JPH11591A - Transfer equipment used for small multicolor coating systems - Google Patents

Abstract

(57) [Summary] [Problem] A transfer device 4 used for a small quantity multi-color coating system
In the process of transferring the paint cartridge 2 from the stock apparatus 3 to the painting robot 1 or the automatic painting apparatus, the paint in the paint cartridge 2 can be sufficiently mixed, so that sedimentation of the paint is prevented, and Can be supplied to automatic painting by the painting robot 1 or the like. A transfer device (4) having a paint cartridge transfer mechanism capable of holding and releasing a paint cartridge (2) and transporting the held paint cartridge (2) while holding the paint cartridge (2) in a fixed posture. Further, it is provided with shaking means 11 capable of swinging the paint cartridge in the middle of its transportation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small quantity multicolor coating system capable of selectively supplying paints of various colors in small units to a coating robot or the like, and more particularly to a small quantity multicolor coating system used in the coating system. Transfer device.

[0002]

2. Description of the Related Art For example, Japanese Utility Model Publication No. 4-46846,
As described in JP-46847-A, etc., in order to cope with diversification of paint colors and to improve the workability of multi-color paint, various kinds of small-quantity paint supply systems have been proposed and developed. I have. In recent years, painting robots are often used for painting automobile bodies and the like. Recently, painting robots have been improved to selectively supply paints of several to dozens of colors to the painting robots. Several small paint supply systems have recently been proposed. For example, Japanese Patent Publication No. Hei 7-34882 discloses a plurality of supply paths for each paint color.
P1 to P3 are respectively guided in the work area of the painting robot 14, and the bottle-shaped storage tank 22 is connected at a fixed point of each supply path, and at the time of painting, the storage tank is moved to the robot 14 by the operation of the robot 14. Disclosed is a spray coater that can be carried and connected to a sprayer 20 in a robot to perform spray painting. Also, JP-A-4-83549
The publication discloses that paint guns 35a to 35n and paint intermediate tanks 21a to 21n of each paint color are arranged near the paint robot 51 so as to be connectable / separable with a paint circulation system classified by paint color, and a mounting robot. Using 41, one or both of the painting gun and the paint intermediate tank are selectively attached to and detached from the painting robot 51, and the paint is discharged by the constant flow rate means 61, enabling selective multicolor painting. Discloses a multicolor coating apparatus.

[0003] However, the above-mentioned invention of the spray coater has the following problems. Since it is necessary to guide the supply path of each paint color into the work area of the painting robot, the number of paint colors that can be supplied is generally limited to several types, and there are certain limitations in diversifying multicolor painting. is there. In addition, very large equipment is required as a whole to guide the supply path of each paint color into the work area of the painting robot. Further, since the paint color is exchanged by the painting robot itself, the color exchange and painting cannot be performed simultaneously, and furthermore, it is necessary to wash the inside of the storage tank 22 every time the color is exchanged. The work efficiency of painting is very poor. Further, in the invention of the above-mentioned multi-color coating apparatus, although it is improved from the above-mentioned spray coating apparatus in terms of the efficiency of the coating operation, there are still the following problems. As the number of paint colors increases and the number of paint colors increases, it is necessary to expand the work area of the mounting robot to a wider range, which leads to a larger facility and a remarkably wider paint work space. Evils occur. Further, since a paint circulation system is provided for each paint color, the coating equipment becomes large as a whole. Further, the conventional multicolor paint supply system as described above is suitable for selectively supplying a relatively large amount of paint per color to a painting robot. In recent years, for example, paint colors used for automobile bodies have reached several tens or more types, and multi-color painting has further progressed, and with this, except for paints used in large quantities such as white paints, The use of paint of each color is relatively smaller. Therefore, there has been a demand for the development of a paint supply system capable of selectively supplying paints of such many colors to a painting robot in smaller units. However, the conventional multicolor paint supply system cannot sufficiently satisfy this demand.

[0004]

Therefore, the present inventor has proposed:
Against this background, a new multi-color paint system that further improves the conventional multi-color paint supply technology, that is, paints of more colors can be selectively supplied to the painting robot in smaller units, Moreover, we decided to develop a small-quantity multi-color coating system in which the efficiency of the entire coating operation including color exchange is very high and the entire equipment is very small.
Thus, the present inventor has conducted various studies, and as a result, has stored a large number of paint color paint cartridges (each cartridge is filled with a relatively small amount of paint) in a stock apparatus. Using a transfer device, a paint cartridge of a required paint color is selectively taken out of a stock device and transported, mounted on a painting robot or an automatic painting device, and then the paint in the paint cartridge is fed to a painting machine. Invented a new small-quantity multi-color coating system, and as a more preferable embodiment, devised a small-quantity multi-color coating system that also has the function of collecting used paint cartridges from a painting robot etc. into a stock device, and These systems have already been disclosed in another patent application.

In the above-mentioned small-quantity multi-color coating system, a paint cartridge is reciprocated between a stock apparatus and a painting robot or an automatic painting apparatus, and the paint cartridge is mounted on a painting robot or the like and loaded into the stock apparatus. It is required to be able to perform recovery efficiently, and that is also a desirable performance. Therefore, the present inventor has further studied and grasped the paint cartridge.
By providing a transfer mechanism that reciprocates two releasable chuck means together between a stock apparatus and a painting robot or an automatic painting apparatus, a paint cartridge can be reciprocated once between the apparatuses. A new and improved new transfer device that can simultaneously perform the loading of the used paint cartridge etc. and the collection of the used paint cartridge to the stock device was devised, and this was described in other patent applications. Disclosed.

Now, with respect to the above-described mechanism for transferring a paint cartridge, that is, a mechanism for taking out a paint cartridge from a stock apparatus and mounting it on a painting robot or an automatic painting apparatus, the following items to be improved are newly added. Has been recalled. The paint cartridge itself does not have a stirring means for homogeneously mixing the paint therein. Therefore, although the amount of paint to be filled in the paint cartridge is relatively small, the paint in the paint cartridge always remains in the process of transferring the paint cartridge from the stock device to the painting robot or the automatic painting device. Care must be taken to maintain a homogeneous composition. If the sedimentation of the paint occurs in the paint cartridge, the solid content will agglomerate and solidify, so in coating using such a paint cartridge, coating defects such as bumps, unevenness, etc. will occur, and if it is severe, It is conceivable that the clogging of the paint flow path may cause a situation in which painting becomes impossible. In addition, when the paint composition contained in the paint cartridge mounted on a painting robot or the like is not uniform, there may be a case where a defect of coating unevenness occurs, and in each painting using a paint cartridge of the same paint color. It is also conceivable that a hue of the formed coating film may be non-uniform (so-called color mismatch). On the other hand, the stock apparatus of the small quantity multi-color coating system is an apparatus that stores a large number of paint cartridges in a stationary state, and when they are taken out, rotates them to a predetermined position by a conveyor mechanism. In addition, since the paint cartridge is usually carried around while maintaining a horizontal position, the mixing of the paint therein is not always sufficient during storage of the paint cartridge. Furthermore, the above-mentioned transfer device proposed by the present inventor suspends a paint cartridge by chuck means, and transports the paint cartridge from a take-out position of a stock device to a loading position of a painting robot or an automatic painting device in a horizontal posture. Mechanism, so during its transport,
Homogenization of paint in paint cartridge (mixing of paint components)
Has the drawback that it is hardly performed.

[0007] Therefore, an object of the present invention is to solve the above-mentioned drawbacks, and to transfer a paint cartridge from a stock apparatus to a painting robot or an automatic painting apparatus.
The paint in the paint cartridge can be sufficiently mixed, so that sedimentation of the paint can be prevented, and a paint having a uniform composition can be supplied to automatic painting by a painting robot or the like. An object of the present invention is to provide a transfer device used for a small-quantity multi-color coating system, which contributes to prevention of occurrence of coating defects such as hue mismatch.

[0008]

More specifically, the present invention is a transfer device for removing a paint cartridge from its stock device and mounting it on a painting robot or an automatic painting device. A shaking means capable of being released and having a paint cartridge transfer mechanism for transporting the gripped paint cartridge while holding the paint cartridge in a fixed posture, and further capable of swinging the paint cartridge during the transport thereof; The present invention relates to a transfer device used for a small quantity multicolor coating system, comprising:

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The transfer device of the present invention forms part of a small quantity multi-color coating system and is located near a stock device for a paint cartridge and a coating robot or an automatic coating device, for example, above or beside them. Placed in Then, the transfer device of the present invention can take out the paint cartridge from its stock device and mount it on a painting robot or an automatic painting device.
This is a device that can take out used paint cartridges from a painting robot etc. and collect them in a stock device. Generally, the paint cartridges can be gripped and released, and the gripped paint cartridges are placed in a fixed posture. (For example, while being suspended in a horizontal position), and is provided with a paint cartridge transfer mechanism for reciprocating transportation between a stock apparatus and a painting robot or an automatic painting apparatus. The transfer device of the present invention has a higher degree of freedom with respect to the transfer operation of the paint cartridge, and a transfer robot in which the trajectory for transporting the paint cartridge can be freely changed. And the automatic transfer device where the trajectory for transporting the paint cartridge is predetermined is applicable.

The specific structure of the paint cartridge transfer mechanism is not particularly limited as long as the paint cartridge can be taken out of the stock apparatus and mounted on a painting robot or an automatic painting apparatus. More preferably, the transfer mechanism is further capable of collecting the paint cartridge from a painting robot or an automatic painting apparatus to the stock apparatus. The transfer device according to a preferred embodiment proposed by the present inventor also includes the above-described paint cartridge transfer mechanism, and the mechanism is more specifically, a stock device with respect to the main body of the transfer device. And a paint robot or an automatic painting apparatus.The movable body is supported so as to be able to reciprocate, and the paint cartridge, which is attached to the movable body, is moved toward and away from the paint cartridge and opened and closed by the chuck member. Two chuck means capable of being held and released, a driving device for reciprocating the moving body and operating the chuck means,
When the moving body is located on the stock apparatus side, one of the chuck means inserts the used paint cartridge into the collection port of the stock apparatus, and the other chuck means takes out the required paint cartridge from the stock apparatus and moves. When the body is located on the side of the painting robot or the automatic painting apparatus, one chuck means takes out the used paint cartridge mounted on the painting robot or the automatic painting apparatus, and subsequently, the other chuck means removes the required paint. A control device for controlling a series of operations of mounting the cartridge on a coating robot or an automatic coating device.

More specifically, the moving body is, for example, a jig supported slidably in a reciprocating manner with respect to a main body of the transfer device over a stock device and a coating robot or an automatic coating device along a guide rail thereof. It consists of a structure and the like.
Two chuck means are attached to the moving body together. Therefore, the two chuck means reciprocate together with the reciprocating movement of the moving body. Each of the two chuck means has a mechanism for opening and closing the chuck pair, and a mechanism for moving the chuck pair to and away from the paint cartridge in the stock apparatus and the paint cartridge mounted on the painting robot or the automatic painting apparatus. By these operations, the paint cartridge can be gripped and released, respectively, and attached together with the moving body. The mechanism for approaching / separating from the paint cartridge is, for example, when the transfer device is disposed above the stock device and the painting robot, the two chuck means are respectively directed toward the paint cartridge in the stock device. , And a mechanism that moves up and down toward a paint cartridge mounted on a painting robot or the like. The driving device is a driving device that performs the reciprocating motion of the moving body and the operation of the two chucking means, but is not necessarily an integrated device. For example, a conveyor mechanism for reciprocating a moving body,
It comprises a combination of a motor device for moving the chuck means up and down, preferably an explosion-proof AC servomotor, and a cylinder device for opening and closing the chuck pair. The control device is a device that controls the entire operation of the transfer device.In particular, when the moving body is located on the stock device side, one of the chuck means that has transported the used paint cartridge is
By approaching a collection port (a port for collecting a paint cartridge) in the stock apparatus, and subsequently releasing the used paint cartridge, it is thrown into the collection port of the stock apparatus and, together with this, the other chuck means Approaching a take-out position (a position where a paint cartridge is taken out) in the stock apparatus, and then grasping the paint cartridge of the paint color to be painted, which is simultaneously carried to the take-out position, so that the required When the paint cartridge is removed from the stock device and the moving object is located on the side of the painting robot or the automatic painting device, one of the chucking means is attached to the mounting portion of the painting robot or the automatic painting device (the place where the paint cartridge is loaded). Approaching and grabbing a used paint cartridge already loaded there and used for painting Then, it is taken out from the painting robot or the like, and subsequently, the other chuck means, which has carried the required paint cartridge, approaches the mounting portion of the painting robot or the like, and releases the required paint cartridge. A mechanism for controlling a series of operations of mounting this in a painting robot or the like is provided. Therefore, the transfer device of the preferred embodiment is a single reciprocating operation accompanied by the two chuck means as described above, from the stock device of the paint cartridge of the paint color to be painted to the painting robot or the automatic painting device. And collection of used paint cartridges from a painting robot or an automatic painting device to a stock device can be performed at the same time.

The transfer apparatus of the present invention further includes a shaking means capable of swinging the paint cartridge in the course of its transportation, in addition to the above-described paint cartridge transferring mechanism. The shaking means may be any means that can shake the paint cartridge so that the paint in the paint cartridge is stirred and mixed more uniformly, and the mechanism and structure thereof are not particularly limited. This shaking means
Usually, it is provided in combination with the above-mentioned transfer mechanism. The shaking means is, for example, a means capable of shaking the vertically suspended paint cartridge an appropriate number of times until the paint cartridge is in a horizontal position, more specifically, a rotary actuator mounted on the chuck means of the transfer mechanism. Alternatively, it is composed of a hydraulic cylinder device or the like.

The paint cartridge is a container having a double structure containing a relatively small amount of paint. For example, a tubular paint bag (made of synthetic resin) is refillably loaded in a substantially cylindrical cartridge body. Do it. The paint cartridge is filled with a small amount of paint, each of a particular paint color (eg, a different paint color desired by each individual purchaser of the vehicle). The paint cartridge usually has an outlet at its leading end, an air inlet at its trailing end, and
When pressurized air is pressed into the cartridge from the inlet, the paint bag in the cartridge is crushed and the paint is pushed out from the outlet of the cartridge. When the paint cartridge is mounted at a mounting position in a coating robot or an automatic coating apparatus, the coating cartridge is configured to be fixedly held at the mounting position by a suitable holding means such as a coating robot. Further, in the present invention, the stirring and stirring of the paint in the paint cartridge by the shaking means.
From the viewpoint of making the mixing more effective, the paint cartridge has a structure in which a small amount of air is previously injected into the paint bag, or a glass ball or a steel ball is previously charged in the paint bag. The structure having the above structure is more preferable.

The above transfer apparatus is used together with a stock apparatus, a painting robot or an automatic painting apparatus in a small quantity multicolor painting system. The stock device is a device for storing a large number of paint cartridges (for example, about 20 to 100 paint colors), and allows a transfer device to remove a required paint cartridge and load a new paint cartridge. Further, the preferred stock apparatus has a mechanism for collecting used paint cartridges carried back by the transfer apparatus. A typical stocking device is an endless conveyor mechanism with a conveyor path passing through the loading and unloading positions of the paint cartridge, and assembled to the conveyor mechanism.
An appropriate number of holding means for detachably holding the respective paint cartridges, and a control device for operating the conveyor mechanism and rotating the required paint cartridges to a take-out position by the transfer device are provided. As described above, the stock device stores a large number of paint cartridges of paint colors, and while rotating these paint cartridges,
This is a device that enables selective removal by a transfer device by rotating a required paint cartridge to a removal position. In addition, painting robots or automatic painting equipment
Although there is no particular limitation on the configuration, the paint cartridge can be mounted, for example, on the head of the painting robot (the front end of the first arm or the rear end of the second arm), and at the same time, the mounted paint cartridge is colored. Extrusion means (mechanism for injecting pressurized air into the paint cartridge) connected to the painter via a changer, gear pump, etc.
With this configuration, the paint in the paint cartridge can be fed to the coating machine along its flow path, and the thinner air for cleaning can be supplied to the paint flow path as needed. Can be used.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. This embodiment is a non-limiting example, and it goes without saying that the present invention is not limited to this.

The transfer device of this embodiment is shown in FIGS.
Is used in the small multicolor coating system shown in The system, as shown in these figures, arranges a stocking device 3 for paint cartridges 2... In the painting booth (not shown) beside the painting robot 1 and above the stocking device 3. A transfer device 4, that is, a device for taking out the paint cartridges 2... From the stock device 3 and mounting them on the coating robot 1 is provided. Although not shown in detail, the paint cartridge 2 is a cylindrical metal or plastic container loaded with a paint bag made of synthetic resin. The paint bag is filled with a small amount of paint of a specific paint color, for example, the amount of paint required for that color in the painting of one work. The inside of the paint bag is filled with a small amount of air in advance in order to make the mixing of the paint by the shaking operation described below more effective. Further, although not shown, the paint cartridge 2 is provided with an outlet at its tip end and an air inlet at its rear end. The paint bag is crushed by air injection from the rear end, and the paint exits. It has a structure that can escape from the part.

The coating robot 1 has an arm capable of turning and turning as shown in FIGS.
As shown in FIG. 1, the robot is capable of reciprocating in the transport direction of the work A (the direction of the arrow f) by the tracking mechanism 50. The coating robot 1 has a mounting means 5 on its head, that is, on the upper surface on the rear end side of the second arm, for fixing and holding the coating cartridge 2 so that the coating cartridge 2 can be mounted. It is equipped with an extrusion mechanism for injecting into the cartridge 2, a bell-type coating machine 6 of the robot 1 and a color changing device connected thereto, and the like. The paint cartridge 2 is connected to the coating machine 6 via a color changing device and is connected to an extruding mechanism. Subsequently, the paint in the paint cartridge 2 is extruded by the operation of the mechanism, and the color changing device , And can be supplied to the coating machine 6 of the robot 1. In the figure, p
Indicates the center of rotation of the painting robot 1. In addition, s indicates a place where the stock apparatus 3 is installed.

The transfer device 4 is a device that mounts the paint cartridge 2 on the painting robot 1 and recovers it from the painting robot 1. As shown in detail in FIGS. This is a structure laid horizontally over the painting robot 1 and over the stock device 3,
Further, the moving body 8, two chuck means 9a and 9b, a driving device 10, a shaking means 11, and a control device (not shown)
Is provided. The moving body 8 is a component supported on the guide rail 7 so as to be slidable back and forth.
By the operation of the C servo motor 12, the C servo motor 12 can slide horizontally along the guide rail 7 and reciprocate. The moving body 8 is formed by suspending two left and right chuck means 9a and 9b in parallel at a predetermined interval. Each of the chuck means 9a and 9b has two chuck pairs 1 that can be opened and closed.
3a, 13b are attached to the base portion 14, and these are provided so as to be vertically movable by operation of the air cylinder devices 15, 15 of the driving device 10. Each of the chuck pairs 13a and 13b can open and close by the operation of the air cylinder device 16, respectively. Therefore, each of the chuck means 9a and 9b can move the chuck pair 13a and 13b closer to or away from the paint cartridge 2 located below by the raising and lowering operation of the base portion 14. Pair 13a,
The paint cartridge 2 can be gripped or released by the opening / closing operation of 13b. As described above, the transfer device 4 can grip and release the paint cartridge 2 by the two chuck means 9a and 9b, respectively, and move the moving body while suspending the gripped paint cartridge 2. 8 reciprocating motion, painting robot 1 and stock device 3
And can be transported back and forth between them.
In this embodiment, the chucking means 9a and 9b are respectively provided on the left and right ends of the base portion 14 by pushing and spreading members 17, 1 and 2.
7 so that the gripping (taking out) of the paint cartridge 2 by the chuck means 9a and 9b and the loading of the paint cartridge 2 by manual operation can be easily performed as described below. (See FIGS. 8 and 9).

The shaking means 11 includes a chuck means 9b.
And a pair of chucks 13a and 13b of the chuck means 9b can be rotated together with their base portions 14 in the direction of arrow d about the shaft 18 as shown in FIG. Thus, when the chucking means 9b grips the paint cartridge 2, the paint cartridge 2 can be swung. Further, the shaking means 11 is controlled in advance so as to shake the gripped paint cartridge 2 an appropriate number of times during its operation. Therefore, by the operation of the shaking means 11, the suspended paint cartridge 2 is swung from the horizontal posture to the vertical posture, and then is returned to the horizontal posture again and repeated a suitable number of times. Therefore, the paint in the paint cartridge 2 is agitated and more uniformly mixed by such a shaking operation.

The control device controls the entire operation of the transfer device 4. As will be described below, a take-out position (a place where the paint cartridge 2 is taken out) 1
9 and a collection port (a port for charging and collecting the paint cartridge 2) 20 are set (see FIG. 6). When the moving body 8 is located on the side of the stock apparatus 3, first, the chuck unit 9 a that has transported the used paint cartridge 2 approaches the collection port 20 of the stock apparatus 3. Then, the used paint cartridge 2 is released and put into the collection port 20, and then the chucking means 9b approaches the take-out position 19 of the stock apparatus 3, and subsequently, the paint color to be painted is obtained. The required paint cartridge 2 is grasped and taken out of the stock device 3, and the movable body 8 is horizontally moved to transport the required paint cartridge 2 grasped by the chuck means 9b to the painting robot 1 and transport the same. At this time, the required paint cartridge 2 is shaken an appropriate number of times by operating the shaking means 11, and thereafter, when the moving body 8 is positioned on the side of the painting robot 1, first, Chuck means 9a is close to the head (the rear end portion of the second arm) of the mounting portion of the painting robot 1, and,
The used paint cartridge 2 already loaded therein is grasped and taken out from the painting robot 1, and subsequently, the chucking means 9 b that has transported the required paint cartridge 2 is moved to the location where the painting robot 1 is mounted. A series of operations of approaching the head, releasing the required paint cartridge 2, fixing and holding it by the mounting means 5, and mounting it on the coating robot 1 are controlled.

Further, the stock apparatus 3 is shown in FIGS.
An endless chain conveyor mechanism 21 and about thirty holding means 22 attached thereto are provided.
And a control device (not shown) for controlling the operation of the conveyor mechanism 21 for storing paint cartridges 2 of about 30 paint colors, and, from among them, required paints The cartridge 2 can be selectively taken out by the transfer device 4. Further, as shown in FIG. 6, the stock apparatus 3 also has a collection mechanism 23 for collecting used paint cartridges 2 provided along with the endless chain conveyor mechanism 21. The endless chain conveyor mechanism 21 has a pair of left and right endless chains 24, 24 (each chain 24 is wound around five sprockets 25,...) At regular intervals and is arranged side by side. The sprocket shafts 26 are connected to an explosion-proof inverter motor 27 and a speed reducer 28 via a coupling 29, and the operation of the driving mechanism 30 causes the paint cartridge 2 held between the left and right endless chains 24, 24 to be moved. While rotating about its longitudinal axis, it can be carried around in the direction of arrow T in FIG. Accordingly, the paint in the paint cartridge 2 is agitated by the rotation of the paint cartridge 2 so as to be more uniform. In addition, at the lower part of the stock device 3, a charging point 3 for the paint cartridge 2 is set.
1, that is, a place where a new paint cartridge 2 is added from the outside, so that the endless chain conveyor mechanism 21 is provided with an endless conveyor path passing through its loading point 31 and the above-mentioned take-out position 19 of the paint cartridge 2. Having.

The holding means 22 is a means for detachably holding each of the paint cartridges 2, and is provided by the number of about 30 kinds of paint cartridges 2... Stored in the stock apparatus 3. 8 and 9.
As shown in the figure, a storage frame 32 capable of receiving the paint cartridge 2 and a pair of left and right bent holding arms 33, 3
3 and coil springs 34, 34 attached to the holding arms 33, 33. The storage frame 32 has a number of upright frame bars 35... Arranged on a frame base 36 so as to surround the paint cartridge 2. When the paint cartridge 2 is placed in the frame base 35, the frame bars 35 By contacting the front end surface, the rear end surface, and the outer peripheral surface of the cartridge 2 without gaps, the paint cartridge 2 can be stably held. Each of the left and right holding arms 33 is an arm bent at a substantially right angle. The left and right holding arms 33 are rotatable around the bent portion 37 on the outer side of the storage frame 32 so that the inner corners thereof face each other. Supported. A holding member 39 is attached to the tip of the upper arm 38 of each holding arm 33, while a pushing member 41 is attached to the tip of the lower arm 40. The coil springs 34, 34 are respectively interposed between the upper arm portion 38 of the holding arm 33 and the frame base 36 of the storage frame 32. When the upper arm portion 38 is tilted inward from the upright posture, the left and right holding arms 33 ,
33 are respectively urged inward, and conversely, the upper arm 38
Is tilted outward from the upright posture, the left and right holding arms 3
Each of 3, 33 is provided with a mechanism (so-called toggle mechanism) that is urged outward (see FIG. 8). Therefore, by the inward acting force of the left and right coil springs 34, 34, the holding members 3, 33 press the upper arm tip holding member 3.
When the paint cartridges 9 and 39 respectively press the paint cartridge 2 loaded in the storage frame 32, the paint cartridge 2 is firmly gripped. As shown in FIGS. 8 and 9, the upper arm 38 of the holding arm 33 has a horizontally elongated pin 42 implanted horizontally. On the other hand, as described above, the chucking means 9b of the transfer device 4
As shown in FIGS. 8 and 9, push-spread members 17, 17 are attached to both left and right ends of the base portion 14, respectively. Thus, when the holding means 22 stops at the take-out position 19 of the paint cartridge 2, the chuck means 9b of the transfer device 4 which has arrived immediately above it descends, and at the same time, the push-spread members 17, 17 move the right and left pins. The upper arms 38, 3 of the left and right holding arms 33, 33 while contacting the
8 outwardly and turn the upper arm 3
When the brackets 8 and 38 are tilted outward from the upright posture, the left and right holding arms 33 and 33 rotate outwardly and vigorously.
The left and right pushing members 41, 41 at the tip of the lower arm respectively push up the paint cartridge 2 inserted in the storage frame 32 upward. Therefore, with this configuration, the chucking means 9b can easily grasp and carry the paint cartridge 2 at the removal position 19, that is, the paint cartridge 2 can be easily removed by the transfer device 4. . Then, after the paint cartridge 2 is taken out, the holding means 22 holds the left and right holding arms 3.
3 and 33 are kept in a state where they are pushed outward. The holding means 22 is rotated to the loading point 31 of the paint cartridge 2, and when the operator loads a new paint cartridge 2, the loaded paint cartridge 2 is held in the left and right directions. The pushing members 41, 41 of the arms 33, 33 are pushed downward, and the left and right lower arm portions 40,
Push inwardly 40, and the upper and lower arms 38, 3
8 is tilted inward from the upright posture, the left and right holding arms 33, 33 rotate inwardly and vigorously, so that the left and right pressing members 39, 39 at the tip of the upper arm are respectively loaded with the loaded paint cartridge. 2 is pressed down from above and the storage frame 3
Hold in 2. Therefore, with such a configuration, the paint cartridge 2 can be easily loaded. In FIG. 5, reference numeral 43 denotes a sensor for detecting whether or not the paint cartridge 2 is gripped.

The control device of the stock device 3 controls the drive device of the endless chain conveyor mechanism 21 to operate by an appropriate amount, thereby turning the required paint cartridge 2 to the take-out position 19 based on the address information of the paint cartridge 2. It is a device that performs based on. That is,
The control device is a device that can calculate the position of the loaded paint cartridge 2 in the endless conveyor path based on the drive amount of the endless chain conveyor mechanism 21 (the travel amount of the chain conveyor 24). Based on the address information automatically read or manually input at the time of loading, calculate in what address order the paint cartridges 2 circulating on the endless conveyor path are arranged based on the original position, and Based on this, the driving amount required to turn the paint cartridge 2 of the paint color to be taken out to the take-out position 19 is calculated,
Then, by driving the endless chain conveyor mechanism 21 by the necessary amount of the carry, control is performed to carry the paint cartridge 2 of the paint color to be taken out to the take-out position 19. Therefore, the control device:
Although not shown, it is connected to an original position confirmation sensor (proximity switch) used for calculating the amount of rotation. In addition,
In FIG. 7, reference numeral 44 denotes a stop confirmation sensor (proximity switch) that detects a stop after the paint cartridge 2 is rotated and carried at the take-out position 19. Further, reference numeral 45 denotes an optical reading sensor provided near and above the take-out position 19, and by using this, a paint color type of the paint cartridge 2 arriving at the take-out position 19 is identified, whereby a required paint cartridge is identified. 2 may be controlled to stop at the take-out position 19.

As shown in FIG. 6, the collection mechanism 23 is substantially U-shaped below the collection port 20 of the paint cartridge 2.
The receiving bars 46 in the shape of a letter are alternately arranged left and right in an obliquely downward posture to form a passage 47 in which the paint cartridge 2 slides down in a zigzag manner, and a passage 48 extending horizontally is formed following the passage 47. The paint cartridge 2 is formed together with the outlet 49 on the side of the device 3, so that when the used paint cartridge 2 is inserted through the recovery port 20,
Through these passages 47 and 48, the outlet 4
9 to be collected. Each receiving bar 46 is partially covered with a rubber shock absorbing material 50, so that the paint cartridge 2 slides down smoothly in the passage 47 without repelling.

In the stock apparatus 3 described above, paints of about 30 different colors can be stored therein, and the paint colors to be painted can be stored in the stock apparatus 3.
In accordance with the control, first, the endless chain conveyor mechanism 21 starts its operation to rotate and transport the paint cartridge 2..., And then rotates the paint cartridge 2 of the paint color to the take-out position 19. It is. On the other hand, the transfer device 4 performs the following series of operations in cooperation with the above operation of the stock device 3. First, as shown in FIG. 10, the moving body 8 moves toward the stock apparatus 3 and stops above the collection port 20, and then the chucking means 9 a descends to approach the collection port 20, and then,
The used paint cartridge 2 held by the chucking means 9 a is released and put into the collection port 20. After the loading, the chuck means 9a rises and returns to the original position. On the other hand, the used paint cartridge 2 put into the collecting port 20 is collected from the outlet 49 through the passages 47 and 48 of the stock device 3. Next, as shown in FIG. 11, the moving body 8 further moves toward the stock apparatus 3 and stops above the take-out position 19, and then the chucking means 9b descends to approach the take-out position 19, and And chuck means 9b
However, the desired paint cartridge 2 of the paint color to be painted is grasped and taken out of the stock device 3, and then the chucking means 9b rises and returns to the original position. Subsequently, the moving body 8 horizontally moves toward the coating robot 1 while holding the paint cartridge 2 of a required paint color by the chucking means 9b. Then, as shown in FIG. 12, the moving body 8 has a position where the chucking means 9 a is mounted on the head (the rear end of the second arm) of the coating robot 1 (holding means 5).
And stops at that position. Next, the chucking means 9a descends and approaches the holding means 5, and subsequently, the chucking means 9a grips the used paint cartridge 2 (the paint cartridge 2 already used for painting), and And then rises and returns to its original position. Next, as shown in FIG. 13, the moving body 8 further moves toward the coating robot 1 and stops at a position where the chucking means 9b reaches above the holding means 5 of the coating robot 1. Next, chuck means 9
b descends and approaches the holding means 5, and then releases the paint cartridge 2 of the required paint color, holds it fixed to the holding means 5, and mounts it on the painting robot 1. Thereafter, the chuck means 9b moves up and returns to the original position. The paint in the loaded paint cartridge 2 is supplied to the painting machine 6 of the painting robot 1 by injection of pressurized air, and is used for automatic painting by the robot 1. Thereafter, the moving body 8 horizontally moves toward the stock apparatus 3 while holding the used paint cartridge 2 by the chucking means 9a, and returns to the position shown in FIG. Therefore, in the multi-color, small-quantity coating system of the present embodiment, the coating of the required color can be selectively supplied to the coating robot 1 in a small unit (in the form of the coating cartridge 2).
In addition, with the use of the transfer device 4, the stock device 3 of the paint cartridge 2 of the paint color to be painted is formed by one reciprocating operation accompanied by the two chuck means 9a and 9b.
From the coating robot 1 and the collection of the used paint cartridge 2 from the coating robot 1 to the stock apparatus 3 can be performed at the same time.

In the present embodiment, while the paint cartridge 2 of the required paint color is suspended from the stock apparatus 3 to the painting robot 1 while being suspended in a horizontal posture, the shaking means 11 is provided. In operation, the paint cartridge 2 is swung an appropriate number of times. That is,
At the take-out position 19, the chucking means 9b descends (FIG. 14), grasps the required paint cartridge 2 of the paint color to be painted, and then moves up and removes it from the stock apparatus 3 (FIG. 15), and thereafter moves. By horizontal movement of body 8,
The chucking means 9b transports the paint cartridge 2 of a required paint color toward the painting robot 1 while holding the paint cartridge 2 in a horizontal posture (FIG. 16). Then, during the transportation, the shaking means 11 is operated, and the chuck pair 13a, 13b
Is rotated 90 ° together with the base portion 14 (FIG. 17), and then returned to the original position (FIG. 18), and this reciprocating swing operation is repeated several times. Therefore, the paint cartridge 2 suspended by the chuck means 9b is swung several times from the horizontal posture to the vertical posture and from the vertical posture to the horizontal posture, whereby the paint in the paint cartridge 2 is agitated, and Mix homogeneously. Particularly, since a small amount of air is previously injected into the paint bag in the paint cartridge 2, the paint is stirred effectively by such a shaking operation, and a very uniform paint can be supplied to the painting robot 1. . Therefore, sedimentation of the paint is also prevented. Thus, the chuck means 9b is
After transporting the paint cartridge 2 of the required paint color to a position above the painting robot 1 in a horizontal posture, the paint cartridge 2 descends and approaches the holding means 5 of the painting robot 1, and the paint cartridge 2 is fixed and held by the holding means 5. It is mounted on the painting robot 1 (FIG. 19). The chuck means 9b then rises. Thereafter, the painting robot 1 moves the paint cartridge 2 of the required paint color so that the loaded paint cartridge 2 is maintained in a vertical position.
The second arm and the like are diverted so that the outlet at the tip faces upward (FIG. 20). Subsequently, a small amount of pressurized air is injected into the paint cartridge 2 to fill the paint bag in advance. Discharge a small amount of air completely from the paint bag. Thereafter, the paint in the paint cartridge 2 is supplied to the painting machine 6 of the painting robot 1 by injection of pressurized air, and is used for automatic painting by the robot 1.

[0027]

As described above, according to the transfer apparatus of the present invention, the paint cartridge is swung by the shaking means in the course of transportation between the stock apparatus and the painting robot or the automatic painting apparatus. The paint can be agitated. Therefore, according to the present invention, in the process of transferring the paint cartridge from the stock apparatus to the painting robot or the automatic painting apparatus, the paint in the paint cartridge can be sufficiently mixed, and therefore, the settling of the paint is prevented. At the same time, a paint having a homogeneous composition can be provided for automatic painting by a painting robot or the like, and therefore, an effect of contributing to prevention of occurrence of painting defects such as bumps and inconsistencies in the hue of the paint film can be obtained. Furthermore, according to the present invention, there is an effect that the paint can be supplied from the stock apparatus to the painting robot or the automatic painting apparatus in smaller units. Further, according to the present invention, since the transfer device can be a relatively small device, it is possible to obtain an effect of contributing to downsizing of the entire coating equipment.

[Brief description of the drawings]

FIG. 1 is an overall view showing a small quantity multicolor coating system in which a transfer device according to an embodiment of the present invention is used.

FIG. 2 is a top view of the small quantity multi-color coating system shown in FIG. 1;

FIG. 3 is a front view showing the entire transfer device of the embodiment.

FIG. 4 is an enlarged front view showing a moving body and chuck means of the transfer device shown in FIG. 3;

FIG. 5 is a side view of the moving body and the chuck means (when ascending and descending) shown in FIG. 4 as viewed from the side.

FIG. 6 is a front view schematically showing the inside of a stock apparatus of the small quantity multicolor coating system shown in FIG. 1;

7 is a side view of the stock apparatus shown in FIG. 6 as viewed from the side.

8 is a diagram showing a lower part of the holding means of the stock apparatus shown in FIG. 6 and the chuck means shown in FIG. 3;

FIG. 9 is a diagram showing a state of holding (left half view) and taking out (right half view) the paint cartridge.

FIG. 10 is a view showing one mode of an operation of transferring a paint cartridge by the transfer device shown in FIG. 3;

11 is a view showing one mode of an operation of transferring a paint cartridge by the transfer device shown in FIG. 3;

FIG. 12 is a view showing one mode of an operation of transferring a paint cartridge by the transfer device shown in FIG. 3;

FIG. 13 is a view showing one mode of an operation of transferring a paint cartridge by the transfer device shown in FIG. 3;

FIG. 14 is a diagram showing a process of taking out a paint cartridge by the transfer device of FIG. 3;

FIG. 15 is a view showing a process of taking out a paint cartridge by the transfer device of FIG. 3;

16 is a diagram showing a process of transporting the paint cartridge by the transfer device of FIG. 3;

17 is a diagram showing a process of shaking the paint cartridge by the transfer device of FIG. 3;

18 is a diagram illustrating a process of shaking the paint cartridge by the transfer device of FIG. 3;

19 is a diagram showing a process of mounting a paint cartridge by the transfer device of FIG. 3;

FIG. 20 is a diagram illustrating the operation of the painting robot after the paint cartridge is mounted.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 coating robot 2 paint cartridge 3 stock device 4 transfer device 5 holding means 6 coating machine 7 guide rail 8 moving body 9a, 9b two chuck means 10 drive device 11 shaking means 13a, 13b two chuck pairs 17 push-out member 19 Removal position 20 Collection port

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Toru Takeuchi 4-17-1, Higashi-Hachiman, Hiratsuka-shi, Kanagawa Prefecture Kansai Paint Co., Ltd. (72) Inventor Tokuyasu Yamaguchi 1-9-9, Kakimotocho, Toyota-shi, Aichi Prefecture Trini (72) Inventor Shinji Tomitsu 1-9-9 Kakimotocho, Toyota City, Aichi Prefecture Trinity Industry Co., Ltd.

Claims (1)

[Claims] A transfer device for removing a paint cartridge from its stock device and mounting it on a painting robot or an automatic painting device, wherein the paint cartridge can be gripped and released, and the gripped paint cartridge is provided. Used in a small-quantity multi-color coating system, comprising a paint cartridge transfer mechanism for transporting the paint cartridge while holding the paint cartridge in a fixed position, and further comprising a shaking means capable of swinging the paint cartridge during the transport. Transfer equipment.