Vehicle body polishing device, vehicle body polishing equipment, and vehicle body polishing method

Abstract

The present invention provides a vehicle body polishing device that can reduce the scale of measures required to control airborne dust and allows for vehicle body polishing work on railway vehicles without having to worry too much about wear and tear on the polishing tools. [Solution] A vehicle body polishing device for roughening the surface of a paint film that has been pre-applied to a vehicle body comprises a control unit, a base equipped with a self-propelled means, a robotic arm, a laser beam emission means, a focus range holding means, a vehicle body attitude acquisition means, and a positional deviation correction means, and is configured to move along the vehicle body to roughen the paint film.

Description

Technical Field

[0001] The present invention relates to a vehicle body grinding device, a vehicle body grinding facility, and a vehicle body grinding method.

Background Art

[0002] The Shinkansen, which is one of the representative railways in Japan, is not only excellent in punctuality and speed, but also has little shaking and high safety, and is widely used and loved by many people in various scenes such as business and travel.

[0003] In order to stably provide such high-quality services, Shinkansen vehicles are regularly inspected.

[0004] Among them, in the general inspection carried out once every two to three years, painting work is carried out for the purpose of improving aesthetics and protecting the vehicle body.

[0005] At this time, when applying new paint, the old paint is processed in advance. However, in most parts of the painting target area, instead of completely removing the old paint so that the base is visible, the surface of the old paint is moderately roughened to provide a base for the new paint to adhere. Hereinafter, this base-providing work is also referred to as vehicle body grinding.

[0006] Since this vehicle body grinding needs to be completed within a limited time after the vehicle is brought into the inspection yard, a plurality of (for example, 5 to 6) workers need to hold sanders and perform grinding work along the vehicle body shape.

[0007] However, this vehicle body grinding work generates dust and requires sufficient consideration for the health of workers. Also, when wearing protective gear such as dust masks, for example, in summer, it forces workers to work in a cramped environment, further increasing the severity of the working environment.

[0008] Furthermore, unlike the case mentioned earlier where it's sufficient to strip off all the old paint, the sanding work must be performed within the limits of the old paint's thickness so as not to expose the base coat. This requires skilled craftsmanship, and concentrating on the sanding work in a harsh working environment can sometimes be difficult.

[0009] Therefore, conventional polishing devices have been provided that can mechanically polish the front section (nose section) of a vehicle, in particular (see, for example, Patent Document 1).

[0010] Such polishing devices allow for automatic polishing using a robotic arm, thus reducing the burden on the worker. [Prior art documents] [Patent Documents]

[0011] [Patent Document 1] Japanese Patent Publication No. 2018-111164 [Overview of the Initiative] [Problems that the invention aims to solve]

[0012] However, the conventional polishing device described above performs polishing work by bringing a rotating brush attached to the tip of a robotic arm into contact with the painted surface of the vehicle body.

[0013] Therefore, the generation of dust itself cannot be avoided, and measures to reduce the amount of dust suspended in the environment or prevent adverse effects, such as explosion-proof structures and dust collection equipment (hereinafter also referred to as airborne dust countermeasures), are necessary in any case.

[0014] Furthermore, rotating brushes are consumables that wear down due to friction with the car body paint, leading to increased operating costs. Therefore, there was a need for a car body polishing device equipped with a polishing method that minimized wear and tear.

[0015] Furthermore, if we consider this entire vehicle body polishing system as equipment in a corner of the inspection facility, the conventional polishing equipment described above is specialized for polishing the front end of the vehicle and is not intended for use in polishing the sides or end faces of the vehicle.

[0016] Furthermore, even if this equipment were to be used to polish the sides and ends of the vehicles, there would be the problem of having to move the long vehicles toward the polishing machine, and the need for a large surface area for moving the vehicles as part of the vehicle polishing equipment.

[0017] Furthermore, these problems are not limited to Shinkansen trains, but often apply to railway vehicles in general.

[0018] The present invention has been made in view of these circumstances, and provides a vehicle body polishing device that can reduce the scale of measures to combat airborne dust and allows for vehicle body polishing work on railway vehicles without having to worry too much about wear and tear on the polishing means.

[0019] Furthermore, the present invention provides a vehicle body polishing device that does not require moving a long vehicle relative to the polishing device, can polish parts other than the front section, and requires a relatively small equipment area for the polishing work. [Means for solving the problem]

[0020] To solve the above-mentioned conventional problems, the vehicle body polishing apparatus according to the present invention comprises: (1) a vehicle body polishing apparatus for roughening the surface of a paint film that has been pre-applied to a vehicle body, comprising: a control unit; a base equipped with a self-propelled means that moves under the control of the control unit; a robot arm disposed on the base, the base having a laser beam emission unit positioned opposite the target position for the roughening process; a laser beam emission means that emits laser light through a focusing lens of the emission unit disposed on the robot arm; a focusing range holding means that controls the robot arm so that the target position falls within the focusing range of the focusing lens; a vehicle body posture acquisition means that acquires the posture of the vehicle body; and a position deviation correction means that corrects data relating to polishing work in a reference posture of the vehicle body, which is pre-stored in the control unit, using data relating to the current posture of the vehicle body obtained by the vehicle body posture acquisition means, and controls the self-propelled means and / or robot arm based on the data relating to polishing work in the current posture, and is configured to move along the vehicle body and roughen the paint film.

[0021] Furthermore, the vehicle body polishing device according to the present invention also has the following features. (2) The base is equipped with outriggers that are displaced by the control of the control unit. (3) The base is equipped with a stage that moves up and down under the control of the control unit, and the robot arm is positioned on the stage. (4) The device shall be equipped with means for suctioning dust generated during the surface roughening process.

[0022] Furthermore, another embodiment of the therapeutic agent according to the present invention comprises (5) a vehicle body polishing device as described in any one of (1) to (4) above, a vehicle body placement area on which rails are laid and into which a vehicle body to be roughened is brought and placed on a bogie, a polishing device movement area arranged along the longitudinal side of the vehicle body placement area and on which a guide rail for moving the vehicle body polishing device is laid, and light-shielding means provided at necessary locations on the boundary of the polishing device movement area other than the boundary with the vehicle body placement area.

[0023] In addition, in the vehicle body grinding method according to the present invention, (6) a pulsed laser is irradiated to form a plurality of laser dots with a depth of 0.5 to 2.0 μm on the surface of the coating film of the vehicle body painting, and the surface roughness of the same surface is roughened to Ra = 0.5 to 2.0 μm.

[0024] Further, in the present invention, (7) for vehicle body grinding with a surface roughness of Ra = 0.5 to 2.0 μm, a pulsed laser is used for the surface of the coating film of the vehicle body painting at an energy density and a power density capable of forming laser dots with a depth of 0.5 to 2.0 μm.

Effect of the Invention

[0025] According to the vehicle body grinding apparatus according to the present invention, in a vehicle body grinding apparatus that performs rough surface processing on the surface of a coating film of a coating applied to a vehicle body in advance, a control unit, a base provided with a self-running means that self-runs under the control of the control unit, a robot arm disposed on the base that disposes a laser light emitting portion at a position facing the target position of the rough surface processing, a laser light emitting means that emits laser light through a focusing lens of the emitting portion disposed on the robot arm, a focusing range holding means that controls the robot arm so that the target position belongs to the focusing range of the focusing lens, a vehicle body posture acquisition means that acquires the posture of the vehicle body, and data on the current posture of the vehicle body obtained by the vehicle body posture acquisition means are used to correct data on the grinding operation in the reference posture of the vehicle body stored in advance in the control unit, and a position deviation correction means that controls the self-running means and / or the robot arm based on data on the grinding operation in the current posture. Since it is configured to move along the vehicle body and perform rough surface processing on the coating film, the generation of dust is suppressed, so the scale of countermeasures against floating dust can be reduced, and since the grinding means is non-contact, the vehicle body grinding operation of a railway vehicle can be performed without much concern about wear.

[0026] Further, if the base is provided with an outrigger that is displaced by the control of the control unit, it is possible to suppress a change in the distance from the vehicle accompanying the displacement of the robot arm while the base is movable, and accurate and uniform rough surface processing can be performed.

[0027] Furthermore, the base is equipped with a stage that moves up and down under the control of the control unit, and the robot arm is positioned on this stage, allowing the grinding work to be performed with ample clearance even at high positions on the vehicle.

[0028] Furthermore, by providing a means for suctioning the dust generated during the surface roughening process, the scale of measures to control airborne dust can be further reduced.

[0029] Furthermore, the vehicle body polishing equipment according to the present invention comprises the aforementioned vehicle body polishing device, a vehicle body placement area where rails are laid and the vehicle body to be roughened is brought in and placed on a bogie, a polishing device movement area arranged along the longitudinal side of the vehicle body placement area and where guide rails for moving the vehicle body polishing device are laid, and light-shielding means provided at necessary locations on the boundary of the polishing device movement area other than the boundary with the vehicle body placement area. As a result, it is not necessary to move a long vehicle relative to the polishing device, parts other than the front part can be polished, and moreover, it is possible to provide vehicle body polishing equipment that requires a relatively small equipment area for polishing work.

[0030] Furthermore, according to the vehicle body polishing method of the present invention, a pulsed laser is irradiated to form multiple laser dots with a depth of 0.5 to 2.0 μm on the surface of the paint film of the vehicle body, and the surface roughness of the said surface is roughened to Ra = 0.5 to 2.0 μm. As a result, the generation of dust is suppressed, so the scale of measures to control airborne dust can be reduced. In addition, since the polishing means is non-contact, it is possible to provide a vehicle body polishing method that allows for vehicle body polishing work on railway vehicles without worrying too much about wear and tear.

[0031] Furthermore, according to the present invention, in order to polish the car body to a surface roughness of Ra = 0.5 to 2.0 μm, a pulsed laser is used on the paint film surface of the car body with an energy density and power density that allows for the formation of laser dots with a depth of 0.5 to 2.0 μm. This suppresses the generation of dust, thus reducing the scale of measures to control airborne dust. In addition, since the polishing method is non-contact, the car body polishing work on railway vehicles can be performed without worrying too much about wear and tear. [Brief explanation of the drawing]

[0032] [Figure 1] This is a perspective view showing the vehicle body polishing equipment according to this embodiment. [Figure 2] This is a schematic plan view showing each area of ​​the car body polishing equipment. [Figure 3] This is an explanatory diagram showing the arrangement of the light-shielding parts. [Figure 4] This is an explanatory diagram showing the configuration of a car body polishing device. [Figure 5] This is an explanatory diagram showing the configuration of a car body polishing device. [Figure 6] This is an explanatory diagram showing the configuration of the functional parts. [Figure 7] This is a block diagram showing the electrical configuration of a car body polishing device. [Figure 8] This is an explanatory diagram showing a car body polishing device performing polishing work. [Figure 9] This is an explanatory diagram illustrating the overview of bidirectional scanning. [Figure 10] This is an explanatory diagram for edge blurring. [Figure 11] This is the main processing flow. [Figure 12] This is the sharpening process flow. [Figure 13] This figure shows the situation during the irradiation distance testing. [Figure 14] This is an explanatory diagram showing the results of the irradiation distance study test. [Figure 15] This is an explanatory diagram showing the results of the irradiation distance study test. [Figure 16] This is an explanatory diagram showing the results of the irradiation distance study test. [Figure 17] This diagram shows the situation during painting. [Modes for carrying out the invention]

[0033] The present invention relates to a vehicle body polishing device that roughens the surface of a paint film that has been pre-applied to a vehicle body, and provides a vehicle body polishing device that can reduce the scale of measures to prevent airborne dust and allows for vehicle body polishing work on railway vehicles without worrying too much about wear and tear on the polishing means.

[0034] In particular, the vehicle body polishing apparatus according to this embodiment is characterized by being configured to move along the vehicle body and perform roughening on the paint film, by comprising a control unit, a base, a robot arm, a laser beam emission means, a focus range holding means, a vehicle body attitude acquisition means, and a positional deviation correction means.

[0035] Here, the control unit is the part that controls the entire vehicle body polishing device according to this embodiment, and is mainly composed of hardware such as a computer and software such as a program.

[0036] The base is the structural foundation of the vehicle body polishing device and is equipped with a self-propelled mechanism that moves under the control of the control unit. In other words, the vehicle body polishing device is configured to move along the vehicle body by means of the self-propelled mechanism provided on the base.

[0037] The self-propelled means is not particularly limited as long as it is a means capable of moving the entire vehicle body polishing device with a precision suitable for vehicle body polishing (a precision that enables vehicle body polishing). For example, it can be configured as a combination of a prime mover and tires and steering means, or as a prime mover and crawler. Furthermore, it may be combined with rails to ensure stable straight-line movement. However, in any case, the control unit should be configured to allow for driving control such as driving, stopping, and steering.

[0038] The robot arm is positioned so that the laser beam emitter is facing the target position for surface roughening. In other words, the car body polishing device according to this embodiment roughens the surface by irradiating the target position with laser light at a predetermined output, and the robot arm has the role of positioning the laser beam emitter, which is the exit point of the laser light, facing the target position.

[0039] The robotic arm is not particularly limited as long as it can position the firing mechanism opposite the target position; for example, a vertical articulated robot can be used. In this case, it is preferable to position the firing mechanism at the tip of the robotic arm.

[0040] The laser beam emission means is a means for emitting laser light from an emission unit located on a robot arm. The laser beam emission means can be composed of, for example, a laser beam generator, a laser beam transmission cable, and various optical systems such as lenses and mirrors. In particular, as one of the optical systems constituting the laser beam emission means, a focusing lens is provided in the emission unit mentioned above, and the laser light is emitted towards the target position through this focusing lens.

[0041] The focusing range holding means is a means for controlling the robot arm so that the target position falls within the focusing range of the focusing lens. The laser light emitted from the emission unit is focused by the focusing lens and then diverges, and this focusing range holding means controls the robot arm so that the target position falls within the focusing range of the focusing lens. Here, the focusing range refers to the range in which the energy density and power density necessary for polishing the car body can be achieved, or more specifically, the range in which the energy density and power density necessary for forming laser dots with a depth of 0.5 to 2.0 μm for polishing the car body to a surface roughness of Ra = 0.5 to 2.0 μm can be achieved.

[0042] The vehicle body posture acquisition means is a means for acquiring the current posture of the vehicle body to be polished. When a vehicle is to be used for polishing, it is common practice to first separate the vehicle body from the bogie, place the vehicle body on a temporary bogie, and then transport it to the vehicle body placement area of ​​the polishing equipment. However, slight placement errors may occur for each vehicle body when placing it on this temporary bogie.

[0043] Therefore, by acquiring the current posture of the vehicle body to be polished using this vehicle body posture acquisition method, it is possible to accurately grasp the posture which differs for each vehicle body and achieve highly precise laser irradiation.

[0044] The vehicle body attitude acquisition means is not particularly limited as long as it can acquire the current attitude of the vehicle body with an accuracy suitable for vehicle body polishing (an accuracy that enables vehicle body polishing) and supply data that can be referenced in the positional deviation correction means described below. For example, a three-dimensional object attitude measurement system using a 3D image sensor can be employed.

[0045] The positional deviation correction means corrects data on the sharpening operation in a reference vehicle posture, which is stored in the control unit in advance, using data on the current posture of the vehicle body obtained by the vehicle posture acquisition means described above, and controls the self-propelled means and / or robot arm based on the data on the sharpening operation in the current posture.

[0046] For example, if the data obtained from the orientation of the delivered vehicle (current orientation) differs from the orientation of the vehicle (reference orientation of the vehicle) referenced during the teaching of the robot arm, and there is a discrepancy, the system will correct the "sharpening work data" generated during teaching using the current "orientation data" to position and operate the vehicle polishing device.

[0047] To further clarify, for example, data related to the grinding operation in the vehicle's reference posture could be data generated through teaching, or data on the vehicle's shape (relative coordinate data of each part of the vehicle relative to the robot arm) used during teaching, which is referenced when reproducing the teaching motion. Similarly, data related to the vehicle's current posture could be vehicle posture data acquired by 3D sensors, etc. Furthermore, data related to the grinding operation in the current posture could be corrected teaching data or corrected vehicle shape data. However, these are merely examples; the point is that the data should be corrected so that the robot arm can operate according to the current vehicle posture.

[0048] Furthermore, the vehicle body polishing device according to this embodiment is configured to move along the vehicle body and perform roughening on the paint film, while having these components.

[0049] Therefore, since the surface layer of the coating is roughened by laser irradiation rather than polishing, the amount of dust generated is small, and the scale of measures to control airborne dust can be reduced. In addition, since the laser emission means, which is the main part of the polishing means of the vehicle body polishing device according to this embodiment, is a non-contact polishing means, the vehicle body polishing work of railway vehicles can be performed with little concern about wear and tear, except for deterioration of the light source.

[0050] Furthermore, the vehicle body polishing device according to this embodiment may be equipped with outriggers that are displaced by the control unit. Such a configuration allows the base to be movable while suppressing changes in the distance to the vehicle due to the displacement of the robot arm, and enables accurate and uniform surface roughening.

[0051] Furthermore, even when the center of gravity changes significantly, such as when the robot arm is extended upward or to a distant location, or when the stage described below is raised, the stability of the vehicle body polishing device can be maintained. This prevents the vehicle's posture from changing drastically during the polishing process, enabling highly precise polishing work.

[0052] Furthermore, the base of the vehicle body polishing device according to this embodiment can be equipped with a stage that moves up and down under the control of the control unit, and a robotic arm can be mounted on the stage. Such a configuration allows for smooth operation even when polishing high positions on the vehicle body.

[0053] Furthermore, the system may be equipped with a means for suctioning dust generated during surface roughening. By incorporating such a configuration, the scale of measures to control airborne dust can be further reduced.

[0054] Furthermore, this application also provides a vehicle body polishing facility equipped with the vehicle body polishing device described above.

[0055] The vehicle body polishing equipment according to this embodiment is characterized in that it comprises the vehicle body polishing device described above, a vehicle body placement area, a polishing device movement area, and a light-shielding means.

[0056] The vehicle placement area is the area where the vehicle bodies to be polished are placed. It is an area where rails are laid, and where the vehicle bodies to be roughened are brought in and placed on bogies.

[0057] The bogie used here may be the bogie used during vehicle operation, but it is common to use a temporary bogie (temporary bogie) for inspection and maintenance.

[0058] The sharpening device movement area is the area in which the vehicle body sharpening device according to the present embodiment described above moves along the vehicle body on which it is positioned while performing sharpening work.

[0059] The grinding device movement area is arranged along the longitudinal side of the vehicle body placement area. Guide rails for the movement of the vehicle body grinding device are also laid within the grinding device movement area. These guide rails engage with rail receivers located on the underside of the vehicle body grinding device to ensure straight movement when the vehicle body grinding device is moved by a self-propelled mechanism.

[0060] The light-shielding means is a means to prevent laser light emitted from the emission section of the vehicle body polishing device from leaking out of the vehicle body polishing equipment, and is installed at necessary locations at the boundary of the polishing device's movement area, other than the boundary with the vehicle body placement area.

[0061] As mentioned above, a focusing lens is placed at the emission point, and the laser light diverges after focusing, so the energy per unit area decreases with increasing distance from the emission point. However, to further enhance safety, especially to avoid adverse effects on the eyes of those working in the vicinity, a light-shielding mechanism is provided.

[0062] Furthermore, according to the vehicle body polishing equipment of this embodiment, by having the above-described configuration, it is not necessary to move a long vehicle relative to the polishing device, parts other than the front section can be polished, and moreover, it is possible to provide vehicle body polishing equipment that requires a relatively small equipment area for polishing work.

[0063] The vehicle body polishing device and vehicle body polishing equipment according to this embodiment will be described below with reference to the drawings.

[0064] Figure 1 is a perspective view showing a vehicle body polishing facility B equipped with a vehicle body polishing device A according to this embodiment. The vehicle body polishing facility B is a vehicle body polishing facility constructed in a large inspection factory building where vehicles can be brought in for disassembly and maintenance.

[0065] Here, the structure is built along a corner of the inspection factory building. Shading fences 11 are placed on the two sides not facing the building wall 10 to partition the area, and rails 12 for loading vehicle bodies are placed inside. Guide rails 13 for the vehicle body polishing device A are laid along both the left and right sides of the rails 12, and the vehicle body polishing device A is constructed to be movable along the guide rails 13. Note that in Figure 1, reference numeral 18 denotes a shutter 18 for loading and unloading vehicle bodies. Also, to facilitate understanding of the structure, the shading plates of the shading fences 11, which are arranged longitudinally along the rails 12, are omitted to make the rails 12 easier to see.

[0066] Figure 2 is a schematic plan view showing each area of ​​the vehicle body polishing equipment B. More specifically, vehicle body polishing equipment B comprises a vehicle body polishing device A, a vehicle body placement area 15, a polishing device movement area 16, and a light shielding section 17.

[0067] Vehicle body polishing device A is a device that moves along the vehicle body 20 and performs non-contact polishing of the surface of the vehicle body 20 using laser light. Since this vehicle body polishing device A is one of the essential components of the present invention, it will be described in detail later.

[0068] The vehicle placement area 15 is an area for placing the vehicle body 20 that will be subjected to the grinding work. Rails 12 are laid in the vehicle placement area 15, and the vehicle body 20 that will be subjected to roughening is brought in and placed there via the shutter 18 while placed on a temporary bogie 21.

[0069] The grinding device movement area 16 is the area in which the vehicle body grinding device A moves along the vehicle body 20 during grinding work, and a first movement area 16a and a second movement area 16b are defined on both longitudinal sides of the vehicle body arrangement area 15, along the direction in which the rails 12 are laid.

[0070] The first moving area 16a is a moving area for performing polishing work on one side of the vehicle body 20 (approximately the upper half of the vehicle body 20 in Figure 2) using the vehicle body polishing device A, and the second moving area 16b is a moving area for performing polishing work on the other side of the vehicle body 20 (approximately the lower half of the vehicle body 20 in Figure 2).

[0071] Furthermore, guide rails 13 for movement are laid in the first movement area 16a and the second movement area 16b, respectively, and the vehicle body polishing device A moves along these guide rails 13 as shown by the dashed lines.

[0072] The light-shielding section 17 is a part that prevents laser light emitted from the vehicle body polishing device A from leaking out of the vehicle body polishing equipment B, and functions as a light-shielding means.

[0073] The light-shielding section 17 can be constructed by arranging the light-shielding fence 11 along the outer edge of the vehicle body polishing equipment B. For example, in this case, the light-shielding fence 11 is arranged along two sides of the vehicle body polishing equipment B, which is roughly rectangular in plan view, that are not shielded by the wall 10 or shutter 18, in particular, along the two sides adjacent to the work area 23 where workers enter.

[0074] Furthermore, as shown in Figure 3, the placement of the light-shielding section 17 is such that the shortest distance L1 from the light-shielding section 17 to the vehicle body 20 is at least equal to the nominal ocular hazard distance (NOHD), so that the distance L2 from the laser beam emitter on the vehicle body polishing device A to the head (eyes) of the worker P performing work in the work area 23 exceeds the nominal ocular hazard distance.

[0075] Furthermore, with vehicle body polishing equipment B having this configuration, the polishing device moves along the long vehicle body, so a large area for moving the vehicle is not required for vehicle body polishing equipment.

[0076] Furthermore, because the polishing device moves relative to the vehicle body, it is possible to easily polish the sides and ends of the vehicle, compared to conventional equipment equipped with polishing devices specialized for polishing the front end of the vehicle.

[0077] Next, the configuration of the vehicle body polishing device A will be explained. Figure 4 is a perspective view showing the overall structure of the vehicle body polishing device A, Figure 5 is an explanatory diagram showing the side view of the vehicle body polishing device A, and Figure 6 is an explanatory diagram showing the device in use.

[0078] As shown in Figures 4 and 5, the vehicle body polishing device A consists of a self-propelled main vehicle 30 configured to perform polishing work, and a secondary vehicle 31 that is towed by the main vehicle 30.

[0079] The main vehicle 30 comprises a main base 32, a control unit 33, a lifting mechanism unit 34, a robot unit 35, a 3D image sensor 36, a functional unit 37, and an outrigger unit 38.

[0080] The main base 32 is the foundation of the main vehicle 30, and is constructed with sufficient strength to withstand the movement of the main vehicle 30 and the weight of its equipment by spanning multiple beams across an outer frame that is roughly rectangular in plan view.

[0081] The main base 32 is also equipped with a running section 40 that functions as a means of self-propulsion for the vehicle body polishing device A. The running section 40 consists of tires 40a, a motor 40b, and other power transmission mechanisms (not shown), and moves by operating the motor 40b with electricity supplied via the aforementioned guide rail 13. The motor 40b is also electrically connected to the control unit 33, allowing the vehicle body polishing device A to be moved according to the polishing work status.

[0082] The control unit 33 is the part that oversees the entire vehicle body polishing device A. The control unit 33 is electrically connected to various devices and sensors, and performs various processes by sending and receiving control signals and data, thereby enabling polishing work by the vehicle body polishing device A.

[0083] The lifting mechanism 34 is the part that raises and lowers the robot unit 35 on the main base 32 under the control of the control unit 33.

[0084] The robot section 35 is a section for positioning the functional section 37 near the area where the polishing work on the vehicle body 20 is performed, and consists of a robot control device 35a and a robot arm 35b.

[0085] The robot control device 35a is a device that controls the movement of the robot arm 35b. The robot control device 35a is electrically connected to the control unit 33 and is configured to operate the robot arm 35b under the control of the control unit 33.

[0086] The robot arm 35b is a vertical articulated robot, and a functional unit 37 is positioned at its tip, allowing the functional unit 37 to be spatially positioned at a predetermined distance from a desired location on the vehicle body 20 within the range of motion of the robot unit 35.

[0087] The 3D image sensor 36 is a sensor for capturing the three-dimensional shape of the vehicle body 20. The 3D image sensor 36 is electrically connected to the control unit 33, and the 3D data (hereinafter referred to as 3D sensor data) obtained by the 3D image sensor 36 regarding the current posture of the vehicle body 20 is compared with data (hereinafter referred to as reference data for sharpening work) regarding a reference posture of the vehicle body that is stored in advance in the control unit 33, and used for various controls described later.

[0088] The functional unit 37 is a collection of devices and other components installed at the tip of the robot arm 35b to perform sharpening work, and as shown in Figure 6, it comprises a support frame 41, a laser unit 42, a distance measuring sensor 43, and a suction nozzle 44.

[0089] The support frame 41 is a frame for supporting the laser unit 42, the distance sensor 43, and the suction nozzle 44 at the tip of the robot unit 35.

[0090] The laser unit 42 consists of a laser light source device 42a and an emission unit 42b.

[0091] The laser light source device 42a is the component that generates laser light using power supplied from the power cable 42c. Here, a laser light source device 42a that generates 1064 nm laser light is used.

[0092] The emission unit 42b is the part that emits the laser light generated by the laser light source device 42a toward the vehicle body 20. The optical system arranged in the emission unit 42b is equipped with a focusing lens (not shown), and is configured so that the emitted laser light converges at a predetermined distance and then diverges. The energy density and power density of the laser light in the focus range will be explained later, along with experimental results.

[0093] The distance measuring sensor 43 is a sensor for measuring the distance to the surface of the vehicle body 20. The distance measuring sensor 43 is electrically connected to the control unit 33, and its distance measurement data is mainly used by the control unit 33 to control the system to accurately maintain the distance from the discharge unit 42b to the surface of the vehicle body 20.

[0094] The suction nozzle 44 is a nozzle for sucking up and removing minute amounts of dust 44a generated from the target position 42d irradiated with laser light. The suction nozzle 44 is connected via a suction hose 44b to a suction device 51, described later, located on the auxiliary vehicle 31, to prevent dust 44a generated during the grinding process from spreading into the work environment.

[0095] Returning to the explanation of Figure 4, outrigger sections 38 are provided at multiple locations on both sides of the main vehicle 30 (main base 32) (two locations on each side in this embodiment) to suppress the tilting of the vehicle body polishing device A in the left-right direction.

[0096] The outrigger section 38 consists of a support 38a and a contact / separation mechanism 38b. The support 38a is a part that suppresses lateral swaying and tilting of the vehicle body polishing device A by contacting the floor surface, and is arranged to protrude in the left-right direction.

[0097] The contact / separation mechanism 38b is the part that brings the support 38a into contact with and separates it from the floor surface, and in this embodiment, it is equipped with a cylinder device. The contact / separation mechanism 38b is electrically connected to the control unit 33, and the control unit 33 controls the displacement of the outrigger section 38 between a grounded state in which the support 38a is in contact with the floor surface to suppress the tilting of the vehicle body polishing device A, and a movable separated state in which the support 38a is separated from the floor surface. When the center of gravity is high, such as during polishing work, especially when the lifting mechanism 34 is raised, the outrigger section 38 can be set to the grounded state to suppress shaking and tilting of the vehicle body polishing device A, thereby preventing a decrease in the accuracy of the polishing work. In addition, when the outrigger section 38 is set to the separated state, it becomes possible to move the vehicle body polishing device A.

[0098] As shown in Figures 4 and 5, the auxiliary vehicle 31 is equipped with a sub-base 50 and a suction device 51. The sub-base 50 is the foundation part of the auxiliary vehicle 31, and is constructed with sufficient strength to withstand the movement of the auxiliary vehicle 31 and the weight of the equipment by spanning multiple beams across an outer frame that is roughly L-shaped in plan view.

[0099] Furthermore, the auxiliary base 50 is equipped with multiple driven wheels 50a, and a connecting portion 50b for the main wheel 30 is formed at its end, so that the auxiliary wheel 31 moves along with the movement of the main wheel 30.

[0100] The suction device 51 is a device for generating negative pressure and collecting the dust 44a sucked up at the target position 42d via the suction nozzle 44. The suction device 51 has a built-in filter (not shown) that traps and removes the sucked-up dust 44a while exhausting clean air.

[0101] The cable reel 52 is a reel around which a power cable (not shown) for supplying power to the vehicle body polishing device A is wound. The power cable is connected to a power box (not shown) located at the end of the movable guide rail 13, enabling power to be supplied to the vehicle body polishing device A and allowing it to move. The cable reel 52 is configured to automatically unwind and rewind the power cable as the vehicle body polishing device A moves.

[0102] Next, the electrical configuration of the vehicle body polishing device A will be explained with reference to Figure 7. Figure 7 is a block diagram showing the electrical configuration of the vehicle body polishing device A. Note that Figure 7 shows only the main electrical components of the vehicle body polishing device A, and many other electrical parts such as the power switch and indicator lights are omitted.

[0103] As shown in Figure 7, the control unit 33 is configured to include a CPU 61, ROM 62, RAM 63a, EEPROM 63b, etc., and is capable of executing the program necessary for the operation of the vehicle body polishing device A.

[0104] Specifically, ROM62 stores programs and other data necessary for the processing of CPU61, while RAM63a functions as a temporary storage area when executing those programs and other data.

[0105] For example, a predetermined area of ​​RAM 63a stores distance measurement data acquired by the distance measuring sensor 43 (described later), 3D sensor data acquired by the 3D image sensor 36, data related to sharpening work in the current posture, and operation information entered by the operator via the touch panel 53.

[0106] Furthermore, the EEPROM63b functions as a storage means that retains data that should be kept even after the power is turned off, in a rewritable state. For example, it stores reference data for polishing work on vehicle models that are subject to body polishing.

[0107] The control unit 33 is also connected to a distance measuring sensor 43, a 3D image sensor 36, a touch panel 53, a suction device 51, a motor 40b, a laser light source device 42a, a robot control device 35a, a lifting mechanism 34, and an outrigger unit 38. It is configured to receive input from the operator, refer to the execution status of the program in the control unit 33, and operate in response to operation instructions and stop instructions output from the control unit 33.

[0108] Next, we will explain the processes performed in the control unit 33 with reference to the flowchart, but first, in order to help you understand the operation, we will describe the outline of the polishing work in the vehicle body polishing device A in this embodiment.

[0109] Figure 8 is an explanatory diagram showing a vehicle body polishing device A performing polishing work on the target area (polishing work area) of the surface of the vehicle body 20. In Figure 8, the multiple strip-shaped areas shown on the right half (upper part) of the front of the vehicle body 20 in the direction of travel represent areas that have been virtually partitioned for sequential polishing work by the vehicle body polishing device A.

[0110] The method of polishing using the vehicle body polishing device A is not particularly limited, but in this embodiment, as an example, the polishing work area is divided into a relatively large block called the processing area, and this processing area is further divided into multiple unit scanning areas to perform the polishing work.

[0111] Specifically, as shown in Figure 8, the sharpening work area on the right half of the leading edge in the direction of travel is virtually divided into processing areas J, K, and L. Furthermore, each processing area is virtually divided into multiple (n) unit scanning areas, for example, processing area J is divided into unit scanning areas J1 to Jn, processing area K into unit scanning areas K1 to Kn, and processing area L into unit scanning areas L1 to Ln.

[0112] The processing area is the area where polishing work is performed by moving the lifting mechanism 34 up and down or extending the robot arm 35b while the vehicle body polishing device A is stopped in a predetermined position. In other words, the processing area can be described as the area divided into the range that the robot arm 35b can reach (the range in which polishing work can be performed) while the vehicle body polishing device A remains stopped in a predetermined position.

[0113] For example, as shown in Figure 8, when performing polishing work on the area to be processed J, the vehicle polishing device A is stopped at stop position J' and the polishing work is carried out. After the polishing work on the area to be processed J is completed, the vehicle polishing device A is stopped at stop position K' in order to perform polishing work on the next area to be processed K. Similarly, after the polishing work on the area to be processed K is completed, the vehicle polishing device A moves to stop position L' and stops, and then performs polishing work on the area to be processed L.

[0114] In this embodiment, the sharpening process involves, for example, scanning the laser beam back and forth in a first horizontal direction (main scan), and each time the main scan reaches its end, moving the output unit 42b in a second vertical direction by the width of the main scan (sub-scan) (hereinafter also referred to as two-directional scanning), while irradiating the sharpening work area with laser beam to form laser dots and roughen the surface.

[0115] Specifically, as shown in Figure 9, a pulsed laser of a predetermined intensity is first scanned in the direction of the arrow indicated by (i) (first direction) using a main scanning means (for example, a polygon mirror or galvanometer mirror not shown) provided in the emission unit 42b, forming a laser dot from the start end to the end end of the main scanning.

[0116] Next, the robot arm 35b is moved slightly by performing a sub-scan operation in the direction of the arrow indicated by (ii) (the second direction) by the amount of the main scan width. If multiple laser dots are formed in the second direction in one main scan, this width is the main scan width, and during the sub-scan operation, the emitter 42b is moved to a point where no laser dots have yet been formed.

[0117] Next, the pulsed laser of a predetermined intensity is again performed as a primary scan in the direction of the arrow indicated by (iii) (first direction), forming a laser dot from the start end to the end end of the primary scan, and the robot arm 35b is made to perform a secondary scan in the direction of the arrow indicated by (iv) (second direction).

[0118] By performing this two-directional scanning at high speed, laser dots are densely formed in each unit scanning area within the processing target area, thereby roughening the painted surface. Note that the first and second directions do not necessarily have to be straight lines in three dimensions; they may follow the curved or uneven surfaces of the grinding work area.

[0119] In other words, each unit scanning region (for example, unit scanning regions J1~Jn, K1~Kn, and L1~Ln) can be described as a region where the sharpening work is performed in a single sharpening scan, further dividing the processing target area according to the main scanning width.

[0120] After performing the two-directional scanning described above and completing the polishing work in one unit scanning area, the laser emission is temporarily stopped, and the arm is moved to the starting position for polishing the next unit scanning area. This polishing work in each unit scanning area is repeated while the vehicle body polishing device A is stopped, and once the polishing work in all unit scanning areas partitioned within the processing area is completed, the vehicle body polishing device A is moved to the next stopping position, and the polishing work in the next processing area is performed, thereby completing the polishing work in the polishing area.

[0121] Furthermore, in the sharpening process in this embodiment, edge blurring is performed near the main scan start and end points in the unit scanning area, by deliberately softening the focus to make the laser dot formation depth shallower than usual.

[0122] In this edge blurring process, for example as shown in Figure 10, if the vicinity 55 near the end of the main scan (indicated by horizontal hatching) of the main scan (indicated by horizontal stripe hatching) of a predetermined unit scan area (e.g., unit scan area M2) and the vicinity 56 near the start of the main scan (indicated by vertical stripe hatching) of the main scan (indicated by vertical stripe hatching) of an adjacent unit scan area (e.g., unit scan area M3) are overlapped (indicated by vertical and horizontal grid hatching) in order to form laser dots without gaps, the overlapping area will be scanned twice by the laser to form dots, which may result in excessive roughening.

[0123] Therefore, in overlapping areas, the focus is intentionally softened, and the energy per unit area of ​​the laser beam is suppressed so that the same roughening as the main scan in the non-overlapping areas is achieved with two scans, allowing the grinding process to be carried out in this manner.

[0124] Up to this point, we have described an example of the polishing work performed by the vehicle body polishing device A, referring to the front of the vehicle using Figures 8 to 10. However, the area to be polished is not limited to the front of the vehicle. Further details of the work will be omitted, but for example, the vehicle body polishing device A according to this embodiment also targets the side cowl and end face of the vehicle for polishing. Of course, the sides of the vehicle may also be included in the polishing work area as needed.

[0125] Next, in order to achieve this operation, the various processes performed by the control unit 33 in the vehicle body polishing device A will be explained with reference to the flowchart. Figure 11 is a flowchart showing the main process performed by the control unit 33, and Figure 12 is a flowchart showing the polishing process, which is a subroutine.

[0126] In the main processing, the CPU 61 first performs an initial setup process (step S11). This initial setup process prepares the equipment necessary for the polishing work by the car body polishing device A, such as initializing the RAM 63a.

[0127] Next, the CPU 61 drives the motor 40b to move the car body polishing device A to a predetermined position (step S12). For example, in the example shown in Figure 8, if it is the very beginning of the polishing work, the CPU 61 drives the motor 40b so that the car body polishing device A moves to the initial stopping position J'.

[0128] Furthermore, if the sharpening work in a predetermined processing area is completed and the sharpening work is to be continued, the CPU 61 drives the motor 40b to move to a stopping position corresponding to the next processing area (for example, a stopping position K' corresponding to processing area K). The control unit 33 that performs this step S12, together with the travel unit 40, constitutes the self-propelled means of the vehicle body sharpening device A. After completing this step S12, the CPU 61 moves the processing to step S13.

[0129] Furthermore, if the outrigger section 38 is in a grounded position before movement, the CPU 61 displaces the outrigger section 38 to a separated position, and if sharpening work is to be performed after movement, the CPU 61 displaces the outrigger section 38 to a grounded position.

[0130] In step S13, the CPU 61 acquires 3D sensor data capturing the current three-dimensional shape of the vehicle body 20 from the 3D image sensor 36 and stores it at a predetermined address in the RAM 63a. The control unit 33 that executes step S13, together with the 3D image sensor 36, constitutes the vehicle body attitude acquisition means for the vehicle body polishing device A.

[0131] Next, the CPU 61 reads reference data for sharpening work from the EEPROM 63b, corrects it with the 3D sensor data stored in the RAM 63a, and generates data related to sharpening work in the current posture (hereinafter also referred to as sharpening work correction data) (step S14).

[0132] Next, the CPU 61 performs a sharpening operation based on the generated sharpening correction data (step S15). The control unit 33 that performs steps S14 and S15 functions as a means for correcting the misalignment of the vehicle body sharpening device A.

[0133] Next, the CPU 61 determines whether the sharpening process is complete for the entire sharpening area (step S16). If it determines that the sharpening process is not yet complete (step S16: No), the process moves to step S12. That is, the sharpening process is performed on the next area to be processed. On the other hand, if it determines that the sharpening process is complete (step S16: Yes), the process moves to step S17.

[0134] In step S17, the CPU 61 executes a termination process to finish the grinding work. This termination process includes necessary actions such as moving the vehicle grinding device A to a predetermined standby position, separating the outrigger section 38 during the movement, and notifying the operator that the necessary grinding work is complete. After completing step S17, the CPU 61 terminates the main processing.

[0135] Next, the sharpening process performed in step S15 will be explained with reference to Figure 12.

[0136] First, in the sharpening process, the CPU 61 refers to the correction data for the sharpening work and reads data related to the position of the processing target area where the sharpening work is performed, the arrangement position of the ejection unit 42b, its operation, etc. (step S21).

[0137] Next, the CPU 61 drives the robot arm 35b and the lifting mechanism 34 to move the injection unit 42b to the starting position of the grinding work (step S22).

[0138] Next, the CPU 61 refers to a predetermined address in the RAM 63a to obtain the distance to the target position for surface roughening (hereinafter also referred to as the target distance) measured by the distance measuring sensor 43, and controls the robot arm to fine-tune the position of the ejection unit 42b so that the target position falls within the focusing range of the focusing lens (step S23). The control unit 33 that executes step S23 functions as a focusing range holding means for the vehicle body polishing device A. After completing step S23, the CPU 61 moves on to step S24.

[0139] In step S24, the CPU 61 determines whether the scanning position of the main scan is near the start end or near the end end (hereinafter collectively referred to as the vicinity of the main scan end). If it determines that it is near the main scan end (step S25: Yes), the CPU 61 moves the process to step S25.

[0140] In step S25, the CPU 61 performs edge blurring processing near the main scanning edge to soften the focus and make the laser dot formation depth shallower than usual. After completing step S25, the CPU 61 moves the processing to step S26.

[0141] On the other hand, if it is determined in step S25 that the location is not near the main scanning end (step S25: No), the CPU 61 also moves the process to step S26.

[0142] In step S26, the CPU 61 performs a laser beam emission process in which it emits laser light from the emission unit 42b at a predetermined intensity. As a result, a laser dot is formed at the target position 42d. The control unit 33 that performs step S24 functions together with the laser unit 42 as a laser beam emission means of the vehicle body polishing device A.

[0143] Next, the CPU 61 determines whether the scanning position of the main scan has reached the end of the main scan (step S27). If it determines that the end of the main scan has not been reached (step S27: No), the CPU 61 returns to step S23. In other words, steps S23 and S24 are repeatedly executed until the end of the main scan is reached, and the main scan operation is performed while laser dots of a predetermined depth are formed everywhere except at the end of the main scan, and shallower laser dots are formed at the end of the main scan by edge blurring.

[0144] On the other hand, if it is determined that the end of the main scan has been reached (step S27: Yes), the process moves to step S28.

[0145] In step S28, the CPU 61 determines whether the sharpening operation for the currently processed unit scan area is complete. If it determines that the sharpening operation is not complete (step S28: No), the CPU 61 moves the process to step S29.

[0146] In step S29, the CPU 61 performs a sub-scan operation. In this sub-scan operation, the CPU 61 moves the robot arm 35b so that the ejection unit 42b moves in the second direction by the amount of the main scan width. After completing step S29, the CPU 61 returns to step S23. That is, the main scan is started again at a location slightly shifted in the second direction.

[0147] On the other hand, if it is determined in step S28 that the sharpening process is complete (step S28: Yes), the CPU 61 stops emitting the laser light (step S30) and proceeds to step S31.

[0148] In step S31, the CPU 61 determines whether the grinding work in the processing area is complete, that is, whether the roughening has been completed for all unit scan areas set in the processing area where the grinding work is currently being performed.

[0149] If the CPU determines that the work in the processing area is not yet complete (step S31: No), the CPU 61 returns to step S21. That is, the sharpening correction data is referenced for the next unit scan area within the same processing area, and the sharpening work is performed.

[0150] On the other hand, if the CPU 61 determines that the work in the processing area is complete (step S31: Yes), it returns the processing to the address before the branch.

[0151] According to the vehicle body polishing device A having such a configuration, it is possible to reduce the scale of measures to combat airborne dust and provide a vehicle body polishing device that can perform vehicle body polishing work on railway vehicles without worrying too much about wear and tear on the polishing means.

[0152] Furthermore, according to the vehicle body polishing equipment B of this embodiment, it is not necessary to move a long vehicle relative to the polishing device, parts other than the front section can be polished, and moreover, it is possible to provide vehicle body polishing equipment that requires a relatively small equipment area for polishing work.

[0153] Next, we will explain the irradiation time, energy density, and power density of the laser beam within the focus range, incorporating experimental results.

[0154] The irradiation time and distance of the laser beam have a significant impact on energy density, power density, the depth of the laser dots formed, and ultimately, the condition of the roughened surface after polishing. Therefore, in order to perform practical polishing work with the vehicle body polishing device A according to this embodiment, we first investigated the appropriate laser beam irradiation distance.

[0155] Figure 13 shows the situation during the test when the irradiation distance was being investigated. As shown in Figure 13, the robot arm 35b and laser unit 42 equipped on the vehicle body polishing device A were used to polish a sample plate that was made of the same material as an actual vehicle and had the same paint applied beforehand, while varying the distance from the lens of the laser emission unit 42b to the sample plate. The results are shown in Figure 14.

[0156] First, as shown in the upper table in Figure 14, the distance from the lens to the sample plate was set to four different values: 750 mm, 755 mm, 775 mm, and 790 mm. Polishing was performed three times for each value, and the average surface roughness was calculated. When the distance was set to 755 mm, the surface roughness was Ra = 0.86 to 1.16 μm, with an average of Ra = 0.97 μm. This showed that a surface roughness close to the target value of Ra = 1 μm to 2 μm obtained for manual polishing was achieved.

[0157] Figure 15 shows the condition of the polished surface when the distance from the lens to the sample plate was 755 mm and 790 mm. As shown in the left figure of Figure 15, it was found that when the distance from the lens to the sample plate was 750 mm, laser dots with clear outlines were formed. Furthermore, even when a paint was applied as a topcoat to form a coating film and a cross-cut test (peel test) of the topcoat film was performed, no peeling was observed, confirming that the surface condition was good.

[0158] On the other hand, when the distance from the lens to the sample plate was 790 mm, the outline of the laser dot was unclear. Furthermore, peeling of the topcoat was observed during the cross-cut test, indicating that the surface condition was not good.

[0159] Next, to confirm reproducibility, as shown in the table at the bottom of Figure 14, the distance from the lens to the sample plate was fixed at 755 mm, and the polishing process was performed five times to calculate the average surface roughness. The surface roughness was Ra = 1.00 to 1.41 μm, with an average of Ra = 1.20 μm, indicating that a surface roughness close to the target value of Ra = 1 μm to 2 μm obtained for manual polishing was achieved.

[0160] Based on these considerations, in the polishing process using the vehicle body polishing device A, • Distance from lens to sample plate: 755mm • Laser light wavelength: 1064nm It was decided to carry out the procedure under these conditions. Hereafter, these conditions will also be referred to as the standard irradiation conditions.

[0161] Furthermore, when applying terminal blurring, illumination was performed by slightly defocusing the optical system within the focus range while still meeting the standard illumination conditions. Hereafter, these conditions will also be referred to as illumination blurring conditions. The standard illumination conditions and illumination blurring conditions will be collectively referred to as specified illumination conditions.

[0162] Next, further investigations were conducted to improve the condition of the polished surface. Specifically, as mentioned in the left diagram of Figure 15, while there were no problems with paint adhesion during polishing under the specified irradiation conditions, fine lines were sometimes faintly visible after painting due to unirradiated areas around the laser dots.

[0163] Therefore, as shown in Figure 16, the laser dots were spaced closer together so that each dot partially overlaps with other dots in the main scanning direction, and the laser beam was irradiated accordingly.

[0164] Then, as shown in Figures 17(a) and 17(b), a topcoat of paint was applied to form a coating. Subsequently, a cross-cut test (peel test) was performed on the topcoat, and no peeling was observed. Furthermore, no lines or patterns originating from the unirradiated area around the laser dot were observed, confirming that the surface was in good condition.

[0165] In other words, the paint film surface structure for repainting railway vehicles consists of a rough surface formed by a collection of multiple laser irradiation marks, where each irradiation mark has a diameter of approximately 100 to 200 μm and a depth of approximately 0.5 to 5 μm, the roughness of the surface is Ra = 0.7 to 2 μm, and each dot partially overlaps with other dots in the main scanning direction. This provides a paint film surface structure that does not produce translucent patterns originating from the polished surface and has good paint adhesion. Furthermore, by having each dot partially overlap with other dots in the sub-scanning direction, further stability and aesthetic appeal of the paint film can be ensured.

[0166] As described above, the vehicle body polishing apparatus according to this embodiment is a vehicle body polishing apparatus for roughening the surface of a paint film that has been previously applied to a vehicle body, comprising: a control unit; a base equipped with a self-propelled means that moves under the control of the control unit; a robot arm disposed on the base, with a laser beam emission unit positioned opposite the target position for the roughening process; a laser beam emission means that emits laser light through a focusing lens of the emission unit disposed on the robot arm; a focusing range holding means that controls the robot arm so that the target position falls within the focusing range of the focusing lens; and a vehicle body attitude acquisition that acquires the attitude of the vehicle body. The system comprises a means, and a positional deviation correction means that corrects data on the polishing work in a reference posture of the vehicle body, which is stored in advance in the control unit, using data on the current posture of the vehicle body obtained by the vehicle body posture acquisition means, and controls the self-propelled means and / or robot arm based on the data on the polishing work in the current posture. Because it is configured to move along the vehicle body and roughen the paint film, the generation of dust is suppressed, thus reducing the scale of measures against airborne dust. Furthermore, because the polishing means is non-contact, the vehicle body polishing work can be performed without worrying too much about wear and tear.

[0167] Furthermore, the vehicle body polishing equipment according to the present invention comprises the aforementioned vehicle body polishing device, a vehicle body placement area where rails are laid and the vehicle body to be roughened is brought in and placed on a bogie, a polishing device movement area arranged along the longitudinal side of the vehicle body placement area and where guide rails for moving the vehicle body polishing device are laid, and light-shielding means provided at necessary locations on the boundary of the polishing device movement area other than the boundary with the vehicle body placement area. As a result, it is not necessary to move a long vehicle relative to the polishing device, parts other than the front part can be polished, and moreover, it is possible to provide vehicle body polishing equipment that requires a relatively small equipment area for polishing work.

[0168] Finally, the above-described embodiments are merely examples of the present invention, and the present invention is not limited to the embodiments described above. Therefore, it goes without saying that various modifications can be made to embodiments other than those described above, as long as they do not depart from the technical spirit of the present invention, depending on the design and other factors.

[0169] For example, although the suction nozzle 44 located in the functional unit 37 of the vehicle body polishing device A according to this embodiment is fixed in a predetermined position, the configuration may also be such that the position of the suction nozzle 44 can be changed.

[0170] If you want to change the irradiation range or intensity of the laser light, it may be necessary to adjust or change the focusing lens and other optical components of the laser light source device 42a, and in this case, the focal length may also change.

[0171] For example, if the focal length is shorter compared to the usage modes described above, the functional unit 37 needs to be brought even closer to the workpiece, which is the vehicle body 20. If the suction nozzle 44 remains fixed, there is a risk that the workpiece and the suction nozzle 44 may interfere with each other.

[0172] Therefore, by attaching the suction nozzle 44 to the support frame 41 via a predetermined nozzle position changing mechanism, and making it possible to change the distance from the workpiece to the suction nozzle 44, the risk of interference can be avoided.

[0173] This nozzle position adjustment mechanism may be a manually adjustable mechanism, but it may also be configured to automatically adjust by detecting, for example, the type of focusing lens or other adjustments in the optical system.

[0174] One example of the latter is a system in which a lens type discrimination mechanism is provided in the laser light source device 42a, the control unit 33 discriminates the lens type provided in the lens type discrimination mechanism, obtains a nozzle position setting value corresponding to the lens type by referring to a predetermined table stored in ROM 62 or the like, and drives the nozzle position changing mechanism until the suction nozzle 44 is positioned at the position of this nozzle position setting value. Each nozzle position setting value on the predetermined table is set to a value that ensures the suction nozzle 44 does not interfere with the workpiece even when moved while maintaining the focal length of the lens of the corresponding type.

[0175] Furthermore, with this configuration, the position of the suction nozzle 44 can be automatically changed according to the focal length of the lens, which not only enables proper dust suction but also prevents interference with the workpiece, such as the vehicle body. [Explanation of Symbols]

[0176] 12 rails 13 Guide rails 15. Vehicle body arrangement area 16. Sharpening device movement area 17 Light-shielding part 20 car bodies 21 Temporary bogie 23 Working area 32 Main base 33 Control Unit 34 Lifting mechanism 35b Robot arm 36 3D image sensors 37 Functional Section 40 Running section 42b Emitter 42d target position 44 Suction nozzle 51 Suction device A car body polishing device B. Vehicle body polishing equipment

Claims

1. In a vehicle body polishing device that roughens the surface of a paint film that has been applied to the vehicle body in advance, Control unit and A base equipped with a self-propelled means that moves under the control of the control unit, A robot arm is disposed on the base, with a laser beam emission unit positioned opposite the target position for the surface roughening process. A laser beam emitting means that emits laser light through a focusing lens of the emission unit located on the robot arm, A focus range holding means for controlling the robot arm so that the target position falls within the focus range of the focusing lens, A means for acquiring the attitude of the vehicle body, The system includes a position deviation correction means that corrects data relating to the sharpening work in a reference posture of the vehicle body, which is stored in advance in the control unit, using data relating to the current posture of the vehicle body obtained by the vehicle body posture acquisition means, and controls the self-propelled means and / or robot arm based on the data relating to the sharpening work in the current posture. A vehicle body polishing device characterized by being configured to move along the vehicle body and roughen the paint film.

2. The vehicle body polishing device according to claim 1, characterized in that it includes an outrigger that is displaced by the control of the control unit.

3. The base includes a stage that moves up and down under the control of the control unit, The vehicle body polishing device according to claim 1, characterized in that the robotic arm is arranged on the same stage.

4. The vehicle body polishing apparatus according to claim 1, further comprising a means for suctioning dust generated in connection with the aforementioned surface roughening process.

5. A vehicle body polishing device according to any one of claims 1 to 4, A rail is laid, and the car body to be subjected to roughening is brought in and positioned on a bogie in a car body placement area, A polishing device movement area is provided, which is arranged along the longitudinal side of the vehicle body arrangement area and on which guide rails for moving the vehicle body polishing device are laid, A vehicle body polishing apparatus characterized by comprising light-shielding means provided at necessary locations on the boundary of the polishing apparatus movement area other than the boundary with the vehicle body arrangement area.

6. A car body polishing method that involves irradiating the surface of the paint film of a car body with a pulsed laser to form multiple laser dots with a depth of 0.5 to 2.0 μm, thereby roughening the surface roughness to Ra = 0.5 to 2.0 μm.

7. The use of a pulsed laser on the surface of a car paint coating, with an energy density and power density capable of forming laser dots with a depth of 0.5 to 2.0 μm, for polishing the car body to a surface roughness of Ra = 0.5 to 2.0 μm.

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