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WO2019141855A1 - Method for grinding and/or polishing a defect and device for carrying out the method - Google Patents

Method for grinding and/or polishing a defect and device for carrying out the method Download PDF

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Publication number
WO2019141855A1
WO2019141855A1 PCT/EP2019/051417 EP2019051417W WO2019141855A1 WO 2019141855 A1 WO2019141855 A1 WO 2019141855A1 EP 2019051417 W EP2019051417 W EP 2019051417W WO 2019141855 A1 WO2019141855 A1 WO 2019141855A1
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WO
WIPO (PCT)
Prior art keywords
grinding
polishing
defect
path
along
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/051417
Other languages
German (de)
French (fr)
Inventor
Werner Unnerstall
Christian Wall
Christian BURSTEIN
Stephan Kampmeyer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rud Starcke GmbH and Co KG
Original Assignee
Rud Starcke GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US16/963,565 priority Critical patent/US20210053185A1/en
Priority to EP19701341.0A priority patent/EP3703905B1/en
Priority to CA3084115A priority patent/CA3084115A1/en
Priority to MX2020007387A priority patent/MX2020007387A/en
Priority to RU2020116724A priority patent/RU2781551C2/en
Priority to BR112020010657-7A priority patent/BR112020010657A2/en
Priority to JP2020540402A priority patent/JP2021510639A/en
Priority to CN201980007038.2A priority patent/CN111601680B/en
Priority to KR1020207018776A priority patent/KR20200107947A/en
Application filed by Rud Starcke GmbH and Co KG filed Critical Rud Starcke GmbH and Co KG
Publication of WO2019141855A1 publication Critical patent/WO2019141855A1/en
Priority to ZA2020/02988A priority patent/ZA202002988B/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B24B1/04—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes subjecting the grinding or polishing tools, the abrading or polishing medium or work to vibration, e.g. grinding with ultrasonic frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface

Definitions

  • the invention relates to a method for grinding and / or polishing a defect in the surface coating of a workpiece according to the preamble of claim 1 and a device for carrying out the proceedings procedural.
  • the contact pressure and the grinding or polishing movement are decisive for the machining result.
  • the contact pressure results in the processing of a horizontal surface of the mass of the grinding tool and the additional Lich manually applied force to the surface.
  • the invention has for its object to further develop a method of the generic type so that the grinding or polishing result is optimized, with simultaneous reproducibility.
  • the mass of the grinding tool is compensated insofar as it has no influence on the result.
  • the grinding movement of the grinding tool and its movement type, i. the orbital, rotary and / or vibratory movements are coordinated and stored in a computer to be executed grinding and polishing track in a computer.
  • the grinding or polishing disc is first performed along a con centric to the faulty inner slideway and then ent uninterrupted ent long led a spiral-shaped slideway in an outer concentric slideway.
  • the grinding or polishing wheel is tilted during the circular grinding movement with respect to the perpendicular to the defect by a predetermined angle inwards and defines a cone angle.
  • This Ke gelwinkel amplifies the grinding performance in the center of the circular path, so that the defect is targeted, easier and faster processed and creates a smooth transition to the edge of the grinding point.
  • the radius of the outer concentric grinding path is not greater than half the diameter of the grinding plate or the grinding or polishing wheel.
  • An apparatus of the method according to the invention is designed such that a grinding or polishing tool is formed as robot connected to a computer Ro, which has a fixed to an arm, orbital, rotating and / or vibrating movable support plate for holding a grinding or polishing pad, wherein the arm is computer-controlled movable.
  • Fig. 3 to 5 the movement of the polishing according to the invention, also in a schematic view, respectively.
  • the grinding movement and the movement type of a grinding tool are stored as an automatic grinding path in the computer as a work program.
  • the center point of the grinding wheel or of the support plate is aligned with the defect 1 to be ground, with the grinding path starting in an inner circle 2.
  • the center of the grinding wheel is tilted inwardly with respect to the perpendicular to the defect 1 by a predetermined angle, under at setting a cone angle.
  • the grinding tool and the workpiece to be machined are usually oriented orthogonal to each other.
  • the grinding wheel can be guided one or more times along the grinding path 2.
  • the grinding wheel is guided in a concentric grinding track 4 and although without employment of the grinding wheel in a cone angle, whereby the grinding transitions smoothed and a flat Endresul is achieved.
  • the sanding track 4 can also be sanded one or more times.
  • the distance between the defect 1, the grinding path 2 and the grinding path 4 is dependent on the size of the defect 1 and its expression as well as the diameter D of the grinding wheel.
  • the spiral track 3 can be different lengths depending on the extent of the defect.
  • the radii of the grinding tracks 2 and 4 must always be smaller than half the diameter D of the grinding disc or grinding wheel, whereby in particular special by the inner circular path 2, the faulty point of the workpiece to be machined undergoes a more intensive continuous processing and thereby the in Figure 2 represented so-called effective grinding surface F1 is ent.
  • the distance between the radii R1, R2 of the sliding tracks 2 and 4 can be adjusted accordingly depending on the defect to be processed.
  • the distance between the inner grinding path 2 and the outer grinding path 4 is chosen to be as small as possible to effectively handle defects in areas such as along edges of a body of a motor vehicle ent long the fat edges of the body modules and in tight radii of the body ,
  • the sliding tracks 2 and 4 are assigned grinding times, as well as to pressure forces of the grinding tool and speeds or stroke rates. In doing so, they always have the same shape and form in a shorter time than previously produced grinding points, so they are reproducible.
  • the cone angle is continuously reduced to 0 to start the grinding path 3 in a previously defined route.
  • Another advantage of the method according to the invention is that the shape of the abrasive can be made smaller on a support, whereby the abrasive requirement is significantly reduced, as well as the not agile energy needs.
  • a computer-aided statistical evaluation between a number of errors and the consumption of abrasives serves as the basis for a continuous improvement process.
  • FIGs 3-5 the sequence of movement of a Polierwerkzeu ges is shown schematically in an automated polishing.
  • the polishing movement and the movement of the polishing tool are also computer controlled, the corresponding parameters are stored in a computer.
  • the center of the polishing head is exactly aligned with the defect 1.
  • polishing contours for example, the surface of affyka rosette, the polishing tool and the surface are orthogonal to each other out.
  • a first polishing sheet 5 is shown, which starts at the defect 1 be and extends spirally outward.
  • the contact pressure is regulated in stages, where the adjustment takes place as a function of the track length.
  • the control of the contact pressure for example, is supported by corresponding pressure sensors in the robot.
  • the movement commences according to the Po lierbahn 5 with a contact pressure P1, which is reduced along the polishing path 5 to the outside Shen.
  • the contact pressure is reduced wei ter to smooth the polishing transition.
  • the contact pressure is reduced in order to prevent heating of the usually formed as a polishing sponge polishing pad.
  • the polishing times along the polishing tracks 5, 6 as well as the pressing pressures and the respective rotational or stroke numbers of the polishing tool are stored in a corresponding program of the computer.
  • the Po lierzeit is adapted to the size of the grinding point.
  • the polishing points are to produce by the inventive method in a much shorter rer time and, moreover, always the same expression and Shape, so are reproducible. As a result, the polish can be noticeably reduced, as well as the energy requirements.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Polishing Bodies And Polishing Tools (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)

Abstract

A method for grinding and/or polishing a defect (1) in the surface coating of a workpiece, wherein a grinding or polishing disc held on a tool is guided with pressure over the defect (1) with orbital, rotating and/or vibrating movements, is configured such that the tool fitted with the grinding or polishing disc (7) is moved over the defect (1) automatically and in a computer-controlled manner on the basis of a stored program, wherein the grinding or polishing disc (7) is first guided along a concentrically inner grinding path (2) relative to the defect (1) and then without interruption is guided along a spiral grinding path (3) to an outer concentric grinding path (4).

Description

Verfahren zum Schleifen und/oder Polieren einer Fehlstelle sowie Vorrichtung zur Durchführung des Verfahrens  Method for grinding and / or polishing a defect and device for carrying out the method

Die Erfindung betrifft ein Verfahren zum Schleifen und/oder Polieren einer Fehlstelle in der Oberflächenbeschichtung eines Werkstücks nach dem Ober begriff des Anspruchs 1 sowie eine Vorrichtung zur Durchführung des Verfah rens. The invention relates to a method for grinding and / or polishing a defect in the surface coating of a workpiece according to the preamble of claim 1 and a device for carrying out the proceedings procedural.

Insbesondere bei Fehlstellen in lackierten Oberflächen, wie sie Karosserien von Kraftfahrzeugen aufweisen, werden diese Fehlstellen punktförmig beschliffen und diese Schleifstelle danach poliert. Dabei werden das Schleif- und Polier werkzeug, an dem eine Schleifscheibe bzw. eine Polierscheibe gehalten sind, manuell von einem Bediener geführt, der entsprechende Schleifbewegungen unter einem Anpressdruck vollführt. In particular, in case of defects in painted surfaces, as they have bodies of motor vehicles, these flaws are ground punctiform and this grinding point then polished. In this case, the grinding and polishing tool on which a grinding wheel or a polishing pad are held, manually guided by an operator who performs corresponding grinding movements under a contact pressure.

Ein Stützteller des Schleif- bzw. Polierwerkzeuges, an dem das Schleif- oder Polierblatt gehalten ist, bewegt sich aufgrund der Maschinenkonzeption orbital, rotativ oder vibrierend, d.h., der Stützteller vollführt eine vom Maschinenbedie ner nicht beeinflussbare Bewegung. A support plate of the grinding or polishing tool, on which the grinding or polishing blade is held, moves orbital, rotary or vibrating due to the machine design, i.e., the support plate performs a non-influenceable by Maschinenbedie movement.

Neben der richtigen Wahl des Schleifmittels sowie der Polierpaste sind der An pressdruck und die Schleif- bzw. Polierbewegung bestimmend für das Bearbei tungsergebnis. Dabei ergibt sich der Anpressdruck bei der Bearbeitung einer waagerechten Fläche aus der Masse des Schleifwerkzeugs sowie der zusätz lich manuell aufgebrachten Kraft auf die Oberfläche. In addition to the correct choice of the abrasive and the polishing paste, the contact pressure and the grinding or polishing movement are decisive for the machining result. In this case, the contact pressure results in the processing of a horizontal surface of the mass of the grinding tool and the additional Lich manually applied force to the surface.

Allerdings kann ein optimaler und gleichbleibender Anpressdruck beim Schlei fen bzw. Polieren der Oberfläche bislang, also manuell, nicht sichergestellt werden. Dies betrifft gleichermaßen eine optimale und gleichbleibende Bewe gung des Schleifwerkzeuges, wobei durch die Form und Größe des Schleif werkzeuges sowie des Stütztellers eine genaue mittige Positionierung zur zu bearbeitenden Fehlstelle nur bedingt möglich ist. However, an optimal and consistent contact pressure when grinding fen or polishing the surface so far, so manually, can not be ensured. This applies equally to an optimal and consistent BeWe movement of the grinding tool, with the shape and size of the grinding tool and the support plate is a precise central positioning to be processed defect only conditionally possible.

In der Folge ergibt sich ein zusätzlicher Aufwand für eine Nachbearbeitung, der überdies nur in einer inakzeptablen Streubreite ein entsprechendes Ergebnis mit sich bringt. Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der gattungsgemäßen Art so weiterzuentwickeln, dass das Schleif- bzw. Polierergebnis optimiert wird, bei gleichzeitiger Reproduzierbarkeit. As a result, there is an additional expense for a post-processing, which also brings only in an unacceptable spread a corresponding result. The invention has for its object to further develop a method of the generic type so that the grinding or polishing result is optimized, with simultaneous reproducibility.

Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Anspruchs 1 gelöst. This object is achieved by a method having the features of claim 1.

Bei Nutzung des erfindungsgemäßen Verfahrens wird zum einen die Masse des Schleifwerkzeugs insoweit kompensiert als diese keinen Einfluss auf das Ergebnis hat. Die Schleifbewegung des Schleifwerkzeugs und dessen Bewe gungsart, d.h. die Orbital-, Rotativ- und/oder Vibrations-Bewegungen sind auf einander abgestimmt und in einer zu vollführenden Schleif- und Polierbahn in einem Rechner hinterlegt. When using the method according to the invention, on the one hand, the mass of the grinding tool is compensated insofar as it has no influence on the result. The grinding movement of the grinding tool and its movement type, i. the orbital, rotary and / or vibratory movements are coordinated and stored in a computer to be executed grinding and polishing track in a computer.

Die Schleif- oder Polierscheibe wird zunächst entlang einer zur Fehlstelle kon zentrischen inneren Schleifbahn geführt und danach unterbrechungsfrei ent lang einer spiralförmigen Schleifbahn in eine äußere konzentrische Schleifbahn geführt. The grinding or polishing disc is first performed along a con centric to the faulty inner slideway and then ent uninterrupted ent long led a spiral-shaped slideway in an outer concentric slideway.

Bevorzugt wird die Schleif- oder Polierscheibe während der kreisenden Schleif bewegung gegenüber der Senkrechten zur Fehlstelle um einen vorgegebenen Winkel nach innen gekippt und definiert dabei einen Kegelwinkel. Dieser Ke gelwinkel verstärkt die Schleifleistung im Mittelpunkt der Kreisbahn, so dass die Fehlstelle gezielter, einfacher und schneller bearbeitet wird und ein sanfter Übergang zum Rand der Schleifstelle entsteht. Preferably, the grinding or polishing wheel is tilted during the circular grinding movement with respect to the perpendicular to the defect by a predetermined angle inwards and defines a cone angle. This Ke gelwinkel amplifies the grinding performance in the center of the circular path, so that the defect is targeted, easier and faster processed and creates a smooth transition to the edge of the grinding point.

Der Radius der äußere konzentrische Schleifbahn ist dabei nicht größer als der halbe Durchmesser des Schleiftellers bzw. der Schleif- oder Polierscheibe. The radius of the outer concentric grinding path is not greater than half the diameter of the grinding plate or the grinding or polishing wheel.

Eine Vorrichtung des erfindungsgemäßen Verfahrens ist derart ausgebildet, dass ein Schleif- oder Polierwerkzeug als mit einem Rechner verbundener Ro boter ausgebildet ist, der einen an einem Arm befestigten, orbital, rotierend und/oder vibrierend bewegbaren Stützteller zur Halterung einer Schleif- oder Polierscheibe aufweist, wobei der Arm rechnergesteuert bewegbar ist. An apparatus of the method according to the invention is designed such that a grinding or polishing tool is formed as robot connected to a computer Ro, which has a fixed to an arm, orbital, rotating and / or vibrating movable support plate for holding a grinding or polishing pad, wherein the arm is computer-controlled movable.

Das erfindungsgemäße Verfahren wird nachfolgend nochmals anhand der bei gefügten Zeichnungen beschrieben. The inventive method is described below again with reference to the attached drawings.

Es zeigen: Fig. 1 und 2 den Bewegungsablauf beim erfindungsgemäßen Schleifen in einer schematischen Ansicht, Show it: 1 and 2, the sequence of movements when grinding according to the invention in a schematic view,

Fig. 3 bis 5 den Bewegungsablauf beim erfindungsgemäßen Polieren, gleichfalls jeweils in einer schematischen Ansicht. Fig. 3 to 5 the movement of the polishing according to the invention, also in a schematic view, respectively.

Die Schleifbewegung und die Bewegungsart eines Schleifwerkzeugs sind als automatische Schleifbahn im Rechner als Arbeitsprogramm hinterlegt. The grinding movement and the movement type of a grinding tool are stored as an automatic grinding path in the computer as a work program.

Zu Beginn der Schleifbewegung wird der Mittelpunkt der Schleifscheibe bzw. des Stütztellers zur zu schleifenden Fehlstelle 1 ausgerichtet, wobei die Schleifbahn in einem inneren Kreis 2 beginnt. Während der Schleifbewegung in der Schleifbahn 2 ist die Mitte der Schleifscheibe gegenüber der Senkrechten zur Fehlstelle 1 um einen vorgegebenen Winkel nach innen gekippt, unter An stellung eines Kegelwinkels. At the beginning of the grinding movement, the center point of the grinding wheel or of the support plate is aligned with the defect 1 to be ground, with the grinding path starting in an inner circle 2. During the grinding movement in the grinding path 2, the center of the grinding wheel is tilted inwardly with respect to the perpendicular to the defect 1 by a predetermined angle, under at setting a cone angle.

Wie erwähnt, sind beim Schleifen von Konturen das Schleifwerkzeug und das zu bearbeitende Werkstück üblicherweise orthogonal zueinander ausgerichtet. As mentioned, when grinding contours, the grinding tool and the workpiece to be machined are usually oriented orthogonal to each other.

Die Anstellung der Schleifscheibe in einem Kegelwinkel verstärkt die The employment of the grinding wheel in a cone angle reinforces the

Schleifleistung im Mittelpunkt der Schleifscheibe, wodurch die Fehlstelle geziel ter, einfacher und schneller ausgeschliffen wird. Grinding performance in the center of the grinding wheel, which makes it easier to cut the defect more precisely, easily and quickly.

Je nach Erfordernis kann die Schleifscheibe ein oder mehrmals entlang der Schleifbahn 2 geführt werden. Depending on requirements, the grinding wheel can be guided one or more times along the grinding path 2.

Entlang einer Spiralbahn 3 wird die Schleifscheibe in eine konzentrische Schleifbahn 4 geführt und zwar ohne Anstellung der Schleifscheibe in einem Kegelwinkel, wodurch die Schleifübergänge geglättet und ein ebenes Endresul tat erreicht wird. Dadurch entsteht eine in Figur 2 dargestellte Schleifstellenflä che F2. Auch die Schleifbahn 4 kann ein oder mehrmals beschliffen werden. Along a spiral track 3, the grinding wheel is guided in a concentric grinding track 4 and although without employment of the grinding wheel in a cone angle, whereby the grinding transitions smoothed and a flat Endresul is achieved. This results in a surface shown in Figure 2 Schleifstelleflä F2. The sanding track 4 can also be sanded one or more times.

Der Abstand zwischen der Fehlstelle 1 , der Schleifbahn 2 sowie der Schleif bahn 4 ist abhängig von der Größe der Fehlstelle 1 und deren Ausprägung so wie dem Durchmesser D der Schleifscheibe. Die Spiralbahn 3 kann je nach Ausprägung der Fehlstelle unterschiedlich lang sein. Die Radien der Schleifbahnen 2 und 4 müssen immer kleiner als der halbe Durchmesser D des Schleiftellers bzw. der Schleifscheibe sein, wodurch insbe sondere durch die innere Kreisbahn 2 die fehlerbehaftete Stelle des zu bearbei tenden Werkstücks eine intensivere kontinuierliche Bearbeitung erfährt und dadurch die in Figur 2 dargestellte sogenannte effektive Schleiffläche F1 ent steht. The distance between the defect 1, the grinding path 2 and the grinding path 4 is dependent on the size of the defect 1 and its expression as well as the diameter D of the grinding wheel. The spiral track 3 can be different lengths depending on the extent of the defect. The radii of the grinding tracks 2 and 4 must always be smaller than half the diameter D of the grinding disc or grinding wheel, whereby in particular special by the inner circular path 2, the faulty point of the workpiece to be machined undergoes a more intensive continuous processing and thereby the in Figure 2 represented so-called effective grinding surface F1 is ent.

Der Abstand zwischen den Radien R1 , R2 der Schleifbahnen 2 und 4 kann je nach zu bearbeitender Fehlstelle entsprechend angepasst werden. Beispiels weise wird der Abstand zwischen der inneren Schleifbahn 2 und der äußeren Schleifbahn 4 möglichst klein gewählt, um Fehlstellen in Bereichen wie bei spielsweise entlang von Rändern einer Karosserie eines Kraftfahrzeuges, ent lang der Fettkanten der Karossenmodule sowie in engen Radien der Karosse effektiv bearbeiten zu können. The distance between the radii R1, R2 of the sliding tracks 2 and 4 can be adjusted accordingly depending on the defect to be processed. Example, the distance between the inner grinding path 2 and the outer grinding path 4 is chosen to be as small as possible to effectively handle defects in areas such as along edges of a body of a motor vehicle ent long the fat edges of the body modules and in tight radii of the body ,

Den Schleifbahnen 2 und 4 werden Schleifzeiten zugeordnet, ebenso wie An druckkräfte des Schleifwerkzeugs und Drehzahlen oder Hubzahlen. Dabei ha ben die in kürzerer Zeit als bisher hergestellten Schleifstellen immer die gleiche Ausprägung und Form, sind also reproduzierbar. Der Kegelwinkel wird zu Be ginn der Schleifbahn 3 in einer vorher definierten Strecke kontinuierlich auf 0 reduziert. The sliding tracks 2 and 4 are assigned grinding times, as well as to pressure forces of the grinding tool and speeds or stroke rates. In doing so, they always have the same shape and form in a shorter time than previously produced grinding points, so they are reproducible. The cone angle is continuously reduced to 0 to start the grinding path 3 in a previously defined route.

Ein weiterer Vorteil des erfindungsgemäßen Verfahrens liegt darin, dass die Form der Schleifmittel auf einem Träger kleiner ausgeführt sein können, wodurch der Schleifmittelbedarf deutlich reduziert wird, ebenso wie der not wendige Energiebedarf. Another advantage of the method according to the invention is that the shape of the abrasive can be made smaller on a support, whereby the abrasive requirement is significantly reduced, as well as the not agile energy needs.

Eine rechnergestützte statistische Auswertung zwischen einer Fehleranzahl und dem Schleifmittelverbrauch dient als Grundlage für einen kontinuierlichen Verbesserungsprozess. A computer-aided statistical evaluation between a number of errors and the consumption of abrasives serves as the basis for a continuous improvement process.

In den Figuren 3-5 ist schematisch der Bewegungsablauf eines Polierwerkzeu ges bei einem automatisierten Polieren dargestellt. Die Polierbewegung sowie die Bewegungsart des Polierwerkzeuges erfolgen ebenfalls rechnergesteuert, wobei die entsprechenden Parameter in einem Rechner hinterlegt sind. In Figures 3-5, the sequence of movement of a Polierwerkzeu ges is shown schematically in an automated polishing. The polishing movement and the movement of the polishing tool are also computer controlled, the corresponding parameters are stored in a computer.

Ebenso wie beim Schleifen wird der Mittelpunkt des Polierkopfes exakt zur Fehlstelle 1 ausgerichtet. Beim Polieren von Konturen, beispielsweise die Oberfläche einer Fahrzeugka rosse, sind das Polierwerkzeug und die Oberfläche orthogonal zueinander aus gerichtet. As with grinding, the center of the polishing head is exactly aligned with the defect 1. When polishing contours, for example, the surface of a Fahrzeugka rosette, the polishing tool and the surface are orthogonal to each other out.

In der Figur 3 ist eine erste Polierbahn 5 dargestellt, die an der Fehlstelle 1 be ginnt und sich spiralförmig nach außen erstreckt. In the figure 3, a first polishing sheet 5 is shown, which starts at the defect 1 be and extends spirally outward.

Im weiteren Verlauf führt eine sich anschließende zweite Polierbahn 6 spiral förmig zurück bis zur Fehlstelle 1 . Dabei können die Bewegungen entlang der Polierbahnen 5, 6, je nach Bedarf einmalig oder mehrmalig sein. In the course of a subsequent second polishing sheet 6 spirally leads back to the defect. 1 The movements along the polishing tracks 5, 6 may be unique or multiple as needed.

In der Figur 5 ist der Bewegungsablauf, entsprechend den Polierbahnen 5 und 6, der einem Poliervorgang entspricht, zusammengefasst dargestellt, wobei die erste Polierbahn 5 als Voll-Linie und die zweite Polierbahn 6 gestrichelt abge bildet ist. In the figure 5, the sequence of movements, according to the polishing tracks 5 and 6, which corresponds to a polishing process, shown summarized, wherein the first polishing sheet 5 forms a full line and the second polishing sheet 6 abge dashed lines.

Innerhalb der Polierbahnen 5, 6 wird der Anpressdruck in Stufen geregelt, wo bei die Anpassung in Abhängigkeit der Bahnlänge erfolgt. Dabei erfolgt die Re gelung des Anpressdrucks beispielsweise unterstützt durch entsprechende Drucksensoren im Roboter. Within the polishing tracks 5, 6, the contact pressure is regulated in stages, where the adjustment takes place as a function of the track length. In this case, the control of the contact pressure, for example, is supported by corresponding pressure sensors in the robot.

Ausgehend von der Fehlstelle 1 beginnt die Bewegung entsprechend der Po lierbahn 5 mit einem Anpressdruck P1 , der entlang der Polierbahn 5 nach au ßen hin reduziert wird. Starting from the defect 1, the movement commences according to the Po lierbahn 5 with a contact pressure P1, which is reduced along the polishing path 5 to the outside Shen.

Beim Übergang der Polierbahn 5 zur Polierbahn 6 wird der Anpressdruck wei ter reduziert, um den Polierübergang zu glätten. When transitioning the polishing sheet 5 to the polishing sheet 6, the contact pressure is reduced wei ter to smooth the polishing transition.

Im weiteren Verlauf, d.h. auf der Polierbahn 6 zurück zur Fehlstelle, wird der Anpressdruck reduziert, um ein Erhitzen der üblicherweise als Polierschwamm ausgebildeten Polierscheibe zu verhindern. In the further course, i. on the polishing sheet 6 back to the defect, the contact pressure is reduced in order to prevent heating of the usually formed as a polishing sponge polishing pad.

Die Polierzeiten entlang der Polierbahnen 5, 6 werden ebenso wie die An pressdrücke und die jeweiligen Dreh- oder Hubzahlen des Polierwerkzeugs in einem entsprechenden Programm des Rechners hinterlegt. Zudem wird die Po lierzeit an die Größe der Schleifstelle angepasst. The polishing times along the polishing tracks 5, 6 as well as the pressing pressures and the respective rotational or stroke numbers of the polishing tool are stored in a corresponding program of the computer. In addition, the Po lierzeit is adapted to the size of the grinding point.

Die Polierstellen sind durch das erfindungsgemäße Verfahren in deutlich kürze rer Zeit herzustellen und haben im Übrigen immer die gleiche Ausprägung und Form, sind also reproduzierbar. In der Folge kann der Poliermitteleinsatz merk lich reduziert werden, ebenso wie der Energiebedarf. The polishing points are to produce by the inventive method in a much shorter rer time and, moreover, always the same expression and Shape, so are reproducible. As a result, the polish can be noticeably reduced, as well as the energy requirements.

Die nun mögliche statistische Auswertung zwischen einer Polieranzahl und ei- nem Poliermittelverbrauch kann als Grundlage für einen kontinuierlichen Ver besserungsprozess genutzt werden. The now possible statistical evaluation between a number of polishes and a polishing agent consumption can be used as a basis for a continuous improvement process.

Bezugszeichenliste LIST OF REFERENCE NUMBERS

1 Fehlstelle 1 defect

2 Schleifbahn  2 sanding track

3 Spiralbahn  3 spiral path

4 Schleifbahn  4 sanding track

5 Polierbahn  5 polishing track

6 Polierbahn  6 polishing track

7 Schleif- oder Polierscheibe  7 grinding or polishing wheel

F1 Effektive Schleiffläche F1 Effective grinding surface

F2 Schleifstellenfläche  F2 grinding surface area

R1 Radius  R1 radius

R2 Radius  R2 radius

D Durchmesser der Schleif- oder Polierscheibe  D Diameter of the grinding or polishing wheel

Claims

Ansprüche claims 1. Verfahren zum Schleifen und/oder Polieren einer Fehlstelle (1 ) in der Oberflächenbeschichtung eines Werkstücks, wobei eine an einem Werk zeug gehaltene Schleif- oder Polierscheibe (7) mit orbitalen, rotierenden und/oder vibrierenden Bewegungen mit Druck über die Fehlstelle (1 ) ge führt wird, wobei das mit der Schleif- oder Polierscheibe bestückte Werk zeug automatisch und rechnergesteuert anhand eines hinterlegten Pro gramms über die Fehlstelle (1 ) bewegt wird, dadurch gekennzeichnet, dass die Schleif- oder Polierscheibe (7) zunächst entlang einer zur Fehl stelle (1 ) konzentrischen inneren Schleifbahn (2) geführt wird und danach unterbrechungsfrei entlang einer spiralförmigen Schleifbahn (3) in eine äu ßere konzentrische Schleifbahn (4) geführt wird. 1. A method for grinding and / or polishing a defect (1) in the surface coating of a workpiece, wherein a convincing held on a work grinding or polishing disc (7) with orbitalen, rotating and / or vibrating movements with pressure on the defect (1 ) is performed, wherein the stocked with the grinding or polishing wheel tool is automatically and computer controlled based on a stored program on the spoil (1) moves, characterized in that the grinding or polishing wheel (7) initially along a to the fault point (1) concentric inner sliding track (2) is guided and then without interruption along a spiral-shaped grinding track (3) in an externa ßere concentric grinding path (4) is guided. 2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass zu Beginn des Schleif- oder Poliervorgangs der Mittelpunkt der Schleif- oder Polier scheibe (7) direkt auf die innere Schleifbahn (2) ausgerichtet wird. 2. The method according to claim 1, characterized in that at the beginning of the grinding or polishing process, the center of the grinding or polishing disc (7) is aligned directly on the inner grinding path (2). 3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass beim Schleifen oder Polieren einer konturierten Oberfläche das Werkzeug ge genüber der Oberfläche orthogonal ausgerichtet wird. 3. The method according to claim 1 or 2, characterized in that when grinding or polishing a contoured surface, the tool is aligned ge compared to the surface orthogonal. 4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Schleif- oder Polierscheibe (7) während der Schleifbe wegung in der Schleifbahn (2) gegenüber der Senkrechten der Fehlstelle (1 ) um einen vorgegebenen Winkel nach innen gekippt wird. 4. The method according to any one of the preceding claims, characterized in that the grinding or polishing wheel (7) during the Schleifbe movement in the slideway (2) relative to the vertical of the defect (1) is tilted by a predetermined angle inwards. 5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Schleif- oder Polierscheibe (7) ein- oder mehrfach ent lang der inneren Schleifbahn (2) geführt wird. 5. The method according to any one of the preceding claims, characterized in that the grinding or polishing disc (7) one or more ent long ent the inner slideway (2) is guided. 6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Schleif- oder Polierscheibe (7) ausgehend von der Fehlstelle (1 ) entlang einer spiralförmigen Polierbahn (5) nach außen ge führt und direkt anschließend entlang einer spiralförmigen Polierbahn (6) zurück zur Fehlstelle (1 ) geführt wird. 6. The method according to any one of the preceding claims, characterized in that the grinding or polishing disc (7) starting from the defect (1) along a spiral polishing track (5) ge leads outwardly and directly thereafter along a spiral polishing track (6) is led to the defect (1). 7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Radius (R1 ) der äußeren Schleifbahn (4) kleiner als der halbe Durchmesser (D) der Schleif- oder Polierscheibe (7) ist. 7. The method according to any one of the preceding claims, characterized in that the radius (R1) of the outer grinding path (4) is smaller than half the diameter (D) of the grinding or polishing wheel (7). 8. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Anpressdruck der Schleif- oder Polierscheibe (7) aus gehend von der Fehlstelle (1 ) entlang der Polierbahn (5) reduziert wird, ebenso wie im weiteren Verlauf entlang der Polierbahn (6) zur Fehlstelle (1 ) hin. 8. The method according to any one of the preceding claims, characterized in that the contact pressure of the grinding or polishing wheel (7) from going from the defect (1) along the polishing path (5) is reduced, as well as in the further course along the polishing path (6 ) to the defect (1). 9. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1 , dadurch gekennzeichnet, dass ein Schleif- oder Polierwerkzeug als mit einem Rechner verbundener Roboter ausgebildet ist, der einen an einem Arm des Roboters befestigten, orbital, rotierend und/oder vibrierend bewegba ren Stützteller zur Halterung einer Schleif- oder Polierscheibe (7) aufweist, wobei der Arm rechnergesteuert bewegbar ist. 9. A device for carrying out the method according to claim 1, characterized in that a grinding or polishing tool is formed as connected to a computer robot, which attached to one arm of the robot, orbital, rotating and / or vibrating bewegba Ren support plate for mounting a grinding or polishing disc (7), wherein the arm is computer-controlled movable.
PCT/EP2019/051417 2018-01-22 2019-01-22 Method for grinding and/or polishing a defect and device for carrying out the method Ceased WO2019141855A1 (en)

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CN201980007038.2A CN111601680B (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing defects and device for carrying out said method
EP19701341.0A EP3703905B1 (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing a defect and device for carrying out the method
CA3084115A CA3084115A1 (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing a defect and device for carrying out the method
MX2020007387A MX2020007387A (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing a defect and device for carrying out the method.
RU2020116724A RU2781551C2 (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing of defect and device for implementation of such a method
US16/963,565 US20210053185A1 (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing a defect and device for carrying out the method
JP2020540402A JP2021510639A (en) 2018-01-22 2019-01-22 A method for grinding and / or polishing a defective part and a device for carrying out this method.
BR112020010657-7A BR112020010657A2 (en) 2018-01-22 2019-01-22 method for grinding and / or polishing a defect and device for carrying out the method
KR1020207018776A KR20200107947A (en) 2018-01-22 2019-01-22 Method for grinding and/or polishing defects and apparatus for performing the method
ZA2020/02988A ZA202002988B (en) 2018-01-22 2020-05-21 Method for grinding and/or polishing a defect and device for carrying out the method

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