SYSTEM AND METHOD FOR REPAIRING DEFECTS.

Abstract

A system (100) for repairing a paint defect (104) on a part (102) may have means for identifying the paint defect (106), a robotic applicator (108), and a computer module (110). The robotic applicator (108) may include a dispenser (112) and a pad (116). The robotic applicator (108) may be configured to position the dispenser (112) and the pad (116) adjacent to the paint defect (104) on the part (102). The dispenser (112) may be configured to atomize a composition (120) into an atomized composition (122). The dispenser (112) may also be configured to apply a predetermined amount (124) of the atomized composition (122) onto the paint defect (104). The pad (116) can be configured to apply the predetermined amount (124) of the atomized composition (122) onto the paint defect (104). The computer module (110) can be in communication with the robotic applicator (108).The computer module (110) can be configured to control functions of the robotic applicator (108).

Description

SYSTEM AND METHOD FOR REPAIRING DEFECTS CROSS REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. provisional application No. 63 / 040,121, filed on June 17, 2020. The full description of the aforementioned application is incorporated herein by reference. FIELD This description refers to quality control and, more specifically, to the repair of paint defects. INTRODUCTION This section provides background information related to the present description that is not necessarily the previous technique. Paint repair is one of the last remaining stages in the vehicle manufacturing process that is still predominantly performed manually. Undesirably, the painting process in a manufacturing environment can often produce paint defects on the surface of the painted part. These imperfections can be caused by dirt, craters, fibers, or other contaminants in the paint, in the air, or present on the part itself. These surface finish defects are undesirable for the finished manufactured product. In particular, paint defects can create a bump on a relatively flat surface of a part. These bumps are often repaired manually using a paint fineness process, such as the 3M Finesse-It™ system. These processes typically involve sanding the bump to flatten the surface and then polishing the sanded area to remove the scratch marks created by the sanding step. The polishing process may use a polisher and a random orbital polishing tool. The polish can be applied to the area, and then the area can be polished using the random orbital polishing tool with a polishing pad. The polishing process is achieved by manually squeezing a compound from a tube to create a pea-sized drop of the compound onto the sanded area.Undesirably, this can result in inconsistent amounts of the compound being applied, as well as inconsistent application areas, which may be due in part to. IVIA / t / ZUZÓ / UZ / ó I t a human error. These types of repair processes may not be efficient for use in automated paint defect detection and repair systems. For example, the system may apply too much polish to the paint defect, resulting in wasted resources. Additionally, if too much polish is used, the polishing pad may throw excess polish onto adjacent, undefected surfaces. This may necessitate time-consuming and labor-intensive cleaning of those surfaces. These problems can also reduce efficiency in an automated system, as they may result in an incomplete or ineffective repair cycle, or require additional cleaning, which can slow down the overall process. There is a continuing need for a system and method for repairing a paint defect on a part. Conveniently, the system and method can apply a controlled and repeatable amount of material to minimize material waste and regulate the application of said material to a predetermined and limited area. SUMMARY According to the present description, a system and method for repairing a paint defect on a part was surprisingly discovered, and it can apply a controlled and repeatable amount of a composition to combat wasted material. The present technology, as detailed throughout the description and the figures provided herein, is demonstrated with respect to the repair of paint defects, but a person skilled in the art recognizes the possibility of other applications related to other types of quality control, including the treatment and correction of other types of defects on parts and surfaces. Examples include pre- and post-painting operations, including surface sanding, cleaning, sealing, etc. In certain configurations, systems for repairing a paint defect on a part may include a means of identifying the paint defect, a robotic applicator, and a computer module. The robotic applicator may include a dispenser and an end effector with a pad. The robotic applicator may be configured to position the dispenser and pad adjacent to the paint defect. The dispenser may be configured to atomize a compound into a spray. The dispenser may also be configured to apply a predetermined amount of the spray onto the paint defect. IVIA / t / ZUZÓ / UZ / or I t end effector configured to control the pad's movement. The end effector can also be configured to apply the predetermined amount of atomized composition onto the paint defect with the pad. The computer module can communicate with the robotic applicator. The computer module can be configured to control the robotic applicator's functions. In certain configurations, the methods for repairing a paint defect on a part may include a step in providing the system for repairing the defect. The system can identify the paint defect. The robotic applicator can position the dispenser and pad adjacent to the defect. The dispenser can atomize the composition. The dispenser can then apply the predetermined amount of the atomized composition onto the defect. The final effector can apply the predetermined amount of the atomized composition to the defect with the pad, thereby repairing the defect. Other areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are for illustrative purposes only and are not intended to limit the scope of this description. FIGURES The above, as well as other advantages of the present description, will become readily apparent to experts in the art from the following detailed description, particularly when considered in light of the Figures described herein. Figure 1 is a schematic view of a system for repairing a paint defect on a part according to certain modalities, which includes means for identifying the paint defect on the part, a robotic applicator, and a computer module; Figure 2 is a schematic side elevation view of the system for repairing a paint defect on a part according to certain modalities, showing the robotic applicator in the form of a multi-axis robot having a dispenser and a pad, and further showing the dispenser dispensing a predetermined amount of atomized composition in part at a predetermined location; Figure 3 is a side elevation view of the piece, according to certain modalities, showing a plurality of resulting droplets, which define the predetermined amount of the atomized composition, arranged on the paint defect; IVIA / t / ZUZÓ / UZ / ó I t Figure 4 is a top plan view of the part, shown in Figure 3, showing the plurality of resulting droplets surrounding the paint defect on the part and applied in the predetermined location; Figure 5 is a cross-sectional view of a non-limiting example of the dispenser, showing gas moving through a gas outlet and a composition moving through a composition outlet, and further showing the composition being atomized by the gas into the atomized composition; Figure 6 is a schematic view of the system, according to certain modalities, showing a gas supply, a fluid supply, a pump, at least one composition regulator, a gas regulator, a dispenser control module, and the dispenser together with another dispenser; Figure 7 is a top plan view of the system, according to certain modalities, showing a part moving along an assembly line having multiple stations, where the stations include the means for identifying the paint defect of the part, the robotic applicator and a second robotic applicator; Figure 8 is a flowchart showing a method for repairing the paint defect on the part, according to certain modalities; the method uses a system that has the robotic applicator; Figure 9 is a flowchart showing another method for repairing the paint defect on the part, according to certain modalities, by using a system that has the robotic applicator with the dispenser, the other dispenser, the pad and another pad; Figure 10 is a flowchart showing yet another method for repairing the paint defect on the part, according to certain modalities, by using a system that has the robotic applicator and the second robotic applicator; Figure 11 is a table showing tests of a system constructed according to the present technology to determine a volume of composition dispensed when the dispensing pressure was varied; and Figure 12 is a graph showing the linear relationship between dispensing pressure and the volume of the dispensed composition. DETAILED DESCRIPTION The following description of the technology is merely illustrative regarding the nature of the IVIA / t / ZUZÓ / UZ / ó I t object, manufacture and use of one or more inventions, and does not intend to limit the scope, application or uses of any specific invention claimed in this application or in any other applications that may be filed claiming priority of this application, or patents issued thereunder. With respect to the methods described, the order of the steps presented is illustrative in nature and, therefore, the order of the steps may differ in various modalities, even when certain steps can be performed simultaneously. The terms "a" and "an" as used herein indicate that at least one of the item is present; a plurality of such items may be present, where possible. Except where otherwise indicated, all numerical quantities in this description should be understood to be modified by the word "about," and all geometric and spatial descriptors should be understood to be modified by the word "substantially" when describing the broader scope of the technology. The term "about," when applied to numerical values, indicates that the calculation or measurement allows for some slight imprecision in the value (with some approximation to accuracy in the value; approximately or reasonably close to the value; almost).If, for any reason, the imprecision provided by "over and / or substantially" is not otherwise understood in the art with this ordinary meaning, then "over and / or substantially" as used herein denotes at least variations that may arise from ordinary methods of measuring or using such parameters. Although the broad term "comprising," as a synonym for non-restrictive terms such as "include," "contain," or "have," is used herein to describe and claim embodiments of the present technology, embodiments may alternatively be described by using more restrictive terms such as "consisting of" or "consisting essentially of." Therefore, for any given embodiment that mentions materials, components, or process steps, the present technology also specifically includes embodiments that consist of, or consist essentially of, such materials, components, or process steps that exclude additional materials, components, or processes (by consisting of) and exclude additional materials, components, or processes that affect the significant properties of the embodiment (by consisting essentially of), even if such additional materials, components, or processes are not explicitly mentioned in this application. Interval descriptions, unless otherwise specified, include endpoints and encompass all distinct values ​​and subintervals within the full interval. Thus, for example, an interval from “from A to B” or “from approximately A to IVIA / t / ZUZÓ / UZ / or I t approximately B” includes A and B. Descriptions of values ​​and ranges of values ​​for specific parameters (such as quantities, weight percentages, etc.) are not exclusive of other values ​​and ranges of values ​​useful in this description. It is anticipated that two or more specific exemplified values ​​for a given parameter may define endpoints for a range of values ​​that may be claimed for the parameter. For example, if this description exemplifies that Parameter X has a value A and also exemplifies that it has a value Z, it is anticipated that Parameter X may have a range of values ​​from approximately A to approximately Z.Similarly, the description of two or more ranges of values ​​for a parameter (whether such ranges are nested, overlap, or distinct) is intended to include all possible combinations of ranges for the value that could be claimed using the endpoints of the described ranges. For example, if the present description exemplifies that Parameter X has values ​​in the range of 1-10, 2-9, or 3-8, it is also intended that Parameter X may have other ranges of values, including 1-9, 1-8, 1-3, 1-2, 2-10, 2-8, 2-3, 3-10, 3-9, and so on. When an element or layer is referred to as being on, attached to, connected to, or coupled to another element or layer, it may be directly on, attached to, connected to, or coupled to the other element or layer, or intervening elements or layers may be present. Conversely, when an element is referred to as being directly on, directly attached to, directly connected to, or directly coupled to another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted similarly (e.g., between versus directly between, adjacent versus directly adjacent, etc.). As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Although the terms first, second, third, etc., may be used in this description to describe various elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Terms such as first, second, and other numerical terms, when used in this description, do not imply a sequence or order unless clearly indicated by the context. Therefore, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section. IVIA / t / ZUZÓ / UZ / or I t section without departing from the teachings of the example modalities. Terms relating to space, such as inside, outside, below, lower, above, and the like, may be used in this description to facilitate the description of the relationship of one element or feature to another element or feature, as illustrated in the Figures. These terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the Figures. For example, if the device in the Figures is rotated, elements described as below or under other elements or features would then be oriented above them. Therefore, the example term "below" may encompass both an above and a below orientation.The device can be oriented in any other way (rotated 90 degrees or in other orientations) and the spatially relative descriptors used in this description should be interpreted accordingly. All documents, including patents, patent applications, and scientific literature cited in this detailed description, are incorporated herein by reference, unless expressly stated otherwise. In the event of any conflict or ambiguity between a document incorporated by reference and this detailed description, the present detailed description shall prevail. With reference to Figures 1-7, a system 100 is shown for repairing a part 102, specifically where the part 102 has a paint defect 104. The part 102 may include a wide range of different components that have at least one layer of paint and / or finish applied during a manufacturing process. Non-limiting examples of part 102 may include various painted parts 102 for various vehicles (e.g., cars, trucks, trains, ships, airplanes, and helicopters) and various consumer goods (e.g., household appliances, electronic devices, furniture, building materials). The paint layer may also include an electrophoretic paint layer, filler, primer, and / or clear coat. It will be appreciated that a person skilled in the art may select different parts 102 and / or paint layers for use with the system 100, as desired. With reference now to Figures 3-4, paint defect 104 can broadly refer to an area on part 102 that disrupts the visual aesthetic. For example, paint defect 104 might include debris trapped beneath the paint layer, stains in the paint layer, excess paint such as smears or drips, dents, contaminants in the paint, and / or scratches in the paint layer. However, it will be appreciated that a person skilled in the art can select IVIA / t / ZUZÓ / UZ / or I t different types of defects to be included in paint defect 104, within the scope of this description. In addition, it will be appreciated that there may be multiple paint defects 104 on part 102. As shown in Figure 7, the system 100 may have a means for identifying the paint defect 106, a robotic applicator 108, and a computer module 110. The means for identifying the paint defect 106 may include various types of identification technologies and techniques. In certain embodiments, the means for identifying the paint defect 106 may include an object inspection system and method, as described in U.S. Patent Application Serial No. 15 / 932,865 by Alien et al. and / or the associated continuation application, U.S. Patent Application Serial No. 16 / 866,110 by Alien et al. The object inspection system may be configured to identify the paint defect 104 by measuring disturbances in the light reflected from the paint defect 104 of part 102.In another non-limiting example, the means for identifying paint defect 106 may include a system and method for detecting texture differences in different portions of part 102. Other non-limiting examples may include a worker manually identifying one or more paint defects 104, as well as the use of one or more machine vision (MV) cameras to identify paint defects 104. MV cameras may include conventional light (2D visible) imaging, multispectral imaging, hyperspectral imaging, multi-band infrared imaging, linear scanning imaging, 3D surface imaging, and / or X-ray imaging. It will be appreciated that a person skilled in the art may employ different technologies and methods for the means of identifying paint defect 106, depending on the needs of the given application. With reference to Figures 2 and 7, the robotic applicator 108 can be configured to move around at least one axis and can include various articulated robots, including six-axis robots. Conveniently, this can allow the robotic applicator 108 to move to reach the paint defect 104 on part 102 based on various positions and surface contours of part 102, as well as various approaches to part 102. A non-limiting example of the robotic applicator 108 could include a FANUC™ robot sold by FANUC America Corporation. However, it will be appreciated that other types of robots can be selected for the robotic applicator 108, within the scope of this description. In certain examples, the robotic applicator 108 can move around at least three axes. Advantageously, this can allow the robotic applicator 108 to reach the paint defect 104 on part 102. IVIA / t / ZUZÓ / UZ / or I t regardless of the orientation of piece 102 (for example, whether piece 102 is hung vertically or horizontally). In other embodiments, the robotic applicator 108 may be in communication with the means for identifying the paint defect 106 of part 102. Conveniently, this may allow the means for identifying the paint defect 106 of part 102 to direct the movements of the robotic applicator 108 to the paint defect 104 of part 102. Still with reference to Figures 2 and 7, the robotic applicator 108 may have a dispenser 112 and an end effector 114 with a pad 116. The robotic applicator 108 may be configured to position the dispenser 112 and the pad 116 adjacent to the paint defect 104 of part 102, as shown in Figure 2. In some cases, part 102 may move continuously while the system 100 repairs the paint defect 104 (shown in Figure 7). For example, part 102 may be moving along an assembly or production line 118. The robotic applicator 108 may be configured to hold the dispenser 112 and pad 116 next to the paint defect 104 on part 102, while part 102 moves along the assembly or production line 118. Conveniently, this may allow system 100 to repair the paint defect 104 without a substantial pause during the repair process.In other cases, the assembly or production line 118 may be momentarily stopped adjacent to the robotic application to allow system 100 to repair the paint defect 104 of part 102. With reference to Figure 7, once dispenser 112 moves adjacent to the paint defect 104 on part 102, dispenser 112 can be configured to atomize composition 120 into atomized composition 122, and then dispense a predetermined amount 124 of the atomized composition 122 onto the paint defect 104 on part 102 at a predetermined location. Composition 120 can include a dispersion, a paste, particles, sand, a solution, and / or a mixture that can help repair the paint defect 104. For example, in some cases, composition 120 can include a sanding composition. A non-limiting example of the sanding composition could be a water-based composition. In certain examples, the sanding composition can include an abrasive and / or sand to help sand the paint defect 104.Advantageously, the sanding compound can function as a lubricant and / or abrasive during a sanding process, such as wet sanding. It will be appreciated that different compositions can be used for the sanding compound, such as a suspension, to aid in the sanding process. Certain modalities include where the 9. The composition may include water, and pad 116 may include an abrasive of a particular grit value. For example, composition 120 may include an aqueous composition, and pad 116 may include a sanding disc or sandpaper of the desired grit value. Therefore, the dispenser 112 and the end effector 114, which holds pad 116, can be configured to perform certain wet sanding operations. In other cases, Composition 120 may include a polishing compound. The polishing compound may include an abrasive and / or sand to facilitate polishing of the paint defect 104. Conveniently, the polishing compound may be used during a polishing or buffing operation. Non-limiting examples of polishing compounds may include petroleum distillates, hydrogen-treated light petroleum distillates, solvent-refined hydrogen-treated middle distillates or other petroleum distillates, aluminum oxide ore, glycerin, and mineral oil. In certain examples, the polishing compound may include polishing compounds marketed by 3M, including 3M Finesse-it™ products with the following part numbers: 06002, 28695, 28696, 51056, and / or 82878. However, it would be appreciated if a person skilled in the art could select different polishes for the polishing compound as desired.Furthermore, it will be noted that different types of compositions can be selected for the composition, within the scope of this description. Certain modalities include where the composition may include a polishing compound, and pad 116 may include a polishing pad made of various woven, non-woven, bristle, foam, and / or microfiber materials. For example, composition 120 may include a polishing compound having a polishing compound, wax, and / or sealant, and pad 116 may include a polishing disc configured to hold and apply the polishing compound to the paint defect 104. Therefore, the dispenser 112 and the end effector 114, which have pad 116, can be configured to perform certain polishing operations. With reference to Figure 6, dispenser 112 can be in communication with a composition supply 126 and a gas supply 128. The composition supply 126 can be configured to supply composition 120 to dispenser 112 for atomization. The gas supply 128 can be configured to supply gas 130 to dispenser 112 to assist in atomizing composition 120. Dispenser 112 can include a nozzle 132. With reference to Figure 5, nozzle 132 can have at least one composition outlet 134 and at least one gas outlet 135. The composition outlet 134 can be adjacent to the gas outlet 135. Nozzle 132 can be configured to focus gas 130 through gas outlet 135 and the nozzle 132. IVIA / OI t composition 120 through composition outlet 134. Still with reference to Figure 5, in operation, when composition 120 exits composition outlet 134 and gas 130 exits gas outlet 135, gas 130 comes into contact with composition 120 and creates a frictional force. This frictional force can accelerate and break up composition 120, which can atomize (or separate) composition 120 into an atomized composition 122 defined by a plurality of resulting droplets 136. In other words, gas 130 atomizes composition 120 into atomized composition 122 as it exits dispenser 112. It will be appreciated that a person skilled in the art may select other methods and technologies for atomizing composition 120 within the scope of this description. In certain embodiments, the nozzle 132 may have a tapered spray tip to form a round composition pattern for the atomized composition 122. Advantageously, this is believed to facilitate the application of the atomized composition 122 over the paint defect 104, while preventing the atomized composition 122 from being applied over the non-defective areas of the part 102. A non-limiting example of the dispenser 112 may include a low-volume (LV) spray nozzle, such as the LV spray nozzle marketed by UNIST™, including the 4210 series. Conveniently, the LV spray nozzle can provide a constant and controlled spray pattern, which can counteract the application of the atomized composition 122 to the non-defective areas of the part 102 and can allow a predetermined amount 124 of the atomized composition 122 to be applied to the predetermined location on the part 102.However, it will be appreciated that an expert in the technique can employ different types of technologies for the 112 dispenser, within the scope of this description. Each of the resulting droplets 136 from the atomized composition 122 can exhibit an adhesive force upon contact with the part 102 that can substantially reduce the subsequent movement of the resulting droplets 136. In particular, the dispenser 112 can be configured to atomize composition 120 into the atomized composition 122 such that the adhesive force of the atomized composition 122 on the paint defect 104 is substantially greater than gravity, thereby minimizing the movement of the atomized composition 122 on the paint defect 104. In other words, the resulting droplets 136 can adhere substantially to the paint defect 104 while preventing them from running and / or dripping onto the non-defective areas of the part 102. Conveniently, this can prevent damage to the non-defective areas of the part 102 from the resulting droplets 136 running or dripping onto those areas. non-defective part 102.Furthermore, the. IVIA / OI i resulting droplets 136 that adhere to the paint defect 104 can allow the part 102 to be positioned in different orientations. For example, the part 102 can be hung vertically without having to deal with a substantial amount of the resulting droplets 136 running and / or dripping down the non-defective area of ​​the part 102. Advantageously, this can facilitate use in the context of an assembly or production line 118 that may not require the part 102 to be oriented in a particular position to receive the predetermined amount 124 of the atomized composition 122. In a specific example, an atomized sanding composition can provide the resulting droplets 136 where the size of each of the resulting droplets 136 can vary from approximately ten microns to five hundred microns, more specifically from approximately fifty microns to three hundred microns, and more specifically approximately one hundred microns.An atomized polishing composition can produce resulting droplets 136, where each of the resulting droplets 136 can have a size ranging from approximately ten micrometers to five hundred micrometers, more specifically from approximately fifty micrometers to three hundred micrometers, and more specifically approximately one hundred and fifty micrometers. Although these sizes of the resulting droplets 136 have been shown to be useful, it will be appreciated that a person skilled in the art can scale the size of each of the resulting droplets 136 based on the properties of the composition 120 available from the dispenser 112, among other factors. As shown in Figures 3-4, the predetermined quantity 124 of atomized composition 122 can be the amount of atomized composition 122 required to properly repair the paint defect 104. In certain examples, the predetermined quantity 124 can be a controlled and repeatable amount that only substantially covers the paint defect 104. Conveniently, this can prevent too much atomized composition 122 from being dispensed onto the paint defect 104, which could result in excess composition remaining or being thrown onto non-defective areas of the part 102 during sanding and / or polishing processes. Additionally, the predetermined quantity 124 can allow for greater control over the amount of composition 120 dispensed, which is advantageous since both too much and too little fluid can negatively affect the production of the final effector 114.For example, if too much sprayed sanding compound is applied during a sanding process, the sanding pad can hydroplane and lose its abrasiveness. Similarly, if too much sprayed polishing compound is applied during the polishing process, the polishing pad can wear out faster, become oversaturated, and therefore not perform optimally. Undesirably, this can result in reduced performance. IVIA / OI t polishing pad lifespan. In a non-limiting example, the default quantity 124 may have a volumetric size. The volumetric size of the default quantity 124 may vary from approximately 0.1 milliliters to 1.5 milliliters, more particularly from approximately 0.5 milliliters to 1.0 milliliters, and more particularly approximately 0.7 milliliters. Although these ranges for the volumetric size of the default quantity 124 of the atomized composition 122 proved useful, a person skilled in the art may select other dimensions for the volumetric size as desired. It will be noted that composition 120 can be a low-viscosity composition. The low-viscosity composition can provide better consistency of the spray pattern and can facilitate the formation of atomized composition 122. In certain examples, the low-viscosity composition can range from a viscosity of less than 80,000 cp to approximately 1 cp. It will be noted that a person skilled in the art can scale the viscosity as desired. With reference to Figures 2 and 7, the end effector 114 can be configured to control the movement of the pad 116. Non-limiting examples of movement may include rotating and turning the pad 116, as well as controlling an alternating movement of the pad 116. In particular, the end effector 114 can be configured to apply the predetermined quantity 124 of the atomized composition 122 onto the paint defect 104 of part 102 using the pad 116. Conveniently, this can apply the predetermined quantity 124 of the atomized composition 122 on, over, near, and / or around the paint defect 104 to repair the paint defect 104. The pad 116 may have a pad surface area, and the predetermined quantity 124 of the atomized composition 122 may have an applied composition surface area, such as a predetermined application area of ​​the atomized composition 122.In certain examples, the surface area of ​​the pad may be greater than or equal to the surface area of ​​the applied composition. Advantageously, this allows pad 116 to correspond to the predetermined amount 124 of the atomized composition 122, which can prevent pad 116 from contacting non-defective areas of part 102 and avoid applying the atomized composition 122 to areas of part 102 that do not require it. In certain embodiments, pad 116 may include a sanding pad, and applying the predetermined amount 124 of the atomized composition 122 to the paint defect 104 of part 102 may include sanding the paint defect 104 with the sanding pad and the 13 IVIA / OI and atomized composition 122. Advantageously, this can be used to repair paint defect 104 where the paint defect 104 includes at least one of the debris trapped within one or more layers of paint on part 102, paint stains, excess paint, paint dripping, and / or dents. It will be appreciated, however, that other defects, which can be remedied by sanding, can also be remedied using the sanding pad and atomized composition 122. Furthermore, it will be appreciated that the sanding pad can have an abrasive and / or grit to assist in sanding the paint defect 104. With reference to Figure 7, when operating with the sanding pad, the end effector 114 can sand the paint defect 104 on part 102 using the sanding pad and the atomized composition 122 to remove the paint layer down to a non-defective substrate, thereby repairing the paint defect 104 on part 102. The sanding may include rotating, rubbing, oscillating, and / or vibrating the sanding pad with the atomized composition 122 against the paint defect 104 on part 102. In cases where the composition 120 is a sanding composition, the sanding process may result in the formation of a slurry. The slurry may facilitate the stripping of the paint layer down to a non-defective substrate.Examples of sanding pads, but not limited to these, may include a sanding block, orbital sander, belt sander, edge sander, drum sander, random orbital sander, oscillating spindle sander, file sander, detail sander, and / or sandpaper. It will be appreciated that a skilled worker may employ different sanding pad technologies as desired. It will also be appreciated that when the sanding process may result in undesirable scratch marks, these marks can be remedied by a subsequent polishing process. In certain configurations, pad 116 may include a polishing pad, and applying the predetermined amount 124 of spray composition 122 to the paint defect 104 of part 102 may include polishing the paint defect 104 with the polishing pad and spray composition 122. Conveniently, this may allow repair of the paint defect 104 where the defect includes visual artifacts. Visual artifacts may include at least one scratch, swirl, rust, dirt, and / or other minor imperfections. It will be appreciated, however, that other defects, which can be cured by polishing, may also be treated with the polishing pad and spray composition 122. Furthermore, it will be appreciated that the polishing pad may not include an abrasive and / or sand. With reference again to Figure 7, in operation with the polishing pad, the effector IVIA / OI t final 114 can polish the paint defect 104 of part 102 with the polishing pad and the atomized composition 122, as the polishing composition, to remove thin layers from an upper portion of the paint layer, thereby repairing the paint defect 104 of part 102. The polishing may include rotating, rubbing, oscillating, and / or vibrating the polishing pad with the atomized composition 122 against the paint defect 104 of part 102. Non-limiting examples of the polishing pad may include cloths, rotary polishing tools, fixed orbital polishing tools, random orbital polishing tools, and / or dual-action forced-rotation polishing tools. It will be appreciated that a person skilled in the art may employ different technologies for the polishing pad, as desired. With reference to Figure 1, the computer module 110 can communicate with the applicator robot 108 and / or the paint defect identification means 106 of part 102. This can be achieved through wireless connections, wired connections, or a network 138. It will be appreciated that the network 138 of system 100 can include various wireless and wired communication networks, including, but not limited to, a radio access network such as LTE or 5G, a local area network (LAN), a wide area network (WAN) such as the Internet, or a wireless LAN (WLAN). It will be appreciated that such examples of networks are not intended to be limiting, and that the scope of this description includes implementations in which one or more computing platforms of system 100 can be operationally linked through some other communication coupling, including combinations of wireless and wired communication networks.One or more components and subcomponents of System 100 can be configured to communicate with the networked environment via wireless or wired connections. In certain configurations, one or more computing platforms can be configured to communicate directly with each other via wireless or wired connections. Examples of various computing platforms and networked devices include, but are not limited to, smartphones, wearables, tablets, laptops, desktop computers, Internet of Things (IoT) devices, or other mobile or stationary devices, such as standalone servers, networked servers, or a series of servers. Still referring to Figure 1, the computer module 110 can be configured to control the functions of the robotic applicator 108. For example, the computer module 110 can be configured to direct the robotic applicator 108 to position the dispenser 112 and pad 116 adjacent to the paint defect 104 on part 102. In certain examples, the computer module 110 can be configured to interface with the media to identify the 15 IVIA / OI t paint defect 106 of part 102 to more accurately direct the robotic applicator 108 to the paint defect 104 of part 102. Another example may include the computer module 110 being configured to couple with the dispenser 112 to atomize composition 120 into atomized composition 122 and apply the predetermined amount 124 of atomized composition 122 to the paint defect 104 of part 102. As another example, the computer module 110 may be configured to direct the end effector 114 to apply the predetermined amount 124 of atomized composition 122 and the paint defect 104 of part 102 with the pad 116. The computer module 110 may have a processor 140 and memory 142. The memory 142 may include non-transient processor-executable instructions 144, which may control the functions of the robotic applicator 108.In certain examples, the computer system 100 may include a software platform. An operator can interact with the software platform to manually adjust and control aspects of the robotic applicator 108. It will be appreciated that a person skilled in the art can employ different features for the computer module 110, as desired. With reference to Figure 6, the system 100 may also include a pump 146, at least one composition regulator 148, a gas regulator 150, and a dispenser control module 152. The pump 146 may be in communication with the composition supply 126. The pump 146 is configured to move composition 120 from the composition supply 126 via mechanical actions from the pump 146 to the dispenser 112. A non-limiting example of the pump 146 may include the Check-Mate pumps marketed by Graco Inc. It will be appreciated that a person skilled in the art may select different technologies for the pump 146, as desired. The composition regulator 148 may be configured to regulate the pressure of the composition 120. In certain embodiments, at least one composition regulator 148 may include a pump composition regulator 154 and an end-of-arm tool (EOAT) regulator 158.The pump composition regulator 154 can be in communication with pump 146 and dispenser 112. The pump composition regulator can be configured to regulate the pressure of composition 120 from pump 146. The pump composition regulator 154, in combination with pump 146 and gas 130 from gas supply 128, can regulate the pressure of composition 120 to dispenser 112 for atomization. The EOAT regulator 158 can be in communication with the pump composition regulator 154, dispenser 112, and gas supply 128. The EOAT regulator 158 can be configured to regulate the pressure of composition 120 from the pump composition regulator. ΜΛ / ΙΖ / ΖυΖΟ / υΖ / ΟΊ I 154 to dispenser 112. Conveniently, the pump composition regulator 154 and the EOAT regulator 158 can be adjusted by the operator to regulate the pressure of the composition 120 delivered to the dispenser 112 for atomization. A non-limiting example of the pump composition regulator 154 may include the composition regulators 148 with part number 74151-11 marketed by Carlisle Composition Technologies. It is appreciated that a person skilled in the art may select different technologies for the pump composition regulator 154 within the scope of this description. Furthermore, it is appreciated that a person skilled in the art may add or remove composition regulators 148 as appropriate for the given application. With reference to Figure 6, the gas regulator 150 can be in communication with the gas supply 128 and the pump composition regulator 154. The gas regulator 150 can be configured to adjust the gas 130 supplied to the pump composition regulator 154. Conveniently, this allows the operator to precisely adjust the pressure of the gas 130 entering the pump composition regulator 154. The dispenser control module 152 can be configured to control various aspects of the dispenser 112. For example, the dispenser control module 152 can be configured to help maintain the pressure of the atomized composition 122. In certain configurations, the dispenser control module 152 can include a composition control pilot unit 160. The composition control pilot unit 160 can be in communication with the gas supply 128 and the EOAT regulator 158.The 160 composition control pilot unit can be configured to act as a secondary regulator, which can provide additional control to the EOAT 158 regulator, and improve overall sensitivity and accuracy. With reference to Figures 2 and 6, the dispenser control module 152 can be configured to adjust a spray pattern of the atomized composition 122 as dispenser 112 becomes available. In certain embodiments, the dispenser control module 152 may include a shaping gas unit 162. The shaping gas unit 162 may be in communication with the gas supply 128 and dispenser 112. The shaping gas unit 162 may be configured to adjust the pressure of the gas 130 entering dispenser 112 in order to adjust the spray pattern and how the composition 120 is atomized. The dispenser control module 152 may further be configured to control when dispenser 112 dispenses the predetermined quantity 124 of the atomized composition 122. In certain embodiments, the dispenser control module 152 may include a trigger 17 IVIA / OI pneumatic 164. The pneumatic trigger 164 can be in communication with the gas supply 128 and the dispenser 112. The pneumatic trigger 164 can be configured to direct the dispenser 112 to dispense the predetermined quantity 124 of atomized composition 122 onto the paint defect 104 of the part 102. It will be appreciated that a person skilled in the art can add or remove functions from the dispenser control module 152, as required by the given application. In certain examples, the robotic applicator 108 may also include a waste remover (not shown). The robotic applicator 108 may be configured to position the waste remover adjacent to the paint defect 104. The waste remover may be configured to remove excess waste from the sanding and / or polishing process. Excess waste may include excess polish, water, particles, clear coat, and / or paint chips. Non-limiting examples of the waste remover or cloth may include a cloth, a brush, a blowing operation, a vacuum operation, etc. It would be appreciated if a person skilled in the art could select different technologies for the waste remover, as appropriate for the given application. In certain configurations, dispenser 112 may include a sanding dispenser and a polishing dispenser, and pad 116 may include both the sanding pad and the polishing pad. The sanding dispenser may be configured to spray the sanding compound onto the sprayed sanding compound and apply the default amount 124 of the sprayed sanding compound to the paint defect 104. The sanding pad may be configured to sand the default amount 124 of the sprayed sanding compound onto the paint defect 104. The polishing dispenser may be configured to spray the polishing compound onto the sprayed polishing compound and apply the default amount 124 of the sprayed polishing compound to the paint defect 104. The polishing pad may be configured to polish the default amount 124 of the sprayed polishing compound onto the paint defect 104.Advantageously, with this configuration, the 108 robotic applicator can perform both the sanding and polishing processes. With reference now to Figure 7, system 100 may include a second robotic applicator 108'. The second robotic applicator 108' may be similar or identical to the robotic applicator 108. In certain examples, the robotic applicator 108 may have the sanding dispenser and the end effector 114 with the sanding pad, while the second robotic applicator 108' has the polishing dispenser and another end effector with the polishing pad. Conveniently, with this 18 IVIA / OI i configuration, the robotic applicator 108 can perform the sanding process and the second applicator 108' can perform the polishing process. With reference to Figure 8, one embodiment of method 200 for repairing a paint defect 104 on a part 102 is shown. Method 200 may have a step 202 of providing the system 100, including the robotic applicator 108, the dispenser 112, and the pad 116. In step 204, the paint defect 104 may be identified by means of identifying the paint defect 106. This may be achieved by using a variety of systems and methods identified above. The robotic applicator 108 may position the dispenser 112 and the pad 116 adjacent to the paint defect 104 on part 102, in step 206. In step 208, the dispenser 112 may atomize composition 120 into the atomized composition 122. In certain cases, such as the sanding process, composition 120 may include the sanding composition. In other cases, including the polishing process, composition 120 may include the polishing composition.The dispenser 112 can dispense the predetermined amount 124 of the atomized composition 122 onto the paint defect 104 in a step 210. In a step 212, the end effector 114 can apply the atomized composition 122 onto the paint defect 104 with the pad 116, thereby repairing the paint defect 104 on part 102. In certain operations, such as the sanding process, applying the atomized composition 122 to the paint defect 104 may include sanding the paint defect 104 with the atomized composition 122 and the pad 116. In other operations, including the polishing process, applying the atomized composition 122 to the paint defect 104 may include polishing the paint defect 104 with the atomized composition 122 and the pad 116. As shown in Figure 9, another method 300 for repairing a paint defect 104 on part 102 is illustrated. Method 300 may include a step 302 of supplying the system 100, including the robotic applicator 108, with the sanding dispenser, polishing dispenser, sanding pad, and polishing pad. In step 304, the paint defect 104 can be identified using the means for identifying the paint defect 106. This can be achieved by using a variety of systems and methods identified above. The robotic applicator 108 can position the sanding dispenser, polishing dispenser, sanding pad, and polishing pad adjacent to the paint defect 104 on part 102, in step 306. In step 308, the sanding dispenser can atomize the sanding compound.The sanding dispenser can dispense the predetermined amount 124 of the atomized sanding composition onto the paint defect 19. ΜΛ / ΙΖ / ΖυΖΟ / υΖ / ΟΊ I 104, in a step 310. In a step 312, the end effector 114 can sand the paint defect 104 with an atomized sanding compound and the sanding pad. The polishing dispenser can atomize the polishing compound in a step 314. In a step 316, the polishing dispenser can dispense the predetermined amount 124 of the atomized polishing compound onto the paint defect 104. In a step 318, the end effector 114 can polish the paint defect 104 with the atomized polishing compound and the polishing pad, thereby repairing the paint defect 104 of part 102. With reference to Figure 10, another method 400 for repairing a paint defect 104 on a part 102 is shown. Method 400 may include a step 402 of providing the system 100, which includes the second robotic applicator 108. In a step 404, the paint defect 104 may be identified by the means for identifying the paint defect 106. The robotic applicator 108 may position the sanding dispenser and sanding pad adjacent to the paint defect 104 on part 102, in a step 406. In a step 408, the sanding dispenser may atomize the sanding compound. The sanding dispenser can dispense the predetermined amount 124 of the atomized sanding composition onto the paint defect 104 of part 102, in a step 410. In a step 412, the end effector 114 can sand the paint defect 104 with the atomized sanding composition and the sanding pad.The second robotic applicator 108' can place the polishing dispenser and polishing pad attached to the paint defect 104 of part 102, in a stage 414. In a stage 416, the polishing dispenser can atomize the polishing composition into the atomized polishing composition. The polishing dispenser can dispense the predetermined amount 124 of the atomized polishing composition onto the paint defect 104, in a step 418. In a step 420, another end effector can polish the paint defect 104 with the atomized polishing composition and the polishing pad, thereby repairing the part 102. With reference to Figures 11-12, tests were carried out on a system 100 constructed according to the present technology to determine a volume of composition 120 dispensed when the dispensing pressure was varied, which resulted in the linear relationship between the dispensing pressure and the volume of composition 120 dispensed, as shown.Composition 120 was dispensed over a set time period of 0.3 seconds and composition 120 was based on polishing. Advantageously, the various systems 100 and methods 200, 300 and 400 provided by the present technology can repair one or more paint defects 104 of one or more parts 102. ΜΛ / ΙΖ / ΖυΖΟ / υΖ / ΟΊ I As mentioned above, this may include the sanding process and / or the polishing process by using one or more robotic applicators 108. In addition, the atomization of the compositions employed allows controlled and repeatable amounts of material to be applied to each paint defect 104, while at the same time combating material waste. Example modalities are provided to make this description comprehensive and fully convey its scope to those skilled in the art. Numerous specific details, such as examples of components, devices, and specific methods, are set out to provide a thorough understanding of the modalities described herein. It will be evident to those skilled in the art that specific details are not required, that the illustrative modalities can be implemented in many different ways, and that none should be interpreted as limiting the scope of the description. In some illustrative modalities, well-known processes, well-known device structures, and well-known technologies are not described in detail.Equivalent changes, modifications, and variations of some modalities, materials, compositions, and methods can be made within the scope of this technology, with substantially similar results.

Claims

1. A system for repairing a paint defect on a part, comprising: means for identifying the paint defect on the part; a robotic applicator having a dispenser and an end effector with a pad, the end effector configured to control the movement of the pad, the robotic applicator configured to position the dispenser and pad adjacent to the paint defect on the part, the dispenser configured to atomize a composition and dispose of a predetermined amount of the atomized composition onto the paint defect, and the end effector configured to apply the predetermined amount of the atomized composition onto the paint defect on the part with the pad; and a computer module in communication with the robotic applicator, the computer module configured to control the robotic applicator.

2. The system according to claim 1, wherein the means for identifying the paint defect of the part include an object inspection system.

3. The system according to claim 1, wherein the composition includes a sanding composition.

4. The system according to claim 3, wherein the pad includes a sanding pad.

5. The system according to claim 1, wherein the composition includes a polishing composition.

6. The system according to claim 5, wherein the pad includes a polishing pad.

7. The system according to claim 1, wherein the dispenser is configured to atomize the composition and dispense the predetermined amount of the atomized composition onto the paint defect so that the adhesive force of the atomized composition onto the paint defect is substantially greater than gravity, and thereby minimize the movement of the atomized composition onto the paint defect.

8. The system according to claim 1, wherein the pad has a pad surface area, the predetermined amount of the atomized composition has a composition surface area, and the pad surface area is greater than or equal to the composition surface area.

9. The system according to claim 4, further comprising: another robotic applicator having another dispenser and another end effector with another pad, the other end effector configured to control the movement of the other pad, the other robotic applicator configured to position the other dispenser and the other pad adjacent to the paint defect on the part, the other dispenser configured to atomize another composition into another atomized composition and to dispense another predetermined amount of the other atomized composition onto the paint defect, and the other end effector configured to apply the other predetermined amount of the other atomized composition onto the paint defect on the part with the pad, wherein the other composition includes a polishing composition and the other pad includes a polishing pad.

10. A method for repairing a paint defect on a part, comprising: providing a system for repairing the paint defect on the part, the system having means for identifying the paint defect on the part, a robotic applicator and a computer module, the robotic applicator having a dispenser and an end effector with a pad, the end effector configured to control the movement of the pad, the computer module communicating with the robotic applicator, and the computer module configured to control the robotic applicator; identifying the paint defect on a part by using the means for identifying the paint defect on the part; positioning, by the robotic applicator, the dispenser and the pad adjacent to the paint defect on the part; atomizing, by means of the dispenser, a composition into an atomized composition;ML / IZ / ZUZO / ZU / O I dispense, by means of the dispenser, a predetermined quantity of the atomized composition onto the paint defect; and apply, by means of the end effector, the predetermined quantity of atomized composition onto the paint defect of the part with the pad, and in this way repair the paint defect of the part.; 11. The method according to claim 10, wherein the means for identifying the paint defect of the part include an object inspection system.

12. The method according to claim 10, wherein the dispenser is configured to atomize the composition and dispense the predetermined amount of the atomized composition onto the paint defect so that the adhesive force of the atomized composition onto the paint defect is substantially greater than gravity, thereby minimizing the movement of the atomized composition onto the paint defect.

13. The method according to claim 10, wherein the composition includes a sanding composition and the pad includes a sanding pad, and applying the predetermined amount of atomized composition to the paint defect includes sanding, by means of the end effector, the predetermined amount of atomized sanding composition to the paint defect of the part with the sanding pad.

14. The method according to claim 10, wherein the composition includes a polishing composition and the pad includes a polishing pad, and applying the predetermined amount of atomized composition to the paint defect includes polishing, by means of the end effector, the predetermined amount of atomized polishing composition to the paint defect of the part with the polishing pad.

15. The method according to claim 13, wherein the robotic applicator further includes another dispenser and another pad, and wherein the other pad includes a polishing pad.

16. The method according to claim 15, wherein the positioning, by the robotic applicator, of the dispenser and the pad adjacent to the paint defect on the part also includes the positioning of the other dispenser and the polishing pad. IVIA / OI t 17. The method according to claim 16, wherein the method includes atomizing, by means of the other dispenser, a polishing composition into an atomized polishing composition; dispensing, by means of the other dispenser, a predetermined quantity of the atomized polishing composition; polishing, by the end effector, the paint defect with the predetermined quantity of the atomized polishing composition and the polishing pad.

18. The method according to claim 13, wherein the system further comprises: another robotic applicator having another dispenser and another end effector with another pad, the other end effector being configured to control the movement of the other pad, and wherein the other pad includes a polishing pad.

19. The method according to claim 18, wherein the method includes: positioning, by the other robotic applicator, the other dispenser and the polishing pad adjacent to the paint defect on the part; atomizing, by means of the polishing dispenser, a polishing composition into an atomized polishing composition; dispensing, by means of the polishing dispenser, a predetermined amount of the atomized polishing composition onto the paint defect; and polishing, by means of the other pad of the end effector, the paint defect with the predetermined polishing composition and the polishing pad.

20. The method according to claim 10, wherein the part is transported along a production or assembly line, and the robotic applicator is configured to keep the dispenser and pad adjacent to the paint defect on the part as the assembly line continuously moves the part.

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