Robotic paint repair

Patent metadata

Field	Value
Publication number	US-12275115-B2
Application number	US-202318505266-A
Country	US
Kind code	B2
Filing date	Nov 9, 2023
Priority date	Nov 27, 2019
Publication date	Apr 15, 2025
Grant date	Apr 15, 2025

Abstract

A disc changing system for a robotic defect repair system is presented. The system has a first abrasive disc and a second abrasive disc. The first and second abrasive discs are coupled to a liner. The system includes an abrasive disc placement device configured to automatically: remove the first abrasive disc from the liner, transport the first abrasive disc to a robotic tool of the robotic defect repair system, and place the first abrasive disc on a backup pad coupled to the robotic tool. The system also includes an abrasive disc remover configured to automatically remove the first abrasive disc after receiving a removal signal. The system also includes a controller configured to send an instruction to the disc placement device to remove, transport and place the first abrasive disc, instruct the robotic tool to conduct an abrasive operation. The controller is also configured to send the removal signal. The controller is a processor and the instructions are stored on a non-transitory computer-readable medium and executed by the processor.

First claim

What is claimed is:

1. An automated abrasive disc changing system for a robotic abrading operation, the system comprising:
a plurality of abrasive discs on a liner;
an abrasive disc selector that couples to a first of the plurality of abrasive discs, wherein the first abrasive disc couples to the abrasive disc selector and decouples from the liner;
an abrasive disc placer that places the first abrasive disc on an abrasive tool, wherein the abrasive tool is part of a robotic repair system, and wherein the abrasive tool, using the first abrasive disc, is configured to abrade a work surface; and
an abrasive disc remover configured to engage the first abrasive disc on the abrasive tool and remove the first abrasive disc from the abrasive tool.

2. The system of claim 1 , wherein the abrasive tool is connected to a backup pad, and wherein the abrasive first disc removably couples directly to the backup pad.

3. The system of claim 2 , and further comprising an air source that provides compressed air to an air nozzle, wherein the air nozzle blows compressed air on the backup pad after the first abrasive disc is removed from the abrasive tool.

4. The system of claim 2 , wherein an area of the first abrasive disc extends beyond an area of the backup pad such that the abrasive disc remover can couple to a portion of the first abrasive disc extending beyond the backup pad.

5. The system of claim 1 , wherein the one of the plurality of abrasive discs is the first abrasive disc, and wherein, after the first abrasive disc is decoupled from the liner, a second abrasive disc is advanced, and wherein the plurality of abrasive discs are arranged on the liner in a linear arrangement.

6. The system of claim 5 , wherein the system also includes a centering component that maintains the liner in a liner path such that the abrasive disc selector couples to each of the first and second abrasive discs in a similar position.

7. The system of claim 1 , wherein the plurality of abrasive discs on the liner are provided as a roll, and wherein the liner extends from the roll around a tension rod such that tension is maintained on the liner throughout the system.

8. The system of claim 1 , further comprising a cleaner that interacts with either the placed first abrasive disc or a backup pad to remove built up swarf.

9. The system of claim 8 , wherein the cleaner is a brush.

10. The system of claim 1 , further comprising a controller that, in response to the first abrasive disc decoupling from the liner, indexes the system and advances the plurality of abrasive discs such that the second abrasive disc is available.

11. The system of claim 1 , wherein the abrasive disc selector and the abrasive disc placer are a single component that decouples the first abrasive disc from the liner and places the first abrasive disc on the abrasive tool.

12. The system of claim 11 , wherein the first abrasive disc is removed by a disc changing component from the abrasive tool after an abrading operation, and a second abrasive disc is selected and placed on the abrasive tool, wherein the disc changing component also comprises the abrasive disc remover.

13. The system of claim 1 , further comprising a placement sensor, wherein the placement sensor detects a placement of the first abrasive disc on the abrasive tool.

14. The system of claim 13 , wherein the first abrasive disc is a first color, the abrasive tool is a second color and the placement sensor is a color sensor that detects the difference between the first and second colors, and wherein if the first color is not detected, the abrasive tool will not engage in the abrading the work surface.

15. The system of claim 1 , wherein a first portion of the system is accessible to an operator, and a second portion of the system is inaccessible to the operator, wherein the second portion is part of a robotic cell.

16. The system of claim 13 , wherein the plurality of abrasive discs on the liner are within a first portion of the system, and wherein the abrasive disc selector, the abrasive disc placer and the abrasive disc remover are within a second portion of the system.

17. The system of claim 1 , wherein the first abrasive disc couples to the abrasive tool using an adhesive.

18. The system of claim 17 , wherein the adhesive is a pressure sensitive adhesive.

19. The system of claim 1 , wherein the first abrasive disc couples to the abrasive tool using a hook and loop system.

20. The system of claim 1 , wherein the abrasive disc selector decouples the first abrasive disc from the liner using at least one of a blower, a vacuum generating suction, and a breaker bar.

Assignees

• 3M Innovative Properties Company

Inventors

• Nienaber Aaron K
• Orlando Mark W
• Herbst Nathan J
• Vitale Christie L
• Eberwein Marc
• Hemes Brett R
• Arthur Jonathan B
• Strey Thomas J

Classifications

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J11/0065

  Polishing or grinding · CPC title

• B24B41/005

  Feeding or manipulating devices specially adapted to grinding machines (feeding, loading or unloading work specially adapted to lapping machines B24B37/345) · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B25J3/00

  Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements · CPC title