is a low fluid level.

[0148] The method may be implemented such that the first sensor or the second sensor is selected from a weight sensor, a volume sensor, or an optical sensor, respectively.

[0149] The method may also be implemented to include detecting a type of polishing agent associated with the new polishing agent source and providing the detected type of polishing agent to a controller associated with the robotic repair unit.

[0150] The method may be implemented such that removing the used polish source includes removing a disposable component of the self-contained polish dispensing system.

[0151] The method may be implemented such that the self-contained polish dispensing system includes a fluid line connecting a used polish container to the dispenser.

[0152] The method may be implemented such that the self-contained polishing agent dispensing system includes a pump that facilitates dispensing the polishing agent through the fluid line.

[0153] The method may be implemented such that the used polish container is a used polish liner.

[0154] The method may be implemented such that the low-viscosity polish has a viscosity of less than 40,000 cp, or less than 30,000 cp, or less than 20,000 cp, or less than 10,000 cp, or less than 8,000 cp, or less than 6,000 cp, or less than 5,000 cp, or less than 4,000 cp, or less than 3,000 cp, or less than 2,000 cp, or less than 1,000 cp, or less than 800 cp, or less than 600 cp, or less than 400 cp, or less than 200 cp, or less than 150 cp.

[0155] The method may be implemented such that the low viscosity polish does not contain wax compounds.

[0156] The method may be implemented such that the low viscosity polish is silicone-free.

[0157] The method may be implemented such that the low viscosity polish comprises multiple compounds that are inert to each other.

[0158] The method may be implemented such that low viscosity polishes do not require the use of additional processing.

[0159] The method may be implemented such that the low viscosity polish comprises water.

[0160] The method may be implemented such that the low viscosity polish comprises a petroleum distillate.

[0161] The method may be implemented such that the low viscosity polishing agent comprises a hydrotreated light petroleum distillate.

[0162] The method may be implemented such that the low viscosity polish comprises an aluminum oxide mineral.

[0163] The method may be implemented such that the low viscosity polish comprises glycerin.

[0164] The method may be implemented such that the low viscosity polish comprises mineral oil.

[0165] The method may be implemented such that the mineral oil is a white mineral oil.

[0166] A robotic repair unit is presented, including a robotic arm having a force control coupled to an end effector including an abrasive tool, and a self-contained fluid dispensing system configured to dispense a low-viscosity polish onto a work surface. The self-contained polish dispensing system includes a dispenser and a polish container coupled to the dispenser. The polish container is mounted to the robotic repair unit.

[0167] The method may be implemented such that changing the polish container does not involve solvent.

[0168] The method may be implemented such that the dispenser is a pneumatic dispenser.

[0169] The method may be implemented such that the polish container includes a liner that directly contains the low viscosity polish.

[0170] The method may be implemented such that the polish container includes an air port configured to couple to a source of compressed air.

[0171] The method may be implemented to further include a fluid line coupling the liner to the dispenser.

[0172] The method may be implemented such that the liner and fluid line are single-use items.

[0173] The method may also be implemented to include a single-use pump.

[0174] The method may be implemented such that replacement of single-use liners and single-use fluid lines does not involve solvents.

[0175] The method may be implemented such that the dispenser includes a disposable nozzle.

[0176] The method may be implemented such that the polish container is mounted on the tool side of the force control unit of the robotic arm.

[0177] The method may be implemented such that the force control detects a change in the weight of the polish container corresponding to a low fluid level.

[0178] The method may be implemented to further include a detector configured to identify the polish type in the polish container.

[0179] The method may be implemented such that the detector is configured to identify the fluid type based on the indicia on the fluid container.

[0180] The method may be implemented such that the low-viscosity polish has a viscosity of less than 40,000 cp, or less than 30,000 cp, or less than 20,000 cp, or less than 10,000 cp, or less than 8,000 cp, or less than 6,000 cp, or less than 5,000 cp, or less than 4,000 cp, or less than 3,000 cp, or less than 2,000 cp, or less than 1,000 cp, or less than 800 cp, or less than 600 cp, or less than 400 cp, or less than 200 cp, or less than 150 cp.

[0181] The method may be implemented such that the low viscosity polish does not contain wax compounds.

[0182] The method may be implemented such that the low viscosity polish is silicone-free.

[0183] The method may be implemented such that the low viscosity polish comprises multiple compounds that are inert to each other.

[0184] The method may be implemented such that low viscosity polishes do not require the use of additional processing.

[0185] The method may be implemented such that the low viscosity polish comprises water.

[0186] The method may be implemented such that the low viscosity polish comprises a petroleum distillate.

[0187] The method may be implemented such that the low viscosity polishing agent comprises a hydrotreated light petroleum distillate.

[0188] The method may be implemented such that the low viscosity polish comprises an aluminum oxide mineral.

[0189] The method may be implemented such that the low viscosity polish comprises glycerin.

[0190] The method may be implemented such that the low viscosity polish comprises mineral oil.

[0191] The method may be implemented such that the mineral oil is a white mineral oil.

[0192] A low-viscosity polish kit for a robotic repair unit is presented, including a sealed container containing a low-viscosity polish, the sealed container having a coupling mechanism and a connector configured to couple to the coupling mechanism at a first end and to couple to a dispenser of the robotic repair unit at a second end. The sealed container and the connector are single-use items.

[0193] The kit may also be packaged to include a nozzle configured to connect to the dispenser.

[0194] The kit may be packaged such that the nozzle is a single-use nozzle.

[0195] The kit may be packaged such that the sealed container and connector comprise plastic.

[0196] The kit may be packaged such that the connector includes a fluid line.

[0197] The kit may be packaged to further include a single-use pump.

[0198] The kit may be implemented such that the low-viscosity polish has a viscosity of less than 40,000 cp, or less than 30,000 cp, or less than 20,000 cp, or less than 10,000 cp, or less than 8,000 cp, or less than 6,000 cp, or less than 5,000 cp, or less than 4,000 cp, or less than 3,000 cp, or less than 2,000 cp, or less than 1,000 cp, or less than 800 cp, or less than 600 cp, or less than 400 cp, or less than 200 cp, or less than 150 cp.

[0199] The kit may be packaged such that the low viscosity polish does not include a wax compound.

[0200] The kit may be packaged such that the low viscosity polish is silicone-free.

[0201] The kit may be packaged so that the low viscosity polish contains multiple compounds that are inert to each other.

[0202] The kit may be packaged so that the low viscosity polish does not require the use of additional processing.

[0203] The kit may be packaged so that the low viscosity polish comprises water.

[0204] The kit may be packaged such that the low viscosity polish comprises a petroleum distillate.

[0205] The kit may be packaged such that the low viscosity polishing agent comprises a hydrotreated light petroleum distillate.

[0206] The kit may be packaged such that the low viscosity polish includes an aluminum oxide mineral.

[0207] The kit may be packaged such that the low viscosity polish includes glycerin.

[0208] The kit may be packaged so that the low viscosity polish comprises mineral oil.

[0209] The kit may be packaged such that the mineral oil is white mineral oil.

[0210] The kit may be packaged so that the polish container also includes a mounting mechanism for coupling to a robotic repair unit.

[0211] The kit may be packaged such that the polish container is a compressible container configured to fit within a container mounted on the robotic repair unit.

[0212] Throughout this specification, references to "one embodiment," "a particular embodiment," "one or more embodiments," or "an embodiment," regardless of whether the term "exemplary" is included before the term "embodiment," mean that the particular feature, structure, material, or characteristic described in connection with that embodiment is included in at least one of the particular exemplary embodiments of the present disclosure. Thus, the appearances of phrases such as "in one or more embodiments," "a particular embodiment," "in one embodiment," or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same particular exemplary embodiments of the present disclosure. Furthermore, particular features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments. Example

[0213] 7-8 show the sprayed polish as described in the Examples herein. Example 1

[0214] The polish used in Example 1 is 3M™ Finesse-it™ Polish K211 (commercially available). The viscosity of the polish is measured using a Brookfield viscometer, RV6 spindle, at 10 rpm and 77±3°F. The viscosity of the commercially available polish is 38,000-45,000 centipoise.

[0215] The polish was loaded into a 3M Accuspray 16580 spray system. An Accuspray disposable liner was used in the supply chamber. A supply pressure of 9 psi was applied to the supply chamber to at least partially compress the disposable liner, allowing the polish to pass through the nozzle. The same 9 psi back pressure was applied to the spray nozzle. By compressing the trigger, a spray pattern of polish was applied to a vertical surface from a distance of 4 inches. The spray was slightly atomized and progressed through the nozzle. The shape of the sprayed pattern was not well defined or consistent. The resulting spray pattern can be seen in Figure 7. Example 2

[0216] The polish was made in the laboratory using the same formulation as 3M™ Finesse-it™ Polish K211, but without the addition of a viscosity modifier. The viscosity of the polish was measured to be 351 centipoise using a Brookfield viscometer, LV2 spindle, at 30 rpm and 71°F.

[0217] The same conditions as in Example 1 were applied to the spray, but the polish was easily delivered to the nozzle without the need for back pressure, so no disposable liner was required. The spray pattern was substantially finer and had a much more defined circular shape. The resulting spray pattern can be seen in Figure 8.

Claims

1. 1. A polish dispensing system for a robotic repair unit, comprising: a polish container filled with a low viscosity polish; a polish dispenser associated with the robotic repair unit; a coupler for connecting the polish container to a fluid dispenser; a mounting mechanism configured to couple the polish container to a robotic repair unit.

2. The polish dispensing system of claim 1 , wherein the polish dispensing system is self-contained on the robotic repair unit.

3. 3. The polish dispensing unit of claim 1, wherein the robotic repair unit is a first robotic repair unit, the polish dispenser is a first polish dispenser, and the polish container supplies polish to a second robotic repair unit using a second dispenser.

4. The polish dispensing system of any one of claims 1 to 3, further comprising a pump.

5. The polish dispensing system of claim 4 further comprising a motor.

6. The polish dispensing system of any one of claims 1 to 5, further comprising an air source coupled to the polish container.

7. The fluid dispensing system of any one of claims 1 to 6, wherein the polish dispenser is a pneumatic polish dispenser.

8. The polish dispensing system of any one of claims 1 to 7, wherein the polish container and the coupler are disposable.

9. 10. The polish dispensing system of claim 8, wherein the polish container and the coupler comprise plastic.

10. 9. The polish dispensing system of claim 8, wherein the polish container is a liner, the liner being disposable.

11. 11. The polish dispensing system of claim 10, wherein the polish liner is a compressible liner that compresses in volume as the low viscosity polish is dispensed.

12. 11. The polish dispensing system of claim 10, wherein the polish dispensing system is mounted such that gravity provides a portion of the pressure necessary for polish to flow from the polish container to the dispenser.

13. 13. The polish dispensing system of claim 12, wherein the polish dispensing system is mounted such that gravity provides all of the pressure necessary for low viscosity fluid to flow from the polish container to the fluid dispenser.

14. The polish dispensing system of any one of claims 1 to 13, wherein the polish container and the coupler are single-use components.

15. 15. The polish-dispensing system of claim 14, wherein the polish container includes indicia identifying the low-viscosity polish within the polish container.

16. The polish dispensing system of any preceding claim, wherein the coupler comprises a connector that directly connects the polish container to the dispenser.

17. The polish dispensing system of any preceding claim, wherein the coupler comprises a fluid line.

18. 20. The polish dispensing system of claim 17, wherein the fluid line is flexible.

19. The polish dispensing system of any one of claims 1 to 18, wherein the polish container is configured to be mounted on a tool side of a force control.

20. A polish dispensing system according to any preceding claim, further comprising a sensor for detecting a low fluid level, said sensor comprising a gravimetric sensor, an optical sensor or a volumetric sensor.

21. The polish dispensing system of any one of claims 1 to 20, wherein the low viscosity polish has a viscosity of less than 40,000 cp.

22. 22. The polish dispensing system of any one of claims 1 to 21, wherein the low viscosity polish has a viscosity of less than 10,000 cp.

23. The polish dispensing system of any one of claims 1 to 22, wherein the low viscosity polish has a viscosity of less than 600 cp.

24. The polish dispensing system of any one of claims 1 to 23, wherein the low viscosity polish is free of wax compounds.

25. The polish dispensing system of any preceding claim, wherein the low viscosity polish is silicone-free.

26. 26. The polish dispensing system of any one of claims 1 to 25, wherein the low viscosity polish comprises multiple compounds that are inert to each other.

27. The polish dispensing system of any one of claims 1 to 26, wherein the low viscosity polish does not require the use of additional processing.

28. A polish dispensing system according to any preceding claim, wherein the low viscosity polish comprises water.

29. 29. The polish dispensing system of any one of claims 1 to 28, wherein the low viscosity polish comprises a petroleum distillate.

30. 30. The polish dispensing system of claim 29, wherein the low viscosity polish comprises a hydrotreated light petroleum distillate.

31. The polish dispensing system of any one of claims 1 to 30, wherein the low viscosity polish comprises an aluminum oxide mineral.

32. The polish dispensing system of any one of claims 1 to 31, wherein the low viscosity polish comprises glycerin.

33. A polish dispensing system according to any preceding claim, wherein the low viscosity polish comprises mineral oil.

34. 34. The polish dispensing system of claim 33, wherein the mineral oil is a white mineral oil.

35. 1. A method for replacing a polish source on a robotic repair system, comprising: Detecting, using a first sensor, when the polishing agent level reaches a replacement fluid level in the used polishing agent source; removing the source of spent polish; Installing a new polish source; detecting, using a second sensor, that the new source of polishing agent has been installed; A method comprising:

36. 36. The method of claim 35, wherein installing the new source of polish comprises installing the new source of polish in a container attached to the robotic repair system.

37. 36. The method of claim 35, wherein the first sensor is a weight sensor that detects a weight of the used polishing agent source, indicating a replacement polishing agent level.

38. 38. The method of any one of claims 35 to 37, further comprising: detecting a type of polishing agent associated with the new polishing agent source; and providing the detected type of polishing agent to a controller associated with a robotic repair unit.

39. a robotic arm having a force control coupled to an end effector including an abrasive tool; a self-contained fluid dispensing system configured to dispense a low viscosity polish onto a work surface; 1. A robotic repair unit, comprising: a self-contained polish dispensing system; A dispenser; a polish container coupled to the dispenser, the polish container being attached to the robotic repair unit; Robotic repair unit.

40. 40. The robotic repair unit of claim 39, further comprising a single use pump.

41. 41. The robotic repair unit of claim 39 or 40, wherein the dispenser comprises a disposable nozzle.

42. A robotic repair unit according to any one of claims 39 to 41, wherein the polish container is mounted on the tool side of a force control unit of the robot arm.

43. 43. The robotic repair unit of claim 42, wherein the force control detects a change in weight of the polish container corresponding to a low fluid level.

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