JP2007130531A - Coating system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To move a cartridge between a placement base and an replacing position of an atomization head replacing washing apparatus by circularly moving a pivot arm part of a cartridge replacing apparatus. <P>SOLUTION: The cartridge replacing apparatus 41 is provided with a pivot arm part 48 provided with a cartridge grasping mechanism 48B for grasping the cartridge 24; and a circular motion part 46 for pivoting the pivot arm part 48 on a horizontal plane. The cartridge replacing apparatus 41 grasps the filled cartridge 24 on the placement base 42 by the cartridge grasping mechanism 48B and moves the pivot arm part 48 toward the replacing position O by the circular motion part 46 in the state. Thereby, the filled cartridge 24 and the used cartridge 24' can be replaced between the placement base 42 and the common body part 15 arranged at the replacing position O of the atomization head replacing washing apparatus 31. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a coating system suitable for use, for example, for coating automobile bodies, furniture, electrical appliances, and the like.

  In general, a painting system for painting an object to be coated such as a car body of an automobile includes a robot apparatus having an articulated arm and a coating machine equipped with an atomizing head that is attached to the end of the arm of the robot apparatus and sprays paint. It is roughly structured.

  Further, the coating system is provided with a common main body at the arm tip of the robot apparatus, and a cartridge filled with paint to be supplied to the atomizing head of the coating machine is replaced and attached to the common main body. (For example, refer to Patent Document 1).

JP 2000-176333 A

  Here, the coating system according to the invention of Patent Document 1 includes a cartridge exchange device in which a plurality of cartridges prepared for each color are arranged on a mounting table. The cartridge exchange device includes a mounting table on which a plurality of cartridges are disposed, a paint filling device that is provided on the mounting table and fills the cartridge with paint, and a length direction of the mounting table in a state where the cartridge is held, A cartridge moving device that moves in the width direction and in the upward and downward directions is roughly constituted.

  The cartridge moving device includes a first moving mechanism having a moving table on a pair of rails extending in the length direction of the mounting table, and a pair extending in the width direction provided on the moving table of the first moving mechanism. A second moving mechanism having a moving table on the rail, and a third moving mechanism that is provided on the moving table of the second moving mechanism and moves up and down the cartridge gripping device.

  When replacing and mounting the cartridge on the common main body of the coating machine, the arm of the robot apparatus is operated to place the coating machine at a predetermined cartridge replacement position, and the arm and the like are operated at this replacement position. Stop. In this state, the cartridge exchanging device removes the used cartridge from the common main body by holding the cartridge by the cartridge moving device and moving it upward. Further, the robot apparatus is kept stopped at a predetermined replacement position, and another cartridge filled with the paint by the cartridge replacement apparatus is attached from the upper side of the common main body.

  On the other hand, some coating systems include an atomizing head exchanging device that prepares a plurality of atomizing heads and replaces each atomizing head with respect to a common main body of the coating machine (for example, Patent Document 2).

JP 2001-79463 A

  When the atomizing head is replaced and attached to the common main body of the coating machine, the atomizing head attached to the common main body is operated by atomizing the arm of the robot apparatus. Attach to the head gripping mechanism. In this state, the robot apparatus removes the used atomizing head from the common main body by moving the common main body upward. On the other hand, the robot apparatus from which the used atomizing head has been removed moves the common main body portion to the mounting position of the other atomizing head attached to the atomizing head gripping mechanism. It is to be attached to.

  By the way, the cartridge moving device according to Patent Document 1 described above is movable in two orthogonal directions by providing the second moving mechanism extending in the width direction on the first moving mechanism extending in the length direction of the mounting table. It is configured as a so-called XY table. Since this XY table has a structure in which a second moving mechanism including a heavy rail, moving table, etc. is mounted on the first moving mechanism, each heavy moving mechanism is difficult to move and is difficult to stop. For this reason, since the cartridge moving device has to suppress the moving speed in order to move the cartridge to an accurate position, it takes time to replace the cartridge, resulting in a decrease in productivity. is there.

  On the other hand, the coating system according to Patent Document 2 described above is configured to replace the atomizing head by moving the coating machine upward and downward with respect to the atomizing head gripping mechanism provided in a fixed manner. In addition, the coating system according to Patent Document 2 is configured such that the cartridge is replaced by the cartridge replacement device by stopping the arm of the robot apparatus at a predetermined replacement position and placing the coating machine at the replacement position.

  However, the robot apparatus used for the painting work usually has an error of about several millimeters in the repeated position accuracy of the operation control such as the movement, stop, and posture of the coating machine attached to the tip of the arm. For this reason, even if the robot apparatus moves the coating machine to the predetermined replacement position by the same control command for replacing the atomizing head and cartridge after performing the predetermined painting work, It will shift from this exchange position. Therefore, if the replacement work is performed only depending on the control accuracy of the robot apparatus, an unreasonable load acts between the atomizing head, the cartridge, and the common main body due to the displacement of the replacement position at this time. There is a problem that the life of the coating machine is reduced by repeated damage.

  In addition, since the robotic device is required to have extremely high operation accuracy in order to place the coating machine at a predetermined replacement position during the cartridge replacement operation, the dimensional accuracy when installing these devices must also be increased. However, there is a problem that the cost increases.

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to reduce the weight of the cartridge exchange device and to facilitate the operation thereof. With this cartridge exchange device, the cartridge exchange operation can be performed efficiently. An object of the present invention is to provide such a coating system.

  A painting system according to the present invention includes a robot device for performing a painting operation, a common main body portion fixedly attached to the robot device, an atomizing head for spraying paint that is replaceably attached to the common main body portion, and A sprayer comprising a cartridge which is replaceably attached to the common main body and supplies paint to the atomizing head, and an atomization which has been used to clean the used atomizing head attached to the common main body of the coating machine An atomizing head replacement cleaning device that replaces the head and cleans the used atomizing head that has been replaced, and grips one of a plurality of filled cartridges arranged on a mounting table, and It comprises a cartridge replacement device that replaces a used cartridge attached to the common main body of the coating machine at the replacement position of the head replacement cleaning device.

  In order to solve the above-mentioned problem, the feature of the configuration adopted by the invention of claim 1 is that the cartridge exchange device is configured such that the cartridge is placed on the mounting table with the center of the swinging fulcrum and the fog The cartridge is replaced while swinging in a circular arc between the replacement position of the control head replacement cleaning device.

  According to a second aspect of the present invention, the filled cartridge is arranged in an arc shape on the mounting table with the swinging fulcrum as a center.

  According to a third aspect of the present invention, the cartridge exchanging device includes the mounting table in which the filled cartridges are arranged along an arc centered on the swinging fulcrum, and the swinging fulcrum provided on the mounting table. An arc motion part that moves in an arc around the center, an elevating motion part that moves up and down provided on the arc motion part, and a distal end that is attached to the elevating motion part and extends in the horizontal direction to become a free end And a swing arm portion provided with a cartridge gripping mechanism on the side.

  According to a fourth aspect of the present invention, the cartridge exchange device is a mounting table in which the filled cartridges are arranged along a plurality of rows of arcs formed with a center in the swinging fulcrum and spaced in the length direction. A linear motion portion that is provided on the mounting table and linearly moves the swing fulcrum in the length direction, an arc motion portion that is provided on the linear motion portion and moves in an arc around the swing fulcrum, and the arc motion An up-and-down moving part provided on the upper and lower sides, and a swing arm part provided with a cartridge gripping mechanism on the distal end side which is attached to the up-and-down moving part and extends in the horizontal direction to become a free end. This is because of the configuration.

  According to the invention of claim 5, the atomizing head replacement cleaning device is provided with a common main body gripping device for gripping the common main body portion of the coating machine and positioning the common main body portion at the replacement position, and the cartridge. The exchange device is configured to replace the cartridge in a state where the common main body portion is gripped by the common main body portion gripping device.

  According to the first aspect of the present invention, the cartridge exchange device exchanges the filled cartridge disposed on the mounting table and the atomizing head exchange cleaning device by swinging in a circular arc around the swing fulcrum. It is possible to exchange the used cartridge of the coating machine placed in position. Here, the cartridge exchanging device can move the plurality of filled cartridges arranged on the mounting table only by swinging so as to draw an arc, and thus the configuration can be simplified.

  As a result, since the cartridge exchange device can reduce the load acting on each moving part by reducing the weight, the operation speed can be increased and the braking performance can be improved. Thereby, the cartridge exchange device can perform the exchange operation of the cartridge in a short time without reducing the control accuracy, and can improve the productivity.

  According to the invention of claim 2, the plurality of filled cartridges arranged on the mounting table are arranged in an arc shape so as to follow the swing of the cartridge exchange device. As a result, the cartridge exchanging device can swing and move in a circular arc shape, so that any of the plurality of filled cartridges can be gripped and moved, and the cartridge can be exchanged.

  According to the invention of claim 3, the cartridge exchanging device grips the filled cartridge by the cartridge gripping mechanism on the tip end side of the swing arm portion, and in this state, moves the cartridge gripping mechanism together with the filled cartridge by the lifting and lowering motion portion. Move up. The arc motion unit moves the cartridge gripping mechanism along an arc centered on the swing fulcrum. Thereby, the cartridge exchange apparatus can remove a used cartridge from the common main body part of the coating machine fixed to the exchange position of the atomizing head exchange cleaning apparatus, or can attach a filled cartridge to the common main body part.

  According to the invention of claim 4, the cartridge exchanging device grips the filled cartridge by the cartridge gripping mechanism on the tip side of the swing arm portion, and in this state, the cartridge gripping mechanism is moved together with the filled cartridge by the lifting and lowering motion portion. Move up. The arc motion unit moves the cartridge gripping mechanism along an arc centered on the swing fulcrum, and the linear motion unit moves the cartridge gripping mechanism in the length direction of the mounting table.

  Thereby, the cartridge exchange apparatus can remove a used cartridge from the common main body part of the coating machine fixed to the exchange position of the atomizing head exchange cleaning apparatus, or can attach a filled cartridge to the common main body part. Here, when the number of cartridges to be arranged on the mounting table is increased, a plurality of cartridges arranged in an arc shape on the mounting table may be arranged.

  According to the invention of claim 5, when the atomizing head and the cartridge are replaced and attached to the common main body portion of the coating machine, the robot apparatus moves the coating machine to the replacement position of the atomizing head replacement cleaning apparatus. Since the common main body gripping device is provided at the replacement position, the common main body gripping device grips the common main body of the coating machine. As a result, it is possible to absorb errors due to repeated position accuracy of the robot device, misalignment due to errors when the robot device is installed, etc., and accurately place the common main body of the coating machine at the replacement position of the atomizing head replacement cleaning device. Can be positioned.

  As a result, when the atomizing head and the cartridge are smoothly attached to and detached from the common main body portion, their lifetime can be extended. In addition, it is possible to improve the workability when installing the robot apparatus, the workability when processing and installing the atomizing head exchange cleaning device, and the cartridge exchange device. Moreover, the cost of the whole painting line can be reduced.

  Hereinafter, the coating system according to the embodiment of the present invention will be described in detail with reference to FIGS.

  In FIGS. 1 and 2, reference numeral 1 denotes a painting line for painting a vehicle body 2 of an automobile, and the painting line 1 has a conveyor device 3 for conveying the vehicle body 2. Further, a coating system 11 described later is disposed in the middle of the conveyor device 3 on both the left and right sides.

  Reference numeral 11 denotes a coating system located in the middle of the conveyor device 3 and disposed on both the left and right sides. The coating system 11 is roughly configured by a robot device 13, a coating machine 14, an atomizing head replacement cleaning device 31, and a cartridge replacement device 41, which will be described later.

  Reference numeral 12 denotes two traveling rails which are arranged at a predetermined distance in the left and right directions of the conveyor device 3 and extend in parallel with the conveyor device 3. These traveling rails 12 constitute a tracking mechanism, and move a robot apparatus 13 (to be described later) following the vehicle body 2 conveyed by the conveyor apparatus 3.

  Reference numeral 13 denotes a robot apparatus for performing a painting operation disposed on the traveling rail 12. The robot device 13 is for applying a coating to the vehicle body 2 by causing a coating machine 14 (described later) provided at the tip thereof to follow the vehicle body 2 in accordance with the teaching content.

  Further, the robot device 13 performs coating from the front side to the rear side of the vehicle body 2 by moving a coating machine 14 (described later) along the vehicle body 2 while traveling on the traveling rail 12 substantially parallel to the conveyor device 3. Can do. Moreover, the robot apparatus 13 can move the coating machine 14 and can arrange | position in the exchange position O of the atomization head exchange cleaning apparatus 31 mentioned later.

  The robot device 13 is provided on the traveling rail 12 and moves along a conveying direction of the conveyor device 3, and a vertical arm 13B provided on the pedestal 13A so as to be rotatable and swingable. The robot is configured as a robot apparatus having an articulated arm by a horizontal arm 13C swingably provided at the tip of the vertical arm 13B and a wrist 13D rotatably and rotatably provided at the tip of the horizontal arm 13C. ing.

  Here, the robot device 13 has a rotary motor and a reciprocating actuator for operating the arms 13B and 13C and the wrist 13D when the common main body 15 of the coating machine 14 is held by a common main body holding device 33 described later. Control is performed so as to reduce the driving force (driving torque) to be generated by (not shown). In this control, when an external force is applied to the arms 13B and 13C, the wrist 13D, and the like of the robot apparatus 13, the robot apparatus 13 moves freely according to the external force. Thereby, since the common main body 15 of the coating machine 14 is in a free state in which it can freely move in any direction, the common main body gripping device 33 can move the coating machine 14 in any direction, The main body 15 can be accurately positioned at an exchange position O described later.

  Reference numeral 14 denotes a coating machine attached to the wrist 13D at the tip of the horizontal arm 13C constituting the robot apparatus 13. The coating machine 14 is for coating the vehicle body 2 and is configured as a rotary atomizing head type coating machine having a rotary atomizing head 22 described later. Further, as shown in FIG. 3, the coating machine 14 is roughly configured by a common main body 15, an atomizing head 19, a cartridge 24, and the like which will be described later.

  Reference numeral 15 denotes a common main body portion fixedly attached to the robot apparatus 13. The common main body portion 15 includes a cleaned atomizing head 19 and a used atomizing head 19 ', which will be described later, a filled cartridge 24 and a used cartridge 24. ′ Constitutes a common body part to be exchanged and attached. As shown in FIGS. 3 and 4, the common main body portion 15 includes a neck portion 15A attached to the wrist 13D at the tip of the horizontal arm 13C, and a columnar attachment portion integrally formed at the tip of the neck portion 15A. 15B.

  Further, as shown in FIG. 5, the front side of the mounting portion 15B is an atomizing head connecting portion 15C to which an after-mentioned atomizing head 19 is connected in a replaceable manner. On the other hand, the rear side of the mounting portion 15B is a cartridge fitting portion 15D into which a later-described cartridge 24 is fitted in a replaceable manner. Further, a feed tube insertion hole 15E through which the feed tube 27 of the cartridge 24 is inserted is formed at the axial center position of the attachment portion 15B.

  Here, the mounting portion 15B of the common main body portion 15 has a rotational direction and a top when the mounting portion 15B is mounted on the common main body gripping device 33 described later, as shown in FIGS. A pair of gripping surfaces 15 </ b> F is formed as an alignment portion for aligning the position in the downward direction. The pair of gripping surfaces 15F are formed to be recessed at positions facing each other in the radial direction of the attachment portion 15B. Each gripping surface 15F sandwiches the flat surface 15F1 between the flat surface 15F1 that is parallel to each other in the radial direction of the mounting portion 15B, the one side inclined surface 15F2 provided on the rear side of the flat surface 15F1. The one-side inclined surface 15F2 and the other-side inclined surface 15F3 provided on the opposite side are constituted. Here, the one side inclined surface 15F2 and the other side inclined surface 15F3 are inclined so as to be separated from each other toward the radially outer side of the mounting portion 15B.

  As shown in FIG. 19, each gripping surface 15F is sandwiched between rotational direction positioning portions 33D of a common main body gripping device 33 described later, and passes through the replacement position O by the flat surface 33D1 coming into contact with the flat surface 15F1. The common main body 15 can be positioned in the rotational direction with respect to the center line O1-O1 in the upper and lower directions. When each gripping surface 15F is sandwiched between the rotation direction positioning portions 33D of the common main body gripping device 33, the inclined surfaces 15F2 and 15F3 are formed on the inclined surfaces 33D2 and 33D3 of the rotation direction positioning portion 33D as shown in FIG. By abutting, the common main body 15 can be positioned upward and downward.

  Reference numeral 16 denotes a high voltage generator provided in the neck portion 15A of the common main body 15, and the high voltage generator 16 is constituted by, for example, a cockcroft circuit. The high voltage generator 16 applies a high voltage boosted to, for example, −60 to −120 kV to the rotary atomizing head 22 via a rotary shaft 21B of the air motor 21 described later.

  Reference numeral 17 denotes an extrusion liquid passage on the common main body side through which the extrusion liquid for extruding the paint in the cartridge 24 attached to the common main body portion 15, and 18 denotes a common main body portion located in the middle of the extrusion liquid passage 17. 15 shows an extrusion liquid valve provided at 15. The extrusion liquid valve 18 communicates and blocks the extrusion liquid passage 17 and controls the extrusion liquid supplied to the cartridge 24.

  Reference numeral 19 denotes an atomizing head that is detachably connected to the atomizing head connecting portion 15C of the common main body portion 15 (see FIG. 4). The atomizing head 19 sprays paint supplied from a cartridge 24 described later toward the vehicle body 2. In addition, for example, two atomizing heads 19 are prepared, and are configured to be used by appropriately replacing them. As shown in FIG. 6, the atomizing head 19 is configured as a rotary atomizing head type atomizing head including a body 20, an air motor 21, a rotary atomizing head 22, a shaping air ring 23 and the like which will be described later.

  Here, in the description of the operation to be described later, the atomizing head in which the previous color paint is washed out of the two atomizing heads 19 is referred to as “washed atomizing head 19”. On the other hand, the atomizing head used in the painting operation and having the fore-color paint attached thereto is referred to as a “used atomizing head 19 ′” to be distinguished from the cleaned atomizing head 19.

  Reference numeral 20 denotes a body that forms an outer shell of the atomizing head 19, and the body 20 is formed in a tapered cylindrical shape that gradually decreases in diameter toward the front side, and the inside thereof is a motor housing portion 20A. Further, on the outer peripheral side of the body 20, for example, three engagement holes 20B (only two are shown) are provided. As shown in FIGS. 21 and 22, these engagement holes 20B are engaged with engagement protrusions 35E provided on a gripping tool 35C of an atomizing head gripping device 35 described later. Further, a positioning pin 20C protrudes from the rear end of the body 20, and the positioning pin 20C is inserted into a positioning hole (not shown) of the common main body portion 15 to be positioned in the rotational direction. is there.

  Reference numeral 21 denotes an air motor provided in the motor housing portion 20 </ b> A of the body 20. The air motor 21 rotates a hollow rotating shaft 21B rotatably supported in a motor case 21A by an air turbine 21C at a high speed of 3000 to 100,000 rpm, for example.

  Reference numeral 22 denotes a rotary atomizing head attached to the tip of the rotary shaft 21B of the air motor 21. The rotary atomizing head 22 is rotated at high speed by the air motor 21 to atomize and spray the paint discharged from the feed tube 27 of the cartridge 24 by centrifugal force.

  Reference numeral 23 denotes a shaping air ring which is located on the outer peripheral side of the rotary atomizing head 22 and provided at the front end of the body 20. The shaping air ring 23 ejects shaping air that forms a spray pattern of paint particles sprayed from the rotary atomizing head 22.

  Next, reference numeral 24 denotes a cartridge that is detachably fitted to the cartridge fitting portion 15D of the common main body portion 15. The cartridge 24 is, as shown in FIGS. A plurality of colors 42 are placed for each color. The cartridge 24 is roughly constituted by a tank 25, a piston 26, a feed tube 27 and the like which will be described later.

  Here, in the description of the operation to be described later, among the plurality of cartridges 24, the cartridge in which the paint used as the next color is filled in the tank 25 is referred to as “filled cartridge 24”. On the other hand, a cartridge that is used in a painting operation and no previous color paint remains in the tank 25 is referred to as a “used cartridge 24 ′” to be distinguished from the filled cartridge 24.

  Reference numeral 25 denotes a tank of the cartridge 24, and the tank 25 is formed as a cylindrical container closed at both ends in the axial direction. Further, on the rear end side of the tank 25, there is provided a gripping protrusion 25A that is gripped by cartridge gripping mechanisms 48B and 48C of a swing arm portion 48 described later. A piston 26 is inserted into the tank 25 so as to be displaceable in the axial direction. The piston 26 defines the inside of the tank 25 into a front paint chamber 25B and a rear extrusion liquid chamber 25C. . Further, a paint passage 25D is provided on the front side of the tank 25 to connect a paint supply path 27A of a feed tube 27 described later to the paint chamber 25B.

  Reference numeral 27 denotes a feed tube provided on the front side of the tank 25, and the base end side of the feed tube 27 is fixed to a front side portion of the tank 25. On the other hand, as shown in FIG. 4, the distal end side of the feed tube 27 extends through the feed tube insertion hole 15 </ b> E of the common main body portion 15, and the distal end portion opens toward the rotary atomizing head 22. A paint supply path 27 </ b> A communicating with the paint chamber 25 </ b> B of the tank 25 is formed in the feed tube 27. Further, a valve seat portion 27B is provided on the distal end side of the feed tube 27 by reducing the diameter of the paint supply passage 27A.

  Reference numeral 28 denotes an extrusion liquid passage on the cartridge side provided in the tank 25 in communication with the extrusion liquid chamber 25C. The extrusion liquid passage 28 is connected to the cartridge fitting portion 15D of the common main body portion 15 as shown in FIG. When 24 is fitted, it communicates with the extruded liquid passage 17 on the common main body side.

  A paint valve 29 is provided at a front portion of the tank 25, and the paint valve 29 performs on / off control of the paint supplied from the feed tube 27 toward the atomizing head 19. The paint valve 29 includes an axially displaceable piston 29A, and a valve body 29B extending from the piston 29A into the paint supply path 27A of the feed tube 27 and having a tip attached to and detached from the valve seat portion 27B. It is configured.

  Next, the two atomizing heads 19 and 19 'are replaced and attached to the common main body 15 of the coating machine 14 provided in the robot apparatus 13, and the removed used atomizing head 19' is cleaned. The configuration of the atomizing head replacement cleaning device 31 will be described with reference to FIGS.

  That is, reference numeral 31 denotes an atomizing head replacement cleaning apparatus according to the present embodiment. The atomizing head replacement cleaning apparatus 31 is located at a position that does not interfere with the painting operation within the operating range of the robot apparatus 13, as shown in FIG. It arrange | positions in the clearance gap between the running rail 12 and the wall surface (not shown) of a painting booth. The atomizing head replacement cleaning device 31 replaces the used atomizing head 19 ′ attached to the common main body 15 of the coating machine 14 with the cleaned atomizing head 19, and replaces the used atomizing head 19 ′ removed. It is to be washed. Therefore, as shown in FIGS. 11 to 13, the atomizing head replacement cleaning device 31 includes a fixing plate 32, a common main body gripping device 33, an elevating device 34, an atomizing head gripping device 35, cleaning devices 36 and 37, etc. It is constituted by.

  Reference numeral 32 denotes a fixing plate as a fixing member which becomes a base of the atomizing head replacement cleaning device 31. The fixed plate 32 is formed as a plate-like structure extending in the upward and downward directions. Further, as shown in FIGS. 8 and 12, the fixing plate 32 is attached to the front surface of a mounting table 42 of a cartridge exchange device 41 described later, for example, and the lower side is fixed to a floor or the like.

  Reference numeral 33 denotes a common main body gripping device. The common main body gripping device 33 can grip the common main body 15 of the coating machine 14 attached to the robot device 13, that is, as shown in FIG. The fixing plate 32 is fixedly attached to the upper portion of the fixing plate 32. The common main body gripping device 33 is arranged at the replacement position O by the atomizing head replacement cleaning device 31 when the atomizing head 19 and the cartridge 24 are replaced and attached to the common main body 15 of the coating machine 14. 15 is positioned and fixed.

  Here, the replacement position O by the atomizing head replacement cleaning device 31 is provided in each claw portion 33C of the common main body gripping device 33, which will be described later, as shown by a one-dot chain line in FIG. 11, FIG. 13, FIG. 17, and FIG. A location where the gripping surface 15F of the common main body 15 is gripped by the rotation direction positioning portion 33D. Since the common main body gripping device 33 is fixedly attached to the fixed plate 32, the replacement position O is determined as an immovable specific position (specific space) surrounded by the pair of claw portions 33C. is there. For this reason, when the common main body 15 is gripped by the common main body gripping device 33, the common main body 15 passes through the center of the replacement position O and is positioned at a specific position on the lower center line O1-O1. Retained.

  As shown in FIG. 13, the common main body gripping device 33 includes a mounting frame 33A that is mounted on the upper front side of the fixed plate 32 and protrudes forward, and an actuator that is mounted horizontally at the tip of the mounting frame 33A. 33B, a pair of claw portions 33C attached to the actuator 33B in a state of facing left and right, approaching and separating from each other, and a rotation direction positioning portion 33D attached to face each claw portion 33C. It is roughly structured. Here, the actuator 33B has a drive part (not shown) that approaches and separates by, for example, an air cylinder, a motor, etc., and attaches the claw part 33C to each drive part, thereby A gripping operation can be performed.

  Further, as shown in FIGS. 19 and 20, each claw portion 33 </ b> C is an attachment portion of the common main body portion 15 that constitutes the coating machine 14 that is carried to the replacement position O of the atomizing head replacement cleaning device 31 by the robot device 13. It is fixed with 15B in between. In addition, on the base end side and the tip end side of each claw portion 33C, an inclined surface 33C1 passing through the replacement position O and parallel to the downward center line O1-O1 is provided. These inclined surfaces 33C1 guide the attachment portions 15B so as to coincide with the exchange positions O by the atomizing head exchange cleaning device 31 when the claw portions 33C sandwich the attachment portions 15B of the common main body portion 15. It is.

  Further, each rotational direction positioning portion 33D is provided on a flat surface 33D1 which is parallel to the center line O1-O1 and forms parallel surfaces facing each other across the center line O1-O1, and above the flat surface 33D1. The one-side inclined surface 33D2 and the other-side inclined surface 33D3 provided on the opposite side of the one-side inclined surface 33D2 across the flat surface 33D1. Here, the one side inclined surface 33D2 is inclined at substantially the same angle as the one side inclined surface 15F2 of the gripping surface 15F provided on the common main body 15, and the other side inclined surface 33D3 is the other side inclined surface of the gripping surface 15F. It is inclined at almost the same angle as 15F3.

  Thereby, each rotation direction positioning part 33D contacts the gripping surface 15F formed on the attachment part 15B when the attachment part 15B of the common body part 15 is sandwiched between the claw parts 33C, so that the common body part 15 is replaced. Position automatically at position O. That is, as shown in FIG. 19, each rotational direction positioning portion 33D brings the common main body portion 15 into the rotational direction by bringing the flat surface 33D1 into contact with the flat surface 15F1 of the gripping surface 15F provided on the common main body portion 15. Position automatically. As shown in FIG. 20, the common main body 15 is automatically positioned upward and downward by bringing the inclined surfaces 33D2 and 33D3 into contact with the inclined surfaces 15F2 and 15F3 of the gripping surface 15F.

  Here, when gripping the attachment portion 15B of the common main body portion 15 by the respective claw portions 33C and the rotation direction positioning portion 33D of the common main body portion gripping device 33, the control shown in Step 4 of the flowchart of FIG. 44 is performed. That is, when the arms 13B and 13C and the wrist 13D of the robot apparatus 13 are driven using a rotary motor, a reciprocating actuator (both not shown), etc., the robot apparatus 13 is reduced so as to reduce driving force such as rotational torque. Control. Thus, the arms 13B and 13C and the wrist 13D are freely moved by an external force. As a result, the common main body 15 of the coating machine 14 is in a free state that can be moved in any direction by an external force.

  Accordingly, the common body portion gripping device 33 attached to the fixed plate 32 is separated from the robot device 13 by the inclined surfaces 33C1 by sandwiching the attachment portions 15B of the common body portion 15 carried by the robot device 13 between the claw portions 33C. Thus, the mounting portion 15B of the common main body portion 15 can be positioned at the replacement position O by the atomizing head replacement cleaning device 31.

  In addition, as shown in FIG. 17, when the common main body 15 is displaced in the rotational direction, each rotation of the common main body gripping device 33 is placed on the flat surface 15F1 of each gripping surface 15F formed on the mounting portion 15B. The flat surface 33D1 of the direction positioning portion 33D is brought into contact. Thereby, the common main body gripping device 33 can correct the positional deviation in the rotation direction of the common main body 15 as shown in FIG.

  Furthermore, when each rotational direction positioning part 33D grips the gripping surface 15F of the common main body part 15, each inclined surface 33D2, 33D3 of the rotational direction positioning part 33D comes into contact with each inclined surface 15F2, 15F3 of the gripping surface 15F. Accordingly, as shown in FIG. 18, even when the common main body 15 is displaced in the upward and downward directions, as shown in FIG. The downward misalignment can be corrected.

  As a result, the common main body gripping device 33 can automatically position the coating machine 14 in the correct orientation at the replacement position O of the accurate atomizing head replacement cleaning device 31 with respect to the common main body portion 15. When the atomizing head 19 and the cartridge 24 are attached and removed, it is possible to prevent these from interfering with each other and applying an excessive load.

  34 is an elevating device provided on the front surface side of the fixed plate 32. The elevating device 34 moves an atomizing head gripping device 35 and cleaning devices 36, 37, which will be described later, upward and downward. Further, as shown in FIGS. 11 to 16, the elevating device 34 is provided between a mounting plate 34 </ b> A provided facing the front side of the fixed plate 32, and the mounting plate 34 </ b> A between the mounting plate 34 </ b> A and the fixed plate 32. A guide rail 34B that guides 34A to be movable upward and downward, a ball screw device 34C that moves the mounting plate 34A upward and downward, and a ball screw device 34C that is attached to an upper portion of the fixed plate 32. And a motor 34D for driving the motor.

  Then, the lifting device 34 rotates the ball screw device 34C by the motor 34D, thereby moving the atomizing head gripping device 35 and the cleaning devices 36 and 37 to the upper and lower three positions together with the mounting plate 34A. Is.

  Reference numeral 35 denotes an atomizing head gripping device attached to a mounting plate 34A of the lifting device 34. The atomizing head gripping device 35 includes a cylinder device 35A that is mounted horizontally on the lower portion of the mounting plate 34A, and a substantially T-shaped moving plate that is mounted on the cylinder device 35A so as to be movable leftward and rightward. 35B, a U-shaped gripping tool 35C located on the left side of the moving plate 35B and projecting forward, and a U-shaped gripping tool 35D located on the right side of the moving plate 35B and projecting forward. It is configured. Here, for the cylinder device 35A, for example, an actuator called a rodless cylinder using air pressure, magnetic force or the like is used.

  In addition, as shown in FIG. 21, the left and right gripping tools 35C and 35D are provided with engaging projections 35E that can project at three positions, that is, the left and right positions and the back position. Then, as shown in FIG. 22, each engagement protrusion 35 </ b> E protrudes toward the atomizing head 19 when the atomizing head 19 is disposed on the gripping tools 35 </ b> C and 35 </ b> D. Thereby, each engagement protrusion 35E engages with the engagement hole 20B formed in the body 20 of the atomizing head 19, and fixes the atomizing head 19.

  In the atomizing head gripping device 35, the distance between the center line P1-P1 of the left gripper 35C and the centerline P2-P2 of the right gripper 35D is set to the dimension W1. The distance W1 between the pair of gripping tools 35C and 35D is half of the distance W2 between the cleaning devices 36 and 37 described later (W1 = W2 / 2).

  When the common main body gripping device 33 grips the common main body 15 of the coating machine 14, the atomizing head gripping device 35 is arranged at the uppermost A position by the lifting device 34 as shown in FIG. Yes. In this A position, as shown in FIG. 31, the atomizing head 19 can be gripped by the gripping tool 35 </ b> C (35 </ b> D) almost simultaneously with gripping the common body portion 15 by the common body portion gripping device 33.

  Further, as shown in FIG. 34, the atomizing head gripping device 35 can remove the atomizing head 19 from the common main body portion 15 by being lowered to the B position. In the B position, as shown in FIG. 35, the atomizing head 19 gripped by the gripping tool 35C (35D) together with the moving plate 35B by the cylinder device 35A can be moved in the left and right directions.

  Here, when the moving plate 35B is moved to the right side by the cylinder device 35A, the center line P1 -P1 of the left gripping tool 35C passes through the replacement position O of the common main body gripping device 33 as shown in FIG. The center line P2-P2 of the right gripper 35D is positioned at the center line Q2-Q2 of the right cleaning device 37. On the other hand, as shown in FIG. 35, in the atomizing head gripping device 35, when the moving plate 35B is moved to the left side by the cylinder device 35A, the center line P1-P1 of the left gripping tool 35C will be described later. The center line P2-P2 of the right gripping tool 35D is positioned at the center line O1-O1 passing through the replacement position O of the common body gripping device 33.

  Furthermore, as shown in FIG. 42, the atomizing head gripping device 35 is largely lowered to the C position, whereby the used atomizing head 19 ′ gripped by the gripping tool 35C (35D) is placed in a waste liquid collector 38 to be described later. Can be inserted.

  Reference numeral 36 denotes a cleaning device on the left side provided on the left side of the mounting plate 34A of the lifting device 34. As shown in FIGS. 23 and 24, the cleaning device 36 includes a cylinder device 36A that is vertically attached to the left side portion of the mounting plate 34A, and a substantially rectangular shape that is attached to the cylinder device 36A so as to be movable upward and downward. And a cleaning tool 36C attached to the upper end of the moving plate 36B so as to protrude forward. Here, for the cylinder device 36A, for example, an actuator called a rodless cylinder using air pressure, magnetic force or the like is used.

  The cleaning tool 36 </ b> C includes a cleaning liquid tube 36 </ b> D that ejects cleaning liquid toward the rotary atomizing head 22 of the atomizing head 19. Further, the cleaning device 36 includes a cleaning valve for communicating and blocking the passage in the cleaning liquid tube 36D, a driving air passage for supplying pressurized air to drive the air motor 21, and a shaping air passage (both shown in the figure). Etc.) are provided. The cleaning tool 36C and the cleaning liquid tube 36D are disposed on the center line Q1-Q1.

  On the other hand, 37 indicates a right side cleaning device provided on the right side of the mounting plate 34A of the lifting device 34. The right side cleaning device 37 is roughly constituted by a cylinder device 37A, a moving plate 37B, a cleaning tool 37C, and a cleaning liquid tube 37D, similarly to the left side cleaning device 36 described above. The cleaning tool 37C and the cleaning liquid tube 37D are arranged on the center line Q2-Q2. Thus, as shown in FIG. 13, the distance between the left cleaning device 36 and the right cleaning device 37 is the dimension W2.

  Here, the left and right cleaning devices 36 and 37 are moved by the cylinder devices 36A and 37A so that the cleaning tools 36C and 37C are placed in the D position (position shown in FIG. 31 and the like) above the mounting plate 34A and the waste liquid collector 38. It moves to two positions, the approaching lower E position (position shown in FIG. 42).

  The cleaning tools 36C and 37C are in the standby position at the upper D position, and at the lower E position, the cleaning liquid tubes 36D and 37D of the cleaning tools 36C and 37C are inserted into the atomizing head 19. In this cleaning position, the paint adhering to the rotary atomizing head 22 and the like can be cleaned by ejecting the cleaning liquid from the cleaning liquid tubes 36D and 37D.

  Reference numerals 38 and 38 denote left and right waste liquid collectors provided below the left and right cleaning devices 36 and 37, respectively. The waste liquid collectors 38 are bottomed and arranged substantially coaxially with the cleaning tools 36C and 37C. It is composed of a cylindrical container. The left and right waste liquid collectors 38 are for recovering the cleaning waste liquid so as not to scatter around when the atomizing head 19 is cleaned by the cleaning devices 36 and 37. Each waste liquid collector 38 is provided with a nozzle (not shown) for ejecting a cleaning liquid toward the outer peripheral surfaces of the rotary atomizing head 22, the shaping air ring 23, etc. The coating material adhering to the outer peripheral surfaces such as the rotary atomizing head 22 and the shaping air ring 23 can be washed with the liquid.

  Next, with respect to the configuration of the cartridge exchanging device 41 for exchanging and attaching a plurality of cartridges 24 to the common main body portion 15 of the coating machine 14 provided in the robot apparatus 13, FIGS. 8 to 10, FIG. 25 to FIG. This will be described with reference to the above.

  That is, reference numeral 41 denotes a cartridge exchange device provided on the rear side of the atomizing head exchange cleaning device 31. The cartridge exchanging device 41 is for exchanging a used cartridge 24 ′ attached to the common main body 15 of the coating machine 14 and a filled cartridge 24 filled with paint. As shown in FIGS. 25 and 26, the cartridge exchange device 41 is roughly constituted by a mounting table 42, a paint filling device 43, a cartridge moving device 44, and the like which will be described later.

  Reference numeral 42 denotes a mounting table that forms the main body of the cartridge exchanging device 41. The mounting table 42 arranges a plurality of cartridges 24 side by side. The mounting table 42 includes a frame body 42A assembled in a rectangular parallelepiped shape that is long in the left and right directions (the conveyance direction of the vehicle body 2), and a rectangular shape that is mounted substantially horizontally near the lower side of the intermediate portion of the frame body 42A. The lower shelf plate 42B and a rectangular upper shelf plate 42C mounted substantially horizontally near the upper middle portion of the frame body 42A.

  Further, as shown in FIG. 10, the upper shelf plate 42C is formed with a long groove 42D that is located closer to the front side and extends in the left and right directions. It is allowed to move linearly in the left and right directions. Further, the mounting table 42 is covered with a decorative cover 42E (shown in FIGS. 1 and 2) made of a thin plate.

  Reference numeral 43 denotes a plurality of paint filling devices provided on the lower shelf plate 42B of the mounting table 42 (see FIGS. 25 and 26). The plurality of paint filling devices 43 are used to fill the used cartridge 24 'with the same paint as the previous color paint, and the number of paint filling devices 43 corresponding to the type of paint to be filled is provided. The paint filling device 43 is connected to a paint supply source (not shown). A used cartridge 24 ′ is attached to the paint filling device 43 so as to insert the feed tube 27 from the upper side. In this state, for example, paint is applied to the paint chamber 25 B of the tank 25 through the paint supply path 27 A of the feed tube 27. It is to be filled.

  Here, as shown by a dotted line in FIG. 26, the plurality of coating material filling devices 43 are centered on the swing fulcrum Sp when the swing arm portion 48 is swung by the arc motion portion 46 described later, and the radius R For example, four of them are arranged side by side on the arc S drawn by. Furthermore, the coating material filling device 43 has four pieces arranged along the arc S in the width direction (front and rear directions) of the mounting table 42 as one row, and the arc extends from the left side to the right side in the length direction of the mounting table 42. For example, six rows are arranged at almost equal intervals from S1 to arc S6.

  Thus, the cartridges 24 attached to the paint filling device 43 for filling the paint are arranged in six rows at almost equal intervals, with four arranged on the arc S as one row, like each paint filling device 43. ing.

  Of the six arcs S1 to S6 in which the coating material filling device 43 (cartridge 24) is arranged, for example, the third arc S3 from the left side is above and below the exchange position O of the atomizing head exchange cleaning device 31. It forms an arc intersecting with the direction center line O1-O1. That is, the arc S3 moves and replaces the filled cartridge 24 on the mounting table 42 and the used cartridge 24 'attached to the common main body 15 fixed at the exchange position O of the atomizing head exchange cleaning device 31. It is the movement trajectory when doing.

  44 is a cartridge moving device provided on the mounting table 42, and the cartridge moving device 44 is filled between the paint filling device 43 of the mounting table 42 and the common main body 15 of the coating machine 14 disposed at the replacement position O. The used cartridge 24 and the used cartridge 24 'are oscillated and delivered so as to draw an arc. The cartridge moving device 44 includes a linear motion unit 45, an arc motion unit 46, an elevating motion unit 47, a swing arm unit 48, and the like, which will be described later.

  Reference numeral 45 denotes a linear motion unit provided on the upper shelf plate 42C of the mounting table 42. The linear motion unit 45 includes an arc motion unit 46, an elevating motion unit 47, and a swing arm unit 48, which will be described later, the length of the mounting table 42. It moves linearly in the left and right directions. Here, as shown in FIGS. 10 and 25, the linear motion part 45 includes a pair of guide rails 45A provided extending in the left and right directions at positions sandwiching the long groove 42D of the upper shelf plate 42C, and the guides. A moving table 45B movably mounted on the rail 45A and a block 45C2 (see FIG. 27) provided between the rear guide rail 45A and the long groove 42D and screwed onto the screw shaft 45C1 are provided. It is roughly constituted by a ball screw device 45C attached to the lower surface of the moving table 45B and a motor 45D provided on the right side of the upper shelf plate 42C and driving the ball screw device 45C.

  Reference numeral 46 denotes an arc motion part attached to the moving table 45B of the linear motion part 45. This arc motion unit 46 moves (turns) the cartridge gripping mechanism 48B on the front end side in an arc shape by swinging (swinging) on a horizontal surface about the swinging fulcrum Sp about a swing arm portion 48, which will be described later. ) Further, as shown in FIG. 27, the arcuate motion portion 46 is rotated around the fixed cylinder 46A provided in the center of the movable table 45B and the bearing 46B1 with the upper and lower directions as axes. A cylindrical rotation column 46B provided in a possible manner and a rotation motor 46C that is mounted on the movable table 45B and rotates the rotation column 46B are roughly constituted.

  Here, a gear 46B2 is provided on the outer peripheral side of the upper end of the rotating support column 46B, and the gear 46B2 meshes with the gear 46C1 of the rotating motor 46C. Thus, when the rotation motor 46C is driven to rotate, the rotation column 46B can be rotated via the gears 46C1 and 46B2. Therefore, the circular arc motion part 46 can swing (swivel) a swing arm part 48 described later with a simple structure.

  Reference numeral 47 denotes an elevating motion unit provided on the rotating support column 46B of the arc motion unit 46. The elevating motion unit 47 moves (up and down) a swing arm unit 48 described later upward and downward. is there. That is, as shown in FIGS. 27 and 28, the lifting and lowering motion part 47 includes a guide part 47A provided to extend downward from the rotation column 46B of the arc motion part 46, and the guide part 47A upward and downward. An elevating block 47B that is movably attached, a screw shaft 47C that is rotatably provided so as to extend upward and downward in the guide portion 47A, and is screwed into a screwing portion 47B1 of the elevating block 47B, and a straight line The moving part 45 is mounted on a moving table 45B, and is generally constituted by a lifting motor 47D that rotationally drives the screw shaft 47C. Further, an arm main body 48A of the swing arm portion 48 is attached to the lifting block 47B.

  Reference numeral 48 denotes a swing arm portion provided on the lifting block 47B of the lifting motion portion 47. As shown in FIGS. 28 and 29, the swing arm 48 includes an arm main body 48A extending in the horizontal direction from the lifting block 47B, and a left side provided on the front end of the arm main body 48A. The cartridge gripping mechanism 48B and the right side cartridge gripping mechanism 48C are roughly configured.

  Further, the left cartridge gripping mechanism 48B is provided with a pair of claw portions 48B1 that can approach and separate from each other by an actuator (not shown). The pair of claw portions 48B1 grip the gripping projection 25A provided on the tank 25 of the cartridge 24 by approaching each other. Similarly, the right cartridge gripping mechanism 48C is also provided with a pair of claws 48C1 that can be moved toward and away from each other by an actuator (not shown). Here, each of the cartridge gripping mechanisms 48B and 48C is disposed at a position having a radial dimension R from the swing fulcrum Sp of the arcuate motion portion 46.

  The cartridge moving device 44 linearly moves the swing arm portion 48 in the length direction (left and right directions) of the mounting table 42 by the linear motion portion 45, and swings the swing arm portion 48 by the arc motion portion 46. It is moved up and down (up and down) by the up-and-down moving part 47 while moving (arc movement). As a result, the cartridge moving device 44 moves the filled cartridge 24 attached to the paint filling device 43 to the upper center line O1-O1 passing through the replacement position O of the atomizing head replacement cleaning device 31. be able to. Further, the used cartridge 24 ′ can be returned to the paint filling device 43.

  At this time, the arcuate motion part 46 raises the cartridge gripping mechanism 48B of the swing arm part 48 to the F position (position shown in FIGS. 31 and 39), and the cartridge gripping mechanism when the cartridges 24 and 24 ′ are inserted and removed. 48B is lowered from the F position to the G position (the positions shown in FIGS. 34 and 37). On the other hand, when the used cartridge 24 'is replaced with the cartridge 24 filled with the paint, since there is no cartridge 24' which becomes an obstacle, the rise is lower than the F position (position shown in FIGS. 35 and 36). It can be stopped and replaced.

  The coating system 11 according to this embodiment has the above-described configuration, and the operation thereof will be described next.

  First, the case where the vehicle body 2 conveyed by the conveyor apparatus 3 is painted is demonstrated. In this case, while the robot apparatus 13 is moved along the traveling rail 12, the painting operation is performed using the robot apparatus 13. At this time, the cleaned atomizing head 19 is connected to the atomizing head connecting portion 15C of the common main body portion 15, and the filled cartridge 24 filled with a paint of a desired paint color is fitted to the cartridge fitting portion 15D. Thereby, the cartridge-type rotary atomizing head type coating machine 14 can be constituted by the common main body portion 15, the atomizing head 19 and the cartridge 24.

  And when painting using the coating machine 14, the robot apparatus 13 is operated and the rotation atomization head 22 of the atomization head 19 is made to face the vehicle body 2. FIG. Further, the air is ejected from the shaping air ring 23 while rotating the rotary atomizing head 22 at a high speed. Further, a high voltage from the high voltage generator 16 is applied to the rotary atomizing head 22 via the air motor 21. In this state, the extrusion liquid valve 18 and the paint valve 29 are opened, and the paint is discharged from the feed tube 27 toward the rotary atomizing head 22 by the extrusion liquid. As a result, the rotary atomizing head 22 charges the paint at a high voltage and atomizes it, and can spray the atomized paint onto the vehicle body 2.

  When the painting of the vehicle body 2 is completed, the used atomizing head 19 'and the used cartridge 24' are replaced with the cleaned atomized head 19 and the filled cartridge 24 filled with paint.

  Accordingly, the replacement operation of the atomizing head 19 and the cartridge 24 will be described in detail with reference to the operation explanatory diagrams of FIGS. 30 to 43 based on the flowchart shown in FIG.

  First, as described above, when the painting operation of the vehicle body 2 by the coating machine 14 is completed (step 1), as shown in FIG. 30, the robot apparatus 13 is operated and the atomizing head replacement cleaning indicated by the alternate long and short dash line is shown. Move to the exchange position O of the device 31 (step 2). At this exchange position O, as shown by a two-dot chain line in the figure, the common main body 15 of the coating machine 14 is disposed between the claw portions 33C of the common main body gripping device 33 of the atomizing head replacement cleaning device 31, The used atomizing head 19 ′ is arranged at a position where it can be fixed to the holding tool 35 </ b> C on the left side of the atomizing head holding device 35.

  Next, it moves to step 3 and it is determined whether the coating machine 14 has reached the replacement position O of the atomizing head replacement cleaning device 31. At this time, if it is determined that the coating machine 14 has reached the replacement position O of the atomizing head replacement cleaning device 31, as indicated by a two-dot chain line in FIG.

  In step 4, the driving force of the robot apparatus 13 is reduced. Here, the coating system 11 may actually deviate from the replacement position O due to various factors, although the coating machine 14 should be correctly placed at the replacement position O. Therefore, in this step 4, the driving force of the rotary motors and reciprocating actuators (none of which are shown) for operating the arms 13B and 13C and the wrist 13D of the robot apparatus 13 is reduced, and an external force is applied to the coating machine 14. For example, the robot apparatus 13 is controlled so that the common main body 15 can be freely moved. Thereby, the coating machine 14 will be in the free state which can move freely.

  In the next step 5, as shown in FIG. 31, when the coating machine 14 is moved to the replacement position O of the atomizing head replacement cleaning device 31 by the robot device 13, the left and right claw portions of the common main body gripping device 33 are moved. The attaching part 15B of the common main body part 15 of the coating machine 14 is gripped by 33C. That is, when the common main body 15 of the coating machine 14 is gripped by the left and right claw portions 33C of the common main body gripping device 33, the coating machine 14 is in a free state in step 4 in advance. Accordingly, when the attachment portion 15B of the common main body portion 15 is gripped by the respective claw portions 33C, the positional deviation from the robot device 13 is corrected by the respective inclined surfaces 33C1, and the attachment portion 15B of the common main body portion 15 is replaced with the atomizing head. It can be accurately positioned at the replacement position O by the cleaning device 31.

  In addition, when the common main body portion 15 is displaced in the rotational direction, the flat surface 15F1 of the gripping surface 15F formed on the attachment portion 15B is sandwiched between the flat surfaces 33D1 of the respective rotation direction positioning portions 33D. The positional deviation in the rotation direction of the main body 15 can be automatically corrected. As a result, as shown in FIG. 31, the common main body gripping device 33 places the common main body 15 in the correct orientation and accuracy at the replacement position O specified on the center line O1-O1 and between the claw portions 33C. It can be fixed at a high height position.

  Here, the step 4 for freeing the coating machine 14 attached to the robot apparatus 13 and the step 5 for gripping the common main body 15 of the coating machine 14 are performed almost simultaneously. It should be noted that step 4 and step 5 may be interchanged so that the common main body portion 15 attached to the robot apparatus 13 is brought into a free state after the common main body portion 15 of the coating machine 14 is gripped.

  On the other hand, until the common main body gripping device 33 fixes the common main body portion 15 in Step 5, the cartridge exchange device 41 prepares a filled cartridge 24 to be used in the next painting operation. As shown in FIG. 32, the cartridge exchanging device 41 grips, for example, a left-filled cartridge 24 among a plurality of filled cartridges 24 by a cartridge gripping mechanism 48C on the right side of the swing arm portion 48. In this state, the lifting / lowering motion unit 47 lifts the swing arm unit 48 together with the filled cartridge 24 to remove the cartridge 24 from the paint filling device 43.

  Next, the cartridge exchanging device 41 moves the swing arm portion 48 to the right side from the position shown in FIG. 32 to the position shown in FIG. 33 by the linear motion portion 45, and moves the cartridge gripping mechanism 48B on the arc S3 as a movement locus. To place. In this state, the arcuate motion portion 46 swings the swing arm portion 48 forward, thereby moving the left cartridge gripping mechanism 48B not gripping the cartridge 24 to the center line as shown in FIGS. It is arranged above O1-O1 and above the exchange position O. At this time, the raising / lowering movement unit 47 moves the feed tube 27 of the filled cartridge 24 held at a high F position so as not to contact an obstacle. The linear motion of the swing arm portion 48 by the linear motion portion 45 and the circular motion of the swing arm portion 48 by the arc motion portion 46 have been described separately, but they may be operated simultaneously.

  Next, as shown in FIG. 31, when the left cartridge gripping mechanism 48B not gripping the cartridge 24 is disposed above the replacement position O on the center line O1-O1, the process proceeds to step 6. In this step 6, as shown in FIG. 34, the used atomizing head 19 'is grasped by the grasping tool 35C of the atomizing head grasping device 35, and the atomizing head grasping device 35 is lowered to the B position. Remove from part 15. Further, in step 7, when the swing arm portion 48 is lowered to the G position and the used cartridge 24 'is gripped by the left cartridge gripping mechanism 48B, the swing arm portion 48 is moved by the lifting and lowering motion portion 47 as shown in FIG. Is raised to the H position, and the used cartridge 24 ′ is pulled out from the common main body 15.

  Here, step 6 for performing the operation of removing the used atomizing head 19 ′ from the common main body 15 and step 7 for performing the operation of removing the used cartridge 24 ′ from the common main body 15 may be interchanged. , Or may proceed simultaneously.

  Next, when the feed tube 27 of the cartridge 24 'is removed from the atomizing head 19', as shown in FIG. 35, the used atomizing head 19 'held by the left holding tool 35C by the cylinder device 35A is washed on the left side. It moves to the center line Q1-Q1 of the apparatus 36, and the cleaned atomizing head 19 gripped by the right gripper 35D is moved on the center line O1-O1 and below the exchange position O.

  Next, in step 8, as shown in FIG. 36, the gripping tool 35D of the atomizing head gripping device 35 is raised to the A position, and the cleaned atomizing head 19 gripped by the gripping tool 35D is moved to the common main body 15. Install to. Further, the cartridge gripping mechanisms 48B and 48C of the swing arm 48 are moved to the left side, and the filled cartridge 24 gripped by the right cartridge gripping mechanism 48C is on the center line O1-O1 at the exchange position O. Place above. At this time, since the lifting and lowering motion unit 47 raises the cartridge gripping mechanisms 48B and 48C only to the H position lower than the F position, the time required for movement can be shortened.

  Next, when the filled cartridge 24 is disposed above the replacement position O, the process proceeds to step 9. In step 9, as shown in FIG. 37, the cartridge gripping mechanism 48 </ b> C is lowered to the G position, and the filled cartridge 24 is attached to the common main body 15. Thereafter, as shown in FIG. 38, the cartridge 24 is separated from the cartridge gripping mechanism 48C, and the cartridge gripping mechanism 48C is raised to the F position.

  Note that step 8 for performing the operation of attaching the cleaned atomizing head 19 to the common main body 15 and step 9 for performing the operation of attaching the filled cartridge 24 to the common main body 15 are the above-described steps 6 and 7. As in the case, the order may be changed, or may proceed simultaneously.

  In this way, when the cleaned atomizing head 19 and the filled cartridge 24 are attached to the common main body 15 and the preparation of the coating machine 14 is completed, the process proceeds to step 10 as shown in FIG. In step 10, the driving force reduction control for the robot apparatus 13 is released. Further, the gripping of the common main body 15 by the common main body gripping device 33 is released, and the gripping of the atomizing head 19 by the atomizing head gripping device 35 is released. In this state, the robot apparatus 13 is controlled with a normal driving force, and the painting machine 14 is moved to the painting standby position on the vehicle body 2 side.

  On the other hand, the cartridge exchanging device 41 performs an operation of returning the used cartridge 24 ′ removed from the common main body portion 15 to the predetermined position of the mounting table 42 in parallel with step 10 or after completion. That is, as shown in FIG. 40, the cartridge exchanging device 41 swings the cartridge gripping mechanism 48B that grips the used cartridge 24 'to the rear side along the arc S3 by the arc motion part 46. Thereby, as shown in FIG. 41, the arcuate motion unit 46 arranges the used cartridge 24 'above a predetermined paint filling device 43 located on the arc S3, for example. In this state, the raising / lowering motion unit 47 can lower the used cartridge 24 ′ together with the cartridge gripping mechanism 48 </ b> B to attach the used cartridge 24 ′ to the paint filling device 43 and fill the paint.

  Next, in step 11, as shown in FIG. 42, the atomizing head gripping device 35 is lowered to the C position by the lifting device 34, and the tip side of the used atomizing head 19 ′ is inserted into the waste liquid collector 38. Further, the cleaning tool 36C of the cleaning device 36 on the left side is lowered to the E position, and the cleaning liquid tube 36D is inserted into the used atomizing head 19 '. In this state, by ejecting the cleaning liquid from the cleaning liquid tube 36D of the cleaning device 36, the rotary atomizing head 22 and the like can be cleaned without causing the waste liquid to scatter around.

  Then, when the cleaning of the atomizing head 19 is completed, as shown in FIG. 43, the atomizing head gripping device 35 is raised to the A position, and the cleaning device 36 is raised to the D position. Thereby, it is possible to prepare for the replacement operation of the atomizing heads 19 and 19 'and the cartridges 24 and 24' to be performed next.

  As described above, according to the present embodiment, the cartridge exchange device 41 includes the linear motion unit 45 that linearly moves the swing arm unit 48 in the length direction (left and right directions) of the mounting table 42, and An arc motion unit 46 that swings (circulates) the swing arm unit 48 on a horizontal plane, and an elevation that is attached to the arc motion unit 46 and moves the swing arm unit 48 upward and downward (up and down). The moving part 47 includes a swinging arm part 48 having cartridge holding mechanisms 48 </ b> B and 48 </ b> C attached to the lifting / lowering moving part 47 and holding the cartridge 24.

  Accordingly, the arcuate motion unit 46 can move the cartridge gripping mechanisms 48B and 48C in the width direction (front and rear directions) of the mounting table 42 only by swinging the swing arm portion 48 in an arc shape. Thereby, the cartridge exchange device 41 can be reduced in size as compared with a robot device having an articulated arm and an exchange device using a complicated XY table or the like stacked in two layers. As a result, the coating system 11 can be installed in a narrow space where installation is difficult.

  Further, the cartridge exchanging device 41 includes a moving means for moving the mounting table 42 in the width direction (front and rear) by a light arc motion unit 46 having a simple structure and a light weight compared with, for example, a robot device or an XY table. ing. Therefore, since the cartridge exchange device 41 can increase the operation speed when moving the cartridge 24, the productivity can be improved. Furthermore, even when the number of cartridges 24 arranged on the mounting table 42 increases, it is possible to easily cope with the increase in the number of cartridges 24 by simply extending the guide rail 45A of the linear motion unit 45.

  On the other hand, the cartridge exchanging device 41 includes a plurality of cartridges 24 and a coating material filling device 43 arranged on a circular arc S having a radius R centered on a rocking fulcrum Sp by the circular arc motion part 46, and the length of the mounting table 42. Six rows are arranged in the direction from arc S1 to arc S6. In addition, a third arc S3 is disposed so as to pass through the replacement position O of the atomizing head replacement cleaning device 31.

  Thereby, the cartridge exchange device 41 can arrange the cartridge 24 gripped by the cartridge gripping mechanism 48C at the replacement position O so that the swinging arm portion 48 is continuously swung in the width direction of the mounting table 42. it can. As a result, the cartridge 24 can be efficiently moved by the cartridge exchange device 41.

  Further, according to the present embodiment, the common main body portion 15 of the coating machine 14 is gripped and positioned when the atomizing head 19 and the cartridge 24 are replaced with the fixed plate 32 of the atomizing head replacement cleaning device 31. The main body gripping device 33 is provided. Thereby, when the atomizing head 19 and the cartridge 24 are replaced and attached to the common main body 15 of the coating machine 14, the common main body 15 is held by the common main body holding device 33 attached to the fixed plate 32. Can do. In this way, the common main body 15 can be accurately positioned at the replacement position O of the atomizing head replacement cleaning device 31 using the common main body gripping device 33.

  Therefore, in the present embodiment, the common main body gripping device 33 has a positional deviation caused by repeated positional accuracy when the arms 13B, 13C, etc. of the robot device 13 are operated, the robot device 13, and the atomizing head replacement cleaning device 31. Further, it is possible to absorb the positional deviation when the cartridge exchange device 41 is installed, and to accurately position the coating machine 14 at the exchange position O that is a fixed specific position every time the exchange work is performed.

  As a result, the atomization head 19 and the cartridge 24 can be smoothly and smoothly attached to and removed from the common main body portion 15 accurately positioned at the replacement position O of the atomization head replacement cleaning device 31. Further, the wear and damage of the common main body 15, the atomizing head 19, and the cartridge 24 can be suppressed, and the durability and reliability can be improved. Furthermore, maintenance costs for the painting line 1 can be reduced.

  Further, by accurately positioning the common main body 15 of the coating machine 14 at the replacement position O of the atomizing head replacement cleaning device 31, workability when installing the robot device 13, the atomizing head replacement cleaning device 31, the cartridge The workability and the like when processing and installing the exchange device 41 can be improved. Furthermore, the cost of the entire coating line 1 can be reduced.

  Further, the common main body gripping device 33 is fixedly attached to the fixing plate 32, whereby the common main body 15 can be positioned at the same position every time. Therefore, the atomizing head replacement cleaning device 31 and the cartridge replacement device 41 can smoothly attach and detach the atomizing head 19 and the cartridge 24 to the accurately positioned common main body portion 15.

  On the other hand, according to the embodiment, when the common body portion 15 is gripped by the common body portion gripping device 33, the driving force (drive) that fixes the arms 13B and 13C and the wrist 13D of the robot device 13 to a desired posture. Torque) is reduced to the extent that the common main body 15 can be moved freely by applying an external force. Thereby, the coating machine 14 attached to wrist 13D can be made into the free state which can be moved to arbitrary directions with external force. As a result, even when a positional deviation occurs between the coating machine 14 and the common main body gripping device 33, the common main body gripping device 33 is not obstructed by the driving force of the robot device 13 and is not disturbed. The common main body 15 can be accurately fixed at the exchange position O.

  In addition, the common main body portion 15 is provided with a gripping surface 15F. The common main body portion gripping device 33 includes a pair of claw portions 33C for gripping the common main body portion 15 and positioning the common main body portion 15 at the replacement position O, and each claw portion 33C. Provided is a rotation direction positioning portion 33D that is provided in contact with the gripping surface 15F of the common body portion 15 and positions the common body portion 15 in the rotation direction and in the upward and downward directions.

  Thereby, the common main body gripping device 33 can automatically position the common main body 15 of the coating machine 14 at the correct replacement position O, at the correct orientation, at the correct upper and lower positions. As a result, when the atomizing head 19 and the cartridge 24 are attached to and detached from the common main body portion 15, they can be smoothly detached and attached without applying an excessive load, and reliability, life, etc. can be improved. .

  In the embodiment, the case where the fixing plate 32 of the atomizing head replacement cleaning device 31 is attached to the mounting table 42 of the cartridge replacement device 41 has been described as an example. However, the present invention is not limited to this, and the fixing plate 32 of the atomizing head replacement cleaning device 31 is placed on the mounting table of the cartridge replacement device 41 as long as the cartridge gripping mechanisms 48B and 48C of the swing arm portion 48 reach. 42 may be provided separately from 42.

  In the embodiment, the mounting table 42 of the cartridge exchanging device 41 includes four cartridges 24 (paint filling devices 43) arranged on an arc S having a radius R centered on the swing fulcrum Sp, and the length of the mounting table 42. Six rows are arranged in the vertical direction from arc S1 to arc S6. However, the present invention is not limited to this, and two, three, or five or more may be arranged on the arc S, and five or less rows or seven or more rows may be arranged in the length direction.

  In the embodiment, the replacement position O of the atomizing head replacement cleaning device 31 is arranged on the extension line of the third arc S3 in which the cartridge 24 (paint filling device 43) is provided. However, the present invention is not limited to this, and the replacement position O may be arranged on an extension line of the other arcs S1, S2, S4 to S6. Moreover, it is good also as a structure which provides the circular arc different from each circular arc S1-S6, and arrange | positions the exchange position O on the extension line | wire of this circular arc.

  Furthermore, in the embodiment, the case where the atomizing head 19 is configured as a rotary atomizing head type atomizing head including the rotary atomizing head 22 has been described as an example. However, the present invention is not limited to this. For example, another atomizing head including an air atomizing nozzle, a hydraulic atomizing nozzle, and the like may be provided.

1 is an external perspective view showing a painting line for a vehicle body including a painting system according to an embodiment of the present invention. It is a top view of the coating line of the vehicle body shown in FIG. It is an external appearance perspective view which expands and shows a coating machine in the state attached to the wrist of the robot apparatus. It is the longitudinal cross-sectional view which looked at the coating machine from the arrow IV-IV direction in FIG. It is a longitudinal cross-sectional view which shows the common main-body part in FIG. It is a longitudinal cross-sectional view which shows the atomization head in FIG. It is a longitudinal cross-sectional view which shows the cartridge in FIG. It is a front view which shows an atomization head exchange cleaning apparatus and a cartridge exchange apparatus. It is the right view which looked at the atomization head exchange cleaning apparatus and the cartridge exchange apparatus from the arrow IX-IX direction in FIG. It is an enlarged plan view which expands and shows the atomization head exchange cleaning apparatus and cartridge exchange apparatus of FIG. It is a front view which expands and shows the atomization head exchange cleaning apparatus in FIG. It is a right view of the atomization head exchange cleaning apparatus shown in FIG. It is a top view of the atomization head exchange cleaning apparatus shown in FIG. It is sectional drawing of the atomization head exchange cleaning apparatus seen from the arrow XIV-XIV direction in FIG. It is a front view which shows a fixed plate, a raising / lowering apparatus, etc. FIG. 16 is a right side view of the fixing plate and the lifting device shown in FIG. 15. It is operation | movement explanatory drawing which shows the state which has arrange | positioned the common main-body part of a coating machine between the nail | claw parts of a common main-body part holding | gripping apparatus. It is operation | movement explanatory drawing which expands and shows the state which has arrange | positioned the common main-body part of a coating machine between the nail | claw parts of a common main-body part holding | gripping apparatus from the arrow XVIII-XVIII direction in FIG. It is operation | movement explanatory drawing which shows the state which hold | gripped the common main-body part of the coating machine with the nail | claw part of the common main-body part holding | gripping apparatus. It is operation | movement explanatory drawing which expands and shows the state which hold | gripped the common main-body part of the coating machine with the nail | claw part of a common main-body part holding | gripping apparatus from the arrow XX-XX direction in FIG. It is a top view which expands and shows the holding tool of the atomization head holding device. It is a partially broken enlarged front view which shows the state which hold | gripped the atomization head with the holding tool of the atomization head holding device. It is a front view which shows the washing | cleaning apparatus on the left side. It is the right view which looked at the washing | cleaning apparatus on the left side from the arrow XXIV-XXIV direction in FIG. It is sectional drawing which looked at the cartridge exchange apparatus from the arrow XXV-XXV direction in FIG. It is an expanded sectional view which looked at the cartridge exchange apparatus from the arrow XXVI-XXVI direction in FIG. It is the expanded sectional view which expanded the cartridge moving apparatus from the arrow XXVII-XXVII direction in FIG. It is the expanded sectional view which expanded the circular arc moving part, the raising / lowering moving part, and the rocking | swiveling arm part from the arrow XXVIII-XXVIII direction in FIG. FIG. 29 is a right side view of FIG. 28 showing a cartridge gripping mechanism of the swing arm portion. It is operation | movement explanatory drawing which shows the state which moves a coating machine to a common main body part holding | gripping apparatus. It is operation | movement explanatory drawing which shows the state which moved the filled cartridge to the atomization head exchange cleaning apparatus side. It is operation | movement explanatory drawing which shows the state which has arrange | positioned the cartridge holding mechanism of the rocking | swiveling arm part on the filled cartridge used for the next coating. It is operation | movement explanatory drawing which shows the state which moved the filled cartridge to the exchange position side by the rocking | swiveling arm part on a plane. It is operation | movement explanatory drawing which shows the state which isolate | separated the used atomization head from the common main-body part, and hold | gripped the used cartridge. It is operation | movement explanatory drawing which shows the state which moved the atomization head holding | gripping apparatus to the left side and isolate | separated the used cartridge. It is operation | movement explanatory drawing which shows the state which attached the cleaned atomization head to the common main-body part, and has arrange | positioned the filled cartridge in the replacement position. It is operation | movement explanatory drawing which shows the state which attached the filled cartridge to the common main-body part. It is operation | movement explanatory drawing which shows the state which moved the rocking | swiveling arm part to the upper side. It is operation | movement explanatory drawing which shows the state which moved the coating machine toward the coating standby position, and moved the used cartridge to the cartridge exchange apparatus side. It is operation | movement explanatory drawing which shows the state which removed the used cartridge from the common main-body part, and attached the filled cartridge to the common main-body part. It is operation | movement explanatory drawing which shows the state which returned the used cartridge removed from the common main-body part to the coating material filling apparatus on a plane. It is operation | movement explanatory drawing which shows the state which has wash | cleaned the used atomization head with the washing | cleaning apparatus. It is operation | movement explanatory drawing which shows the standby state of the replacement | exchange operation | work which complete | finished cleaning of the atomization head. It is a flowchart which shows the exchange process of an atomization head and a cartridge.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Coating system 13 Robot apparatus 13A Base 13B Vertical arm 13C Horizontal arm 13D Wrist 14 Coating machine 15 Common main-body part 15F Grasp surface 19 Atomization head (washed atomization head)
19 'used atomization head 22 rotary atomization head 24 cartridge (filled cartridge)
24 'Used cartridge 31 Atomizing head replacement cleaning device 32 Fixed plate 33 Common main body gripping device 33A Mounting frame 33B Actuator 33C Claw portion 33D Rotating direction positioning portion 34 Lifting device 34A Mounting plate 34B Guide rail 34C Ball screw device 34D Motor 35 Atomizing head gripping device 35A Cylinder device 35B Moving plate 35C, 35D Grip tool 36, 37 Cleaning device 41 Cartridge changing device 42 Mounting table 43 Paint filling device 44 Cartridge moving device 45 Linear motion portion 46 Arc motion portion 47 Lifting motion portion 48 Shaking Moving arm 48A Arm main body 48B, 48C Cartridge gripping mechanism O Replacement position of atomizing head replacement cleaning device O1-O1 Upper and lower center lines passing through the replacement position Sp Swing fulcrum S (S1 to S6) Arc

Claims (5)

A robotic device for painting,
A common main body fixedly attached to the robot apparatus, an atomizing head for spraying paint that is replaceably attached to the common main body, and a paint that is replaceably attached to the common main body to the atomizing head A painting machine comprising a cartridge for supplying
An atomizing head replacement cleaning device that replaces a used atomizing head attached to the common main body of the coating machine with a cleaned atomizing head, and cleans the replaced used atomizing head;
A used cartridge attached to a common main body of the coating machine that holds one of a plurality of filled cartridges arranged on a mounting table and is in a replacement position of the atomizing head replacement cleaning device; In a coating system comprising a cartridge exchange device to be exchanged,
The cartridge exchanging device moves the cartridge while swinging in a circular arc between the arrangement position of the filled cartridge on the mounting table and the exchanging position of the atomizing head exchange cleaning device, with the pivot point as a center. A painting system characterized by a replacement configuration.   The coating system according to claim 1, wherein the filled cartridge is arranged in an arc shape on the mounting table with the rocking fulcrum as a center.   The cartridge exchanging device includes the mounting table in which the filled cartridges are arranged along an arc centered on the swinging fulcrum, and an arc motion that is provided on the mounting table and moves in an arc around the swinging fulcrum. And a lifting / lowering motion portion provided on the arc motion portion and moving up and down, and a cartridge gripping mechanism provided on the distal end side where the proximal end is attached to the lifting motion portion and extends in the horizontal direction to become a free end. The coating system according to claim 1, further comprising a swinging arm portion.   The cartridge exchanging device is provided on the mounting table, the mounting table in which the filled cartridges are arranged along a plurality of circular arcs formed around the swing fulcrum and spaced in the length direction. A linear motion part that linearly moves the swing fulcrum in the length direction, an arc motion part that is provided in the linear motion part and moves in an arc around the swing fulcrum, and is provided in the arc motion part. 2. A lifting / lowering motion part that moves, and a swinging arm part having a proximal end side attached to the lifting / lowering motion part and extending in the horizontal direction to become a free end and having a cartridge gripping mechanism on the distal end side. The coating system described in. The atomizing head replacement cleaning device is provided with a common main body gripping device that grips the common main body of the coating machine and positions the common main body at the replacement position.
5. The coating system according to claim 1, 2, 3, or 4, wherein the cartridge replacement device is configured to replace the cartridge while the common main body gripping device is gripping the common main body.

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