KR100256146B1 - Process and appliance for cutting through protective film in the region of stuck-over joints and beads of vehicle bodies - Google Patents

Abstract

A freely programmable industrial robot with a five degree of freedom of movement is presented for cutting through the protective coating in the region of the bead and the fixed joint of the vehicle body, in which the cutting and pressing tools are fitted to the operating arms of the robot. The cutting tool consists of a knife having a blade for cutting through the protective coating in the region of the bead and the fixed joint and the pressing tool comprises an air nozzle or rotary brush for pressing down the cutting edge. In another form of this invention, the air nozzle which disperse | distributes a diffused hot air current is provided for cutting through a protective film.

Description

Process and appliance for cutting through protective film in the region of stuck-over joints and beads of vehicle bodies}

The present invention relates to an apparatus and a method for cutting through a protective coating in the area of joints and beads of a motor vehicle body.

In the mass production of automobile manufacturers, care must be taken to ensure that the vehicle is not damaged, especially that the painting operation is not significantly affected by storage and weather effects.

Where rail transport or ship transport is required for delivery to the consumer, the car must be coated with a wax protective layer, which must be removed before being delivered to the customer. The removal of the protective wax without debris is not only hard work, but also adversely affects people and the environment due to the solvent used in the work. For the reasons mentioned above, recently, attempts have been made to protect the vehicle body during transportation using an adhesive coated film. However, this is only done on the horizontal surface of the vehicle body which is susceptible to damage by weather or loading. Although the aforementioned type of protection method is very effective, it is quite expensive and a protective coating is applied before the final vehicle assembly, ie immediately after the painting of the vehicle body, as it is provided for protection not only during protection during transportation but also during assembly of the vehicle.

To carefully apply the protective coating, the cutting pieces of the coating are supported by several people, transferred to the vehicle body and aligned with respect to the mating surfaces. Despite the high labor costs, wrinkles and bubbles are not completely removed when the protective coating is applied. When the added area has been cut, this often adversely affects the painting operation, requiring expensive finishing. The process of manually applying a protective film according to the prior art is as follows: First, a rectangular piece of protective film, adapted to the size of the surface, is drawn from the supply roll by one or two people and the rear end is one or two other. Supported and cut by people. This protective coating piece is freely tensioned by two, four or more persons by manual operation with the downward facing adhesive applied, transferred to the body, lowered to the mating surface precisely in a horizontal position, and this mating surface It is placed without pleats and bubbles and pressed down by smoothing it with a flexible, sliding part, ie a reinforcing piece of felt.

In the gaps of adjacent bodywork parts, such as wings or doors, or in the area of fixed joints, the protective coating is cut with a knife by manual operation and the cutting blade is pressed by hand to form an assembly for assembly. Despite continued practice, the use of sharp knives around painted body surfaces adversely affected painting work and required costly finishing. In particular, in forming a vehicle body having beads in the bonnet, the coating portion extending to the beads is cut only after the strip of coating is disposed below. This is because the risk of damaging the painting operation in the bead area is too great.

The prior art corresponds to a normal production method, as applied by the applicant; In the United States, due to environmental protection issues, we no longer allow the application of protective wax when transporting vehicles, and other vehicle manufacturers are reviewing film-protection systems for vehicles during transportation. However, Applicant has not found any publications on this subject.

Applicant's German patent application 196 42 831.9 describes an automated process and apparatus for applying a protective coating with an adhesive applied to an automobile surface, wherein a certain size of the protective coating is produced by a robot-guided tensioning frame. Pulled from the supply rolls, wound into a tensioning frame without wrinkles under natural tension, cut in the supply rolls, introduced into the punching line positionally and precisely by a tensioning frame robot using a robot-guided drilling tool, and the mating surface of the fuselage It is precisely lowered and pressed without wrinkles and bubbles.

It is an object of the present invention to provide a process for cutting through a protective coating in the area of joints and beads of a motor vehicle body, which can replace repetitive manual work by automation, prevent painting damage and reduce labor costs. In particular the devices and methods provided herein are suitable for use with the invention described in the aforementioned German patent application 196 42 831.9.

To achieve this object, a process having the features described in claims 1 to 9 and an apparatus having the features described in claims 11 to 24 are presented.

In the case of automated coating application, the coating piece cut to the required size is pulled from the feeding roll by the robot-guided tensioning frame and wound into a tensioning frame without wrinkles under a constant size natural tension. Because of the tensioning frame, the cut pieces of the tensioned coating can be treated like rigid workpieces, and the perforation lines can be accurately introduced into the cut pieces of the coating using a robot-guided perforation tool before the coating application, and the perforation lines are perforated. By shearing along the line, certain areas of the coating can be removed. Thereafter, the cutting pieces provided in the perforation line are accurately lowered to the engaging surface of the vehicle body by the tensioning frame robot and pressed without wrinkles and bubbles. In the area of fixed beads and joints the coating according to the invention is cut by a robot-guided knife and the cutting blade is pressed using a rotary brush or an air nozzle. In the area of the accessory parts, which are continuously assembled, the protective coating is drawn manually along the perforation line.

A feature of the device according to the invention is that it is equipped with a freely programmable industrial robot with a 5 degree of freedom of movement, in which the cutting and press tools are fitted to the operating arm of the robot. As a cutting tool, a knife having a blade for cutting through a protective coating in the region of the joint and the bead is provided. In order to press the cutting edge of the protective coating, a suitable press tool is provided, which is arranged downstream of the cutting tool in the cutting and movement direction. According to the invention, the press tool is a rotary brush that can be placed on a fuselage component aligned with the protective coating or a diffuser air jet pressing the cutting blade and an air nozzle facing the cutting blade.

The use of a cutting robot accurately guides the knife for cutting through the protective coating, greatly reducing the risk of painting damage. In the area of the joint or bead, the cutting robot pushes the knife blade disposed on the actuating arm through the protective coating and moves the knife in the direction of cutting and movement defined by the joint or bead until it reaches the end of the joint or bead. According to the invention, the cutting edge of the cutting protective film is pushed down into the fuselage and is not fixed to the fuselage, either through the lowering of the working arm, or straight due to the straightening of the working arm in the fuselage part arranged behind the knife and arranged side by side with the protective film. Prevents separation of the film due to unprotected film edges. In another embodiment of the present invention, the cutting edge is pressed into the fuselage through an air nozzle disposed behind the cutting edge, which emits diffuse air flow towards the protective coating.

In one embodiment according to the invention, each of the flat faces of the knife blade comprises a plastic coating. If the knife-guiding direction deviates slightly from the aligned joints, the coating described above serves to prevent damage to the painted bodywork through contact of the paint with the hard blade material. Plastic on both sides of the blade should have good sliding properties against hardened vehicle paints and protective coatings.

In another embodiment of the invention, by means of a leaf spring, the knife is elastically suspended to the cutting and pressing tool, transverse to the cutting and movement direction. Here, the mismatch between the robot-guided path of the knife and the actual path of the fuselage joint or bead is corrected. This is because the knife can elastically "tension and relax" in the case of side contact with the fuselage portion defining the joint. Advantageously, a stop arm that is adjustable to act on the knife and leaf spring across the cutting and movement direction is provided so that when the protective coating is pierced, the knife can be fixed by actuating by the stop arm. During cutting after inserting the knife, the stop arms acting on the knife and the leaf spring are raised to ensure the desired elastic effect each time the knife is in lateral contact with the fuselage part.

In another embodiment according to the invention, in the cutting action, the knife is arranged so that it can be rotated backwards in the cutting direction. During cutting, if the knife encounters an unexpected obstacle in the cutting direction, it rotates back in the cutting direction. This rotation is sensed by an appropriate sensor and causes an immediate stop of the working arm of the cutting robot or the knife so that the production line does not stop due to the unexpected and undesirable obstacles that the knife faces in the cutting path. The cutting robot moves to the next fuselage joint or bead area and systematically cuts and opens it. Properly uncut protective coatings are post-processed in the downstream manual inspection station. Alternatively, after the knife stops using, the cutting robot skips the place where the obstacle is placed, and after the obstacle, reinserts the knife into the protective film on the joint to be cut, thereby continuing the cutting process.

In another aspect of the invention, the knife can be positioned on a floating slide on the anisotropic axis to adjust perpendicular to the film plane and across the cutting and movement directions. The floating slices are mostly placed on the working arms of the robot and are precisely adjusted by the knife in the Z direction, ie perpendicular to the coating plane, during the "exploration journey" before starting the cutting process. After this exploration journey ends, the Z floating slide is fixed and the knife is extended. The extension of the knife can be achieved by moving the working arm of the cutting robot perpendicular to the coating surface and directly extending the knife. This is done immediately after the cutting operation, and the mismatch between the robot-guided cutting path of the knife and the fuselage joint is corrected by a y-floating slide.

In an advantageous embodiment according to the invention, the cutting and pressing tool moves in various working settings and located on the cutting and pressing tool, the measuring device is provided for recording the actual position of the bead or joint of the body to be cut in the working space of the cutting robot. do.

The measuring device is a measuring tool arranged in the cutting and pressing tool and the cutting and pressing tool can rotate in various work settings, in which the measuring tool is operated at the first rotational setting and the cutting and pressing tool at the second rotational setting. The measuring tool here consists of an optical sensor and an acoustic sensor, where the exact position of the gap cut by the sensor can be detected. As soon as the precise position of the gap is determined, the cutting and pressing tool rotates so that the knife is aligned with the actual position of the detected gap and the cutting operation can be started.

In still another aspect of the present invention, a touch probe is provided as a measuring device that is adjustable across the cutting and movement direction and adjustable on a floating slide of the anisotropic axis perpendicular to the film plane. The probe can be lowered directly by the robot arm or into the fuselage, such that the Z-floating slide is deflected perpendicularly to the film plane. The robot then has a touch probe and moves across the joint. As soon as the probe is placed in the gap of the joint, as the robot continues its journey, the y-floating slide is deflected across the cutting and motion direction, and the probe remains in the gap. After the exploration journey is over, the Z-floating slide is fixed. After sensing the actual position of the joint to be cut, the knife is placed in the initial position for the cutting operation.

In an advantageous embodiment according to the invention, the knife is arranged on a floating slide of the anisotropic axis holding the probe and the probe and knife can be adjusted perpendicular to the coating plane. After the exploration journey is terminated, the knife can be easily extended so that it penetrates the protective coating covering the gap, and the probe stops operating, allowing cutting to be made along the knife's robot-guided path.

In another embodiment of the present invention, a tactile probe capable of rotating across the cutting and movement directions is provided as a cutting device. In this embodiment, in the exploration journey moving across the gap to be cut, the probe is deflected as soon as it enters the joint gap. This deflection is sensed via a suitable sensor and a signal is transmitted to the cutting robot, which remembers the deflection point as an insertion point for the knife. Once stored, a deflection having a deflection path once detected or identified may be used for adjacent fuselage joints or beads.

In an embodiment in accordance with the present invention, the touch probe has a rounded tip.

In another embodiment of the invention, the touch probe includes a probe tip having a filler roll that fits into the gap.

In order to achieve the object of the present invention, an apparatus for cutting through a protective coating in the region of joints and beads is presented, which has the features described in claim 14. An air nozzle is arranged on the working arm of the cutting robot as a cutting and pressing tool, which is suitable for the diffusion discharge of hot air, the temperature of which corresponds to the melting temperature of the plastic of the protective coating. The device according to the invention allows the protective coating to be cut without contact in the region of the joint and the beads. Because of the hot air, the plastic in the protective coating begins to melt and the plastic is cut in the area of the joint or bead by the pulse of airflow. The advantage of non-contact cutting is that no additional pressing tool is required to press the cutting edge of the protective coating. This is because the cutting blade has already been pressed into the fuselage by the airflow generated from the air nozzle. Since the hot air is diffused and discharged from the air nozzles, that is, the air jets are directed to the whole area instead of just one point, it is not necessary to have a measuring device to assist in the precise arrangement of the air nozzles. Because the slight deviation of the actual position and the gap to be cut is compensated for by the diffused airflow.

In an embodiment of the invention, a fin made of a material that imparts good thermal conductivity is placed in front of the air discharge opening of the air nozzle. Because of the width of the gap under the coating, when the pulses transmitted by the airflow into the protective coating are insufficient to cut through the coating, the aforementioned pins can be extended and used for cutting through the protective coating, especially in areas of wide beads. do.

The invention is illustrated on the basis of several embodiments and described in detail below with reference to the accompanying drawings.

1 is a cross-sectional view of a robot-guided device according to the present invention having a cutting and pressing tool and a measuring tool.

2A is an enlarged side view of a knife blade partially coated with plastics.

FIG. 2B is a front view of the knife blade shown in FIG. 2A. FIG.

FIG. 2C shows the knife blade of FIG. 2B when cut through the protective coating in the region of the fixed joint. FIG.

3A and 3B are side and front views of mounting of a knife, using leaf springs, in accordance with the present invention;

4 shows the mounting of a knife, using a biaxial floating slide, in accordance with the present invention.

5a and 5b show a measuring device according to the invention, having a touch probe, during the irradiation stroke in the transverse motion with respect to the joint;

6 shows a measuring device according to the invention, having a touch probe arranged to pivot across a joint;

7 shows cutting through a protective coating in the region of a fixed joint, using a hot air nozzle.

* Code Description

1 ... body 6 ... joint

23 ... Protective film 79 ... Knife

81.Operating arm 82 ... Measuring tool

83 ... cutting tool 84 ... blade

85 leaf spring 87 rotating brush

88.Electric motor 90 ... Hydraulic cylinder

91 ... rotating shaft 92 ... adjusting screw

93 ... plastic 94 ... blade mounting

95 ... floating sliding 96 ... touch probe

97.Filler tip 100 ... Air nozzle

102.Air Exhaust Opening

Upon automatic application of the protective coating to the automotive body part, a cutting station is provided after the pressing station in the production line, in which the fixed joint can be cut in the direction of the movable body part, during automatic operation, according to the invention. In this station, the apparatus and the process according to the invention are used for cutting through the protective coating.

A first embodiment of the device according to the invention is shown in FIG. 1. The device according to the invention consists of a freely programmable industrial robot, which is not shown in detail here, and has a six degree of freedom for the actuating arm 81 to transport the cutting robot along the bottom runway of the production line. To have a seventh axis of motion. In addition to the measurement process, the cutting robot is provided with a transport shaft along the above-mentioned floor runner because of the joints located at the front and rear of the vehicle body and the film to be cut. Alternatively, the measuring process is carried out by one or more stationary robots without a seventh axis of motion, in which the robot must only work on parts of the vehicle body.

In the embodiment shown in FIG. 1, the cutting and pressing tool 83 is fitted to the actuating arm 81 of the cutting robot, which can rotate in various work settings, and the measuring tool 82 is connected to the cutting and pressing tool. Are assembled. As the body is moved from one station to another, the actual position of the body is in the range of very large tolerances for the cutting of the joint, despite the mechanical fixation of the carrying slides to the lateral and longitudinal stops on the station-side. Get out of mine. The positional tolerances of the fuselage are overwhelmed by the natural tolerances of the fuselage itself, which can not be totally ignored at the time of cutting of the joint even though they are actually below the positional tolerance. Before the joints of the fuselage are cut, the exact actual position for the cutting robot must be determined in some fuselage parts in the front and rear. The actual position measurement of the joint can be made by means of a stationary measuring device acting in three dimensions.

In the embodiment described, the actual positioning of the cut joint 6 is made by a cutting robot, which acts as a measuring robot. In the first pivot setting of the tool, the measuring tool 82 is activated, whereby the exact actual position of the joint 6 and the body 1 with respect to the cutting robot will be sensed. The tool, which is operated upon the second pivotal setting of the tool having two functions, is made of a cutting and pressing tool 83, which is via a protective film 23 at the joint and a rotary brush 87 for pressing the cutting edge. It has a knife 79 for cutting. The knife 79 consists of a blade 84 and a blade mounting 94 so that the blade 84 can be easily replaced. The rotary brush 87 can be driven in the electric motor 88 via the deceleration miter gear. In place of the rotary brush 87, an air nozzle that releases airflow towards the cutting blade may be used to press the cutting blade.

Since the knife 79 is elastically suspended by the leaf spring 85 across the cutting and movement direction, it can automatically adjust the positional deviation of the joint from the guide path defined by the robot. In order to prevent the knife from severely tensioning and relaxing to the side, the movement play is compressed by a pair of stop arms 86 reaching the knife at both sides, and the movement play can be predetermined by the adjusting screw 92. When the knife is inserted into the joint, the correct position of the knife is ensured and the movement play is removed. For this reason, the stop arms, which can rotate around the axis of rotation 91, move together by a small hydraulic cylinder 90, which acts on the lever arms facing through the expansion wedge, and the knife arms in a positionally arranged arrangement. It can be fixed in between, which is carried out temporarily when the knife is inserted into the joint. The mounting of the knife 79 on the leaf spring 85 is shown in side view (FIG. 3A) and in front view (FIG. 3B). The adjusting screw 92 is not shown in FIG. 3 for the sake of simplicity.

In order to protect the paint in the joint area from scratches caused by the blade 84 action of the knife 79, the two planes of the blade are plastic coated 93, which provides direct contact between the paint portion and the hard blade material. Blocking (FIG. 2). The plastic 93 applied to both sides of the blade 84 has good sliding properties for the hardened vehicle paint and the coating 23 to be applied. As far as the coating thickness and the abrasion-resistance of the coating plastic 93 are concerned, it is possible to extend the tool life of the knife blade 84, even if the coating must be repeated repeatedly. In order to sharpen the blade 84, the plastic coating 93 of the blade 84 is blocked against the cutting edge 99.

Since the length of the cut film is long, it is worth mentioning in connection with the cutting tool 83 that the knife is very fragile and that quick replacement of the knife 79 should be allowed for rational action. Advantageously, a measure of increasing tool life is adopted in which, like better knife material, a hard coating of the cutter or better wear material is maintained through the use of a rotatable round knife. It is worth mentioning in conjunction with the robot that if there is damage, it must be replaced quickly and all mechanical, electrical or fluid connections must be made so that it can be replaced quickly. The measuring tool 82 should be able to be quickly replaced in a double acting tool 82/83.

4 shows the mounting of the knife 79 on the floating slide 95 of the anisotropic axis, which is arranged on the working arm 81 of the cutting robot. The floating slide 95 of the anisotropic axis consists of a z-slide Z that can move perpendicular to the film plane and a y-slide Y that moves perpendicular to the Z-slide and across the cutting and movement direction. On the y-slide Y a knife 79 for cutting through the protective film 23 is arranged. The pressing tool (rotating brush 87) is not shown in FIG. 4 for clarity. It may be fitted on the y-slide, assembled behind the knife 79 in the cutting and movement direction and may be fitted directly to the actuating arm 81 as it has a width sufficient to cover the possible tolerances.

During operation, after the insertion point is determined by a suitable measuring device of the cutting robot, the z-slide Z is fixed so that the working arm must move in the Z-direction at a defined short distance so as not to penetrate the protective coating. Advantageously, the y-slide Y is fixed during insertion, but can be separated before floating and through floating motion in the y direction to compensate for the joint pores and deviations in the joint path at the desired position, and at the time of setting the y-slide Y The knife blade 84 is disposed perpendicular to the film plane. As described with reference to FIGS. 1, 2 and 3, the knife 79 can be placed on the above-described floating slide 95 of the anisotropic axis, whether or not mounted on the leaf spring, or not using other components. . Mounting of the knife 79 on a single-axis floating slide that operates only in the y direction fulfills certain requirements.

5 shows a measuring device according to the invention, in which the insertion position of the knife blade 84 can be determined. A tactile probe with a rounded filler tip 97 is placed on a floating slide 95 of anisotropic axis, y-slide Y perpendicular to the film plane, as described above with reference to FIG. 4. In order to arrange the joint 6 to be cut, the probe 96 is lowered with the floating slide 95 of the anisotropic shaft fixed to the working arm 81 until the probe tip 97 acts on the fuselage 1. (FIG. 5A). Thereafter, the cutting robot moves across the arrangement direction of the joint 6 defined by its actuating arm 81 until the touch probe 96 is engaged with the filler tip 97 at the joint 6. Perform the exercise. This indicates that upon movement of the floating slide 95 of the anisotropic axis, the y-slide Y is deflected. A fixed y-slide Y is used to determine the actual position of the joint 6 and to insert the knife 79 through the protective coating 23. Advantageously, precisely on the y-slide Y, the knives 79 are arranged in line behind the touch probe 96 in the cutting and movement direction. Since the touch probe 96 and the knife 79 can be adjusted separately in the z-direction, by extending the knife 79 in the z-direction, the protective film is pierced and the touch probe 96 moves upward, in the z-direction. , The cutting operation will start. The deflection of the y-slide Y relative to the desired position stored in the cutting robot can be determined and the insertion point of the knife corrected accordingly.

Another measuring device for the position of the cut joint 6 is shown in FIG. 6. According to FIG. 6, an probe 96 ′ having a fowler roll 97 ′ is provided, which is connected to the feel measuring device. The probe 96 'is connected by appropriately mounting to the working arm 81 of the cutting robot, and is disposed in the mounting 98 to rotate across the cutting and movement directions.

In order to arrange the joint 6 to be cut, the probe 96 ′ descends into the body 1 and moves across the joint 6 as described above. As soon as the probe 96 'engages its filler roll 97' at the joint 6, when there is another movement of the actuating arm 81, the rotation of the probe 96 'occurs, which is appropriate. It is recorded in the mounting 98 by the sensor. The actuating arm 81 ends the movement moving across the joint 6 and the settings of the probe 96 'are stored as the knife 79 insertion position. Thereafter, the probe 96 'moves out of its position acting on the body 1, the cutting and pressing tool is manipulated and the knife blade 84 is used to drill the protective film 23 in the stored position.

It is also possible to use a rounded tail tip in the probe 96 'shown in FIG. 6 in the same way that the roller roll 97' can be used with the probe 96 shown in FIG.

7 shows another embodiment of an apparatus according to the invention for cutting through a protective coating. The apparatus includes an air nozzle 100 having an air-venting opening 102, which is disposed on the operating arm of the cutting robot described above. The air nozzle 100 is arranged in line with the air-vented opening at right angles to the vehicle body surface and is spaced apart from the body 1 by the actuating arm of the cutting robot, which is fixed to the protective film 23 and to which the joint to be cut ( Move along 6).

The air nozzle 100 discharges a diffusion jet of air through the air-venting opening 102, which is indicated by the arrow in FIG. 7. Depending on the rate of air discharge, i.e. the air pressure applied to the coating, the air temperature emitted by the air-venting opening 102 is selected so that the plastic softens and is cut. In embodiments according to the invention, those skilled in the art can adjust the mutual parameters of temperature, pressure, nozzle shape and nozzle distance in the protective coating. In the case of a diffused air stream having a relatively low pressure, the temperature of the discharged air corresponds to the plastic melting temperature (> 140 ° C) of the protective film 23. In tests conducted by Applicants, temperatures ranging from about 100 ° C. to 160 ° C. are combined with pressures of 6 to 1 bar. After the continuous movement of the air nozzle 100 along the joint 6 is finished, the air nozzle 100 at a sufficiently slow rate that the plastic is cut in the region of the joint 6 under the influence of melting and airflow so that the joint is cut. ) Movement is made.

An advantage of the cutting device shown in FIG. 7 is that no separate pressing tool is required. This is because the cutting blade of the protective film 23 is not only cut by the airflow but also pressed into the body 1. In addition, an additional measuring device for accurately determining the position of the gap is not required. This is because the exact path tolerance of the joint is compensated for by diffused airflow.

In order to cut the protective coating covering the fuselage of the fuselage, a pin made of a material which provides good thermal conductivity can be placed in front of the air-venting opening 102 of the air nozzle 100 and the bead is wide enough to protect it. The pin is used to drill the protective film 23 when the film 23 cannot be cut by the pulse generated by the airflow. The opening of the protective film 23 by the pin is made by lowering the air nozzle 100. Advantageously, the fins are arranged in the air nozzle 100 so that the distance between the protective film and the air nozzle does not need to be changed to pierce the protective film with the pins.

The present invention provides a process for cutting through a protective coating in the area of joints and beads of a motor vehicle body, which can replace repetitive manual work by the motor vehicle, prevent painting damage and reduce labor costs.

Claims (26)

A freely programmable industrial robot having 5 degrees of freedom of movement, the industrial robot at one end of the bead or joint 6 cut by the cutting tools 83, 79 disposed on the actuating arm 81; Protective film over the entire length of the bead or joint 6 through the protective film 23 and through the movement of the cutting tool 83, 79 along the cutting and movement direction coinciding with the path of the bead or joint 6. The cutting edge of the cut protective film 23 cut through the 23 and the vehicle body 1 through the pressing tools 83 and 87 disposed downstream of the cutting tools 83 and 79 in the operating arm 81. The process of cutting through the protective coating in the area of the joints and beads in the automobile being pressed into. Process according to claim 1, characterized in that the knife (79) is provided as a cutting tool and the rotary brush (87) or air nozzle (100) is provided as a pressing tool. 3. The cutting tool (83) or (79) according to claim 1 or 2, in which the protective film (23) is drilled, the cutting tools (83, 79) are held in an arrangement defined for the operating arm (81) and the joint (6) or the bead is cut during cutting. Wherein the defining fuselage part is supported to be bent across the direction of cutting and movement when contacted. (Correct) The process according to claim 1 or 2, wherein the cutting tool (83, 79) stops at a position where it penetrates the protective film (23) when facing an obstacle during cutting. (Correction) The method according to claim 1 or 2, characterized in that, prior to the cutting operation, the actual position of the joint 6 to be cut is determined by a suitable measuring device disposed on the cutting and pressing tools 83, 79, 87. Process to make. 6. The probes 96, 96 'disposed on the actuating arm 81 are lowered to the fuselage 1 at the first end of the joint 6 to be cut, in order to locate the actual position of the joint to be cut. Process moving across the joint until the probe engages the joint (6). 7. The determined position of the probe 96 'is stored by the cutting robot, and once the probe 96' is restored, the cutting tools 83, 79 remove the protective film 23 at the stored position. A process characterized by being used to drill. 7. The cutting tool (83, 79) according to claim 6, characterized in that the cutting tools (83, 79) are arranged in line with the probe (96) and, when the probe (96) engages in the joint (6), it moves outward and is used to drill the protective coating. fair. And a freely programmable industrial robot having 5 degrees of freedom of movement, wherein the industrial robot includes the protective film 23 by the diffused air jet emitted from the air nozzle 100 disposed on the operation arm 81. Simultaneously with cutting press the cutting edge against the vehicle body 1, the temperature of the air jet for cutting through the protective coating in the region of the joints and beads of the motor vehicle, the temperature of which corresponds to the plastic melting temperature of the protective coating 23 fair. 10. A protective film according to claim 9, wherein a fin made of a material that imparts good conductivity is disposed in front of the air-venting opening 102 of the air nozzle 100, wherein the fin is extended and spans the bead when the bead is cut. (23) a process characterized by being used for drilling. In a device for cutting through protective coatings in the bead and joint areas of a motor vehicle body, a freely programmable industrial robot has a 5 degree of freedom of movement, and a cutting and pressing tool 83 on its operating arm 81. Is fitted and has a blade 84 for cutting the protective film 23 in the region of the bead and the joint 6 together with the air nozzle 100 and the rotary brush 87 for pressing the cutting edge. And (79). 12. The apparatus according to claim 11, wherein each of the planes of the blades of the knife (84) has a plastic coating (93). (Correction) The apparatus according to claim 11, wherein in the cutting and pressing tool (83) the knife (84) is elastically suspended by the leaf spring (84) across the cutting and movement direction. 14. An apparatus according to claim 13, characterized by an adjustable stop arm (86) acting on the leaf spring (85) and / or knife (84) across the cutting and movement direction. The device according to one of claims 11 to 14, characterized in that the knife (84) can rotate backwards in the cutting direction when faced with obstacles during cutting. (Correction) The device according to one of claims 11 to 14, characterized in that the knife 84 is arranged on a floating slide of the anisotropic axis so that it can be adjusted perpendicular to the film plane and can be adjusted across the cutting and movement direction. . (Correction) The method according to any one of claims 11 to 14, wherein the cutting and pressing tool 83 can move in various working settings and the measuring device disposed on the cutting and pressing tool 83 is a cut vehicle body 1 Device for recording the actual position of the bead or joint (6) in the operating area of the cutting robot (80). 18. The measuring device according to claim 17, wherein the measuring device is a measuring tool (82) arranged in the cutting and pressing tool (83) and the cutting and pressing tool (83) can be rotated in various working settings, the measuring tool in the first pivot setting. And (82) operate and the cutting and pressing tool (83) operates upon setting the second pivot. 18. The device according to claim 17, wherein a tactile probe (96) is provided as the measuring device, which is adjustable at the floating slide (95) of the anisotropic axis and perpendicular to the film plane, crossing the cutting and movement directions. 20. The knife 84 according to claim 19, wherein on the floating slide 95 of the anisotropic shaft supporting the touch probe 96, the knife 84 is arranged in line with the touch probe 96 in the cutting and movement direction, 96) and the knife (84) can extend perpendicular to the film plane. 18. An apparatus according to claim 17, wherein a probe (96 ') capable of rotating across the cutting and movement direction is provided as a measuring device. 22. The device according to one of claims 19 to 21, wherein the probe (96, 96 ') has a rounded tail tip (97). 22. An apparatus as claimed in any of claims 19 to 21, wherein the probe (96, 96 ') comprises a filler tip having a filler roll (97') suitable for a gap. 18. A device according to claim 17, wherein the measuring device consists of an optical, acoustical or inductive sensor which senses measuring points arranged along the fuselage to determine a deviation between the required position and the actual position of the fuselage. In a device for cutting through protective coatings in the area of stick-over joints and beads of a motor vehicle body, a freely programmable industrial robot has 5 degrees of freedom of movement and the operating arm of the robot to diffuse and release hot air. 81, an air nozzle (100) is provided. 26. The device of claim 25, wherein the fin is disposed in front of the air-venting opening of the air nozzle (100), the fin being made of a material that imparts good thermal conductivity.

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