JP2008119653A - Coating system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively enhance the production efficiency of a coated product in a coating system. <P>SOLUTION: In the coating system constituted by providing a joining station 4, which is equipped with first and second coating tanks 9A and 9B and joins and separates a coating machine 2 by the operation of a movable support arm 1a, to the coating machine 2 attached to the movable support arm 1a, in a state that the coating machine 2 is joined to the joining station 4, a filling process executed with respect to the first coating tank 9A and a washing process after coating executed with respect to the second coating tank 9B are provided in parallel while the filling process to the second coating tank 9B and the washing process after coating to the first coating tank 9A are provided in parallel in the same way. A controller 3 repeatedly executes the filling process to the first and second coating tanks 9A and 9B, the coating process, and the washing process after coating in this order. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a coating system, and more specifically, a coating machine attached to a movable support arm for painting work is equipped with a paint tank, and a joining station for joining and detaching the coating machine by operation of the movable support arm is provided. In the state where the coating machine is joined to the joining station, a filling step of filling the paint tank with the paint by feeding the paint through a joining path connected by the joining, and after the filling step, from the joining station In a state where the coating machine is detached, a coating process in which the filling paint in the coating tank is ejected from the coating machine to an object to be coated, and after the coating process, the coating machine is joined to the joining station, A post-painting cleaning process for cleaning the paint tank by supplying a cleaning liquid through a joining path connected by the joining, in that order. Ri relates coating system provided with a controller to implement return.

  Conventionally, in this type of coating system, in order to enable painting with a different paint color for each painting process, the paint tank is filled with the paint for each subsequent painting process for each filling process. From the viewpoint of adopting a form in which the paint tank is washed in preparation for the next paint filling for each post-paint washing process following the painting process, the coating machine is equipped with only one paint tank (first in Patent Document 1). Example).

Japanese Examined Patent Publication No. 7-34882

  However, in this type of coating system, in order to improve the efficiency of production of painted products, it is required to shorten the interval time required until the start of the next painting process after the completion of each painting process. In the system, in order to shorten the interval time, the time required for processes other than the painting process in the series of processes, that is, the time required for filling the paint tank in the filling process, and the cleaning process after painting. There is no choice but to shorten the time required for cleaning or the operation time of the movable support arm required for joining and separation between the coating machine and the joining station.Therefore, there is a limit to shortening the interval time and thereby improving the production efficiency. It was.

  In view of this situation, the main problem of the present invention is to effectively improve the production efficiency of a coated product in this type of coating system by adopting a system configuration that adopts a rational work progress form.

[1] A first characteristic configuration of the present invention is that a paint station attached to a movable support arm for painting work is equipped with a paint tank, and a joining station for joining and detaching the paint machine by operation of the movable support arm is provided. Provided,
In a state where the coating machine is bonded to the bonding station, a filling step of filling the paint tank with a paint by feeding a paint through a joining path connected by the joining;
After the filling step, in a state where the coating machine is detached from the joining station, a coating step for ejecting the filling paint in the paint tank from the coating machine to the object to be coated;
After the painting process, the coating machine is joined to the joining station, and a post-painting washing process in which the paint tank is washed by feeding a washing liquid through a joining path connected by the joining is repeated in that order. In a painting system equipped with a controller
The paint machine is equipped with a first paint tank and a second paint tank as the paint tank,
The controller causes the filling step for the first paint tank and the post-paint washing step for the second paint tank to be performed in parallel, and the filling step for the second paint tank and the post-paint washing step for the first paint tank. In other words, the filling process, the painting process, and the post-coating washing process for each of the first paint tank and the second paint tank are repeated in that order.

  That is, in the first feature configuration, the coating (first coating tank coating process) performed by ejecting the coating material filled in the first coating tank from the coating machine and the coating material filled in the second coating tank from the coating machine. The painting operation is carried out by controlling the movable support arm, the painting machine, and the joining station by the controller in a form of alternately repeating the spraying (the painting process of the second paint tank) performed by spraying.

  That is, (see FIG. 10), in the state where the coating machine is detached from the joining station by the operation of the movable support arm, the first paint tank is painted with the filled paint as the painting process (a) of the first paint tank filled with paint. At this time, the washed second paint tank washed in the previous post-paint washing process remains empty, and the painting machine is removed from the joining station and the first paint tank painting process (A) is carried out. To do.

  After completion of the painting process, the station through the joining path between the painting machine and the joining station as a filling process for the second paint tank in the empty state after the painting machine is joined to the joining station again by the operation of the movable support arm. As the second paint tank is filled with the paint used in the next painting process by supplying the paint from the side, the same coating machine is used as the post-coating washing process for the first paint tank used in the previous painting process (a). The first paint tank is washed by supplying a cleaning liquid from the station side through the joining path extending to the joining station (generally, the communicating paint path to the first paint tank is also washed).

  After that, in the state where the coating machine is detached from the joining station again by the operation of the movable support arm, the second paint tank is painted with the filled paint as the painting process of the second paint tank filled with paint (d). At this time, the first paint tank that has been washed in the previous post-paint washing process remains empty, and the painting machine is detached from the joining station and the painting process (d) of the second paint tank is performed.

  Next, in the state where the coating machine is joined to the joining station by the operation of the movable support arm, as the filling process for the first paint tank (washed and empty), the station side through the joining path between the painting machine and the joining station As the first paint tank is filled with the paint to be used in the next painting process by supplying the paint from, as the post-coating washing process for the second paint tank used in the previous painting process (d), The second paint tank is washed by supplying the cleaning liquid from the station side through the joining path extending to the joining station (generally, the communicating paint path to the second paint tank is also washed).

  Then, by repeating this series of work progress forms, the paint filled in the first paint tank is ejected from the coating machine and the paint filled in the second paint tank is ejected from the paint machine. The painting work is carried out in a form that alternately repeats painting.

  Therefore, according to the first characteristic configuration described above, a conventional system in which only one paint tank is installed in the coating machine, and the filling process, the painting process, and the post-paint washing process are repeated in that order for the one paint tank. Compared to the completion of each painting process, the interval time required until the start of the next painting process is equal to the time required for the filling process for one paint tank and the washing process after painting for the other paint tank. Thus, the production efficiency of the coated product in this type of coating system can be effectively improved.

  In the first characteristic configuration, the painting machine is detached from the joining station and the painting process is performed in a state in which the joint path is disconnected by the separation. Therefore, the coating system according to the first characteristic configuration is an extremely suitable system for electrostatic coating using a conductive paint that is required to prevent electric leakage through the paint in the paint path. In the implementation of the first characteristic configuration, the paint is not limited to a conductive paint such as an aqueous paint, and may be a non-conductive paint such as an organic solvent-based paint.

  In the implementation of the first characteristic configuration, the number of the first paint tank and the second paint tank provided in the coating machine is not limited to one, and may be plural depending on circumstances.

In the implementation of the first characteristic configuration, the parallel portion of the filling step for one paint tank and the post-paint washing step for the other paint tank to be performed is not necessarily the whole of the filling step and the post-paint washing step. It is not necessary, and may be a part of each of the filling process and the post-coating cleaning process.

[2] The second characteristic configuration of the present invention specifies an embodiment suitable for the implementation of the first characteristic configuration.
The controller includes a filling step after the filling step for each of the first paint tank and the second paint tank and before the coating machine is detached from the joining station for the subsequent painting step. The post-filling cleaning step is performed to clean the joint path used for feeding the paint by passing the cleaning liquid through the joint path.

  That is, according to the second characteristic configuration, when the filling process for each of the first paint tank and the second paint tank is completed, the joining path (that is, after that) used for feeding the paint to the paint tank in the filling process. The paint remaining in the connection path that is disconnected due to the separation of the coating machine and the joining station) can be removed by washing by passing the washing liquid in the post-filling washing process following the filling process. It can effectively prevent the remaining paint from leaking to the outside from the connection port of the connection path where the connection has been disconnected or being cured at the connection port of the connection path after leaving the coating machine and the bonding station. Thus, troubles due to external leakage and curing of the remaining paint can be more reliably prevented.

[3] The third characteristic configuration of the present invention specifies an embodiment suitable for the implementation of the second characteristic configuration.
The controller causes the filling step for the first paint tank and the subsequent post-washing washing step to be performed in parallel with the post-coating washing step for the second paint tank, and the filling step for the second paint tank and Each of the subsequent post-cleaning cleaning process and the post-coating cleaning process for the first paint tank are performed in parallel, and the filling process for the first paint tank and the second paint tank, the post-fill cleaning process, and the coating are performed. The process and the post-coating washing process are repeated in that order.

  In other words, according to the third feature configuration, in the implementation of the second feature configuration, the post-paint cleaning for the other paint tank is performed only for the filling step in the filling step for one paint tank and the subsequent post-cleaning cleaning step. Compared to adopting a form in which the washing process after filling for one paint tank is carried out independently, the filling process, the washing process after filling, and the washing process after painting are sufficiently secured. , Each interval time required from the end of each painting process to the start of the next painting process by the time required for the washing process after filling for one paint tank and the washing process after painting for the other paint tank. Can be further shortened, whereby the production efficiency of the coated product in this type of coating system can be improved more effectively.

  In the implementation of the third characteristic configuration, the parallel part of the post-filling cleaning process for one paint tank and the post-painting filling process for the other paint tank that are performed in parallel does not necessarily have to be the entire post-filling cleaning process, It may be a partial section of the cleaning process after filling.

[4] The fourth characteristic configuration of the present invention specifies an embodiment suitable for the implementation of any of the first to third characteristic configurations,
In the post-painting cleaning step or the post-filling cleaning step, the cleaning liquid used for cleaning is configured to be returned from the coating machine to the joining station through a joining path connected by joining the coating machine and the joining station. It is in.

  In other words, according to the fourth feature configuration, the paint tank (and the paint path communicating therewith) is washed and the joint path is washed by being fed through the joining path from the joining station side in the post-paint washing process and the filling washing process. Compared to, for example, discharging the cleaning liquid used in the coating machine from the paint jet outlet of the coating machine to the outside, the used cleaning liquid is returned to the joining station through the joining path in the same manner as the feeding paint and the feeding washing liquid. Scattering of the used cleaning liquid to the joining station and the coating machine joined to the joining station can be more reliably prevented, and various troubles due to the scattering can be avoided more reliably.

[5] The fifth characteristic configuration of the present invention specifies an embodiment suitable for any one of the first to fourth characteristic configurations.
For each of the first paint tank and the second paint tank, the interior of the paint tank is partitioned into a paint chamber communicating with the paint jet port of the coating machine and a working fluid chamber communicating with the working fluid cylinder through the working fluid passage. A paint piston,
As an operation means of the paint piston, the hydraulic fluid in the hydraulic fluid cylinder is pressurized and fed to the hydraulic fluid chamber side through the hydraulic fluid passage in a sealed path state by the forward movement of the hydraulic fluid piston by a motor. A paint discharge mode in which the paint piston is moved forward by liquid pressure;
The hydraulic fluid is returned from the hydraulic fluid chamber to the hydraulic fluid cylinder side through the hydraulic fluid passage, and the hydraulic fluid piston is allowed to return to the paint chamber due to the hydraulic fluid return. Provided for each of the first paint tank and the second paint tank is a hydraulic fluid supply device capable of switching the mode to a paint filling mode in which the paint piston is moved backward by the paint pressure in accordance with the paint supply. It is in a certain point.

  In other words, in the fifth characteristic configuration, in the paint discharge mode in which the paint piston is moved forward by the hydraulic fluid pressure, the filled paint in the paint chamber of each paint tank is pushed out from the paint chamber by the forward movement of the paint piston, and is filled by this extrusion. The paint is ejected from the paint spout of the painting machine to coat the object.

  In addition, in the paint filling mode that allows the return of the working fluid to the working fluid cylinder and the return of the working fluid piston due to the return of the working fluid, the paint is pressurized and supplied to the paint chamber of each paint tank. While the paint piston is moved back by pressure, the paint chamber of each paint tank is filled with the next-use paint.

  And according to this 5th characteristic structure, the appropriate location which left | separated the hydraulic fluid supply apparatus as a paint piston operation means provided with a motor, a hydraulic fluid cylinder, and a hydraulic fluid piston sufficiently from each paint tank by extending the hydraulic fluid path (In other words, the movable support arm can be disposed at an appropriate location sufficiently away from the coating machine equipment portion), and the motor for driving the paint piston and the mechanical transmission mechanism are arranged near the coating machine or the coating machine. Compared to the painting system, the painter equipment part of the movable support arm can be effectively reduced in size and weight, which can limit the object to be painted due to interference between the painter equipment part and other objects and the parts to be painted. This can effectively eliminate the restrictions of the system, increase the versatility of the system, and improve the operability of the movable support arm to improve the painting accuracy and painting efficiency. It is Mel possible.

  In the paint discharge mode, the paint piston in each paint tank is moved forward via the working fluid (that is, incompressible fluid) in the closed working fluid passage in accordance with the forward movement of the working fluid piston in the working fluid cylinder. Furthermore, in the paint filling mode, the working fluid between the paint piston and the working fluid piston is brought to a positive pressure by moving the paint piston backward by the pressure of the paint supplied to the paint chamber of each paint tank. The hydraulic fluid is returned to the hydraulic fluid cylinder side while maintaining the hydraulic fluid in the hydraulic fluid cylinder in a state in which external air (that is, compressive fluid) is prevented from entering the hydraulic fluid passage in the sealed passage state. Since the piston is moved backward, the paint piston and the hydraulic fluid piston can be interlocked together in the same manner as in the case where the hydraulic fluid is interposed as described above. The paint piston can be moved forward with high operation accuracy, and this enables the paint jet flow rate to be controlled with high control accuracy equivalent to that of a mechanical transmission system that drives the paint piston forward by driving the piston rod by a motor. It can also be controlled.

  Moreover, since the paint piston in each paint tank and the working fluid piston in the working fluid cylinder are always in contact with the working fluid, the working fluid can function as a lubricant. The operation of each of the hydraulic fluid pistons can always be kept in a smooth and low resistance state, so that the operation accuracy of the paint piston can be kept higher and stable, and the controllability of the paint ejection flow rate can be further improved. In addition, it is possible to effectively suppress wear due to piston operation and effectively increase the durability of the system.

  In addition, if a non-conductive liquid is used as the hydraulic fluid, it is possible to reliably leak electric current from the conductive paint in the voltage application state to the motor side through the hydraulic fluid in the electrostatic coating in which the paint is ejected from the paint jet nozzle in the voltage application state. Therefore, it is possible to easily prevent leakage as a whole, and in this respect, a coating system that is more suitable for electrostatic coating can be obtained.

  FIG. 1 shows a coating system for automatically and sequentially coating a workpiece W (in this example, an automobile body) conveyed by a conveyor at a predetermined interval, and 1 is a painting robot installed on the side of the workpiece conveyance path. The painting robot 1 includes a base part 1a, a body part 1b capable of turning around a longitudinal axis with respect to the base part 1a, and an articulated work arm 1c extending from the body part 1b. The working arm 1c is used as a movable support arm for painting work, and a painting machine 2 (painting gun) is attached to the tip of the working arm 1c.

  Reference numeral 3 denotes a controller that operates the painting robot 1 and the painting machine 2 according to the setting program. By controlling the operation of the controller 3, each part of the painting robot 1 is operated to sequentially change the position and orientation of the tip coating machine 2. Then, each part of the article W to be coated is sequentially coated by causing the coating machine 2 to perform the paint jetting operation.

  Reference numeral 4 denotes a joining station installed in the vicinity of the painting robot 1, and a paint color for supplying a conductive paint Tw such as a water-based paint from a paint source tank to the joining station 4 as shown in FIGS. A plurality of other paint paths 5a to 5n are connected, and a main cleaning liquid path 6 and a main cleaning air path 7 are connected. On the other hand, a non-conductive paint Tt such as an organic solvent-based paint is applied to the coating machine 2. A paint direct feed path 50 (which may be omitted in some cases) to be fed is connected across the work arm 1c of the painting robot 1.

  The paint direct feed path 50 is a second one in which a plurality of dedicated paint paths 51a to 51n for each paint color for feeding the non-conductive paint Tt from the paint source tank, and a dedicated cleaning liquid path 52 and a dedicated cleaning air path 53 are connected. The manifold 54 of the second color change valve unit CCV2 extends from the manifold 54 of the color change valve unit CCV2. The paint valve vt for opening and closing each of the special paint passages 51a to 51n and the dedicated cleaning liquid passage 52 are provided in the manifold 54 of the second color change valve unit CCV2. And a cleaning valve vc for opening and closing each of the dedicated cleaning air passages 53 is integrally provided. In addition, the square symbol in a figure shows a valve.

  The coating machine 2 is a rotary atomizing type coating machine that discharges the paints Tw and Tt ejected from the paint ejection port 2a in a mist state by a centrifugal action by the rotation of the bell cup 2b. A high voltage generator 8 for electrostatic coating is provided to charge the discharged paints Tw and Tt by applying a voltage in the coating machine. Note that the coating machine 2 is not limited to the rotary atomization type, but may be another type such as an air atomization type.

  The coating machine 2 is equipped with two paint tanks 9A and 9B having the same structure. On the other hand, two working fluid supply devices 10A and 10B having the same structure are provided near the base of the work arm 1c. The first hydraulic fluid supply device 10A and the first paint tank 9A are connected by the first hydraulic fluid passage 11a over the work arm 1c, and the second hydraulic fluid supply device 10B and the first hydraulic fluid supply device 10B are connected to each other. Two paint tanks 9B are connected by a second hydraulic fluid passage 11b.

  As shown in FIGS. 2 and 3, the paint tanks 9A and 9B are internally provided with paint pistons 14a and 14b as sliding partition walls for partitioning the inside of the tanks into paint chambers 12a and 12b and hydraulic fluid chambers 13a and 13b. The paint chambers 12a and 12b of the paint tanks 9A and 9B are communicated with the paint jet outlet 2a of the coating machine 2 through the branch discharge paths 15a and 15b and the main discharge path 15.

  Each of the hydraulic fluid supply devices 10A and 10B includes hydraulic fluid cylinders 17a and 17b in which hydraulic fluid pistons 16a and 16b are housed, and motors 19a and 19b that drive the hydraulic fluid pistons 16a and 16b via piston rods 18a and 18b. The cylinder chamber 20a of the first hydraulic fluid cylinder 17a is communicated with the hydraulic fluid chamber 13a of the first paint tank 9A through the first hydraulic fluid passage 11a, and the cylinder chamber 20b of the second hydraulic fluid cylinder 17b is the same as the cylinder chamber 20b. The second hydraulic fluid passage 11b communicates with the hydraulic fluid chamber 13b of the second paint tank 9B.

  In the first and second systems of the paint tanks 9A and 9B, the hydraulic fluid chambers 13a and 13b, the hydraulic fluid passages 11a and 11b, and the hydraulic fluid cylinders 17a and 17b and the cylinder chambers 20a and 20b, the paint piston 14a. 14b and the hydraulic fluid pistons 16a, 16b are filled with a non-conductive hydraulic fluid L having lubricity in a full state.

  A hydraulic fluid supply passage 21 pressurizes and supplies the hydraulic fluid L from the hydraulic fluid tank 22 to the cylinder chambers 20a and 20b of the hydraulic fluid cylinders 17a and 17b, and a cylinder 23 discharges the hydraulic fluid L from the cylinder chambers 20a and 20b. A side hydraulic fluid discharge path 24 is a tank side hydraulic fluid discharge path for discharging the hydraulic fluid L from the hydraulic fluid chambers 13a and 13b of the paint tanks 9A and 9B. The hydraulic fluid supply path 21, the hydraulic fluid discharge path 23, By closing the intervening on-off valve vm at 24, each of the hydraulic fluid passages 11a and 11b becomes a sealed passage communicating only with the hydraulic fluid chambers 13a and 13b and the cylinder chambers 20a and 20b, which are sealed chambers. Each hydraulic fluid passage 11a, 11b is equipped with a pressure sensor 55 for detecting the hydraulic fluid pressure p in the passage.

  The hydraulic fluid discharge paths 23 and 24 are connected to a recovery tank across the work arm 1c of the painting robot 1, and the hydraulic fluid L discharged through the hydraulic fluid discharge paths 23 and 24 is the recovery tank (not shown). ).

  The hydraulic fluid pistons 16a, 16b and the piston rods 18a, 18b are separated from each other. In the forward drive of the piston rods 18a, 18b by forward rotation of the motors 19a, 19b, the piston rods 18a, 18b The hydraulic fluid pistons 16a and 16b are moved forward (sliding toward the side of reducing the cylinder chamber volume) by pressing by the piston rods 18a and 18b in a state where the tips of the hydraulic fluid pistons 16a and 16b are in contact with each other, In the backward drive of the piston rods 18a and 18b by the reverse rotation operation of the motors 19a and 19b, only the piston rods 18a and 18b are moved backward while being detached from the hydraulic fluid pistons 16a and 16b.

  In other words, the hydraulic fluid supply devices 10A and 10B fill the paint chambers 12a and 12b in the paint tanks 9A and 9B by moving the paint pistons 14a and 14b of the paint tanks 9A and 9B as paint piston operating means. With the paint discharge mode in which the paint Tw (conductive paint) is ejected from the paint jet outlet 2a of the coating machine 2, and the pressure supply of the paint Tw (conductive paint) to the paint chambers 12a and 12b of the paint tanks 9A and 9B The mode can be switched to a paint filling mode in which the paint pistons 14a and 14b are moved back.

  Specifically, in the paint discharge mode, the hydraulic fluid pistons 16a and 16b are moved forward by the forward drive of the piston rods 18a and 18b by the forward rotation operation of the motors 19a and 19b, and the hydraulic fluid pistons 16a and 16b are moved forward. The hydraulic fluid L in the cylinder chambers 20a and 20b in the hydraulic fluid cylinders 17a and 17b is pressurized and fed to the paint tanks 9A and 9B through the hydraulic fluid passages 11a and 11b in a sealed path state, so that the paint piston is generated by the hydraulic fluid pressure. 14a and 14b are moved forward, whereby the paint paint Tw (conductive paint) in the paint chambers 12a and 12b in the paint tanks 9A and 9B is pushed out to the main discharge path 15 through the branch discharge paths 15a and 15b. 2 is ejected from the paint outlet 2a.

  In the paint filling mode, the piston rods 18a, 18b are separated from the hydraulic fluid pistons 16a, 16b by the reverse operation of the motors 19a, 19b, and are retracted, thereby allowing the paint tanks to pass through the hydraulic fluid passages 11a, 11b in a sealed state. The return of the hydraulic fluid L from the hydraulic fluid chambers 13a and 13b to the hydraulic fluid cylinders 17a and 17b and the return of the hydraulic fluid pistons 16a and 16b due to the return of the hydraulic fluid are allowed, and this return allowable state As the next-use paint Tw (conductive paint) is supplied to the paint tank paint chambers 12a and 12b through the inflow passages 25a and 25b, the paint pistons 14a and 14b are moved back by the paint pressure. The hydraulic fluid pistons 16a and 16b are moved backward by returning the hydraulic fluid to the hydraulic fluid cylinders 17a and 17b.

  In each of the hydraulic fluid supply devices 10A and 10B, the limit position ST ′ for the backward movement of the hydraulic fluid pistons 16a and 16b is defined in the paint filling mode, so that the limit position for the backward movement of the paint pistons 14a and 14b due to the paint pressure. ST is provided, and thereby there is provided a return regulating means for regulating the amount of paint filled in the paint tank paint chambers 12a and 12b. Specifically, the piston rods 18a and 18b of the hydraulic fluid pistons 16a and 16b are provided. When the motors 19a and 19b are reversely operated to be separated from the hydraulic fluid pistons 16a and 16b and moved backward, the motors 19a and 19b are moved in a state where the piston rods 18a and 18b are moved backward to the retracted position corresponding to the allowable limit position ST '. Is stopped and the piston rods 18a and 18b are made to stand by in the retracted position, and the piston in this standby state The return movement of the hydraulic fluid pistons 16a and 16b associated with the supply of the paint to the paint tank paint chambers 12a and 12b is applied to the standby piston rods 18a and 18b by using the cylinders 18a and 18b as the backward movement restricting means. By stopping by contact, the allowable limit position ST ′ for the backward movement of the hydraulic fluid pistons 16a and 16b is defined.

  As a change in setting of the permissible limit position ST ', the retraction standby position of the piston rods 18a, 18b in the paint filling mode is set to the required paint ejection amount in the next paint discharge mode on the automatic control of the motors 19a, 19b by the controller 3. By changing according to the above, the paint filling amount in each paint filling mode for the paint tank paint chambers 12a and 12b is changed to an amount corresponding to the required paint ejection amount in each subsequent paint discharge mode (specifically, the required paint ejection amount). And an amount obtained by adding a small amount of a predetermined margin).

  A joint base 26 is provided on the side surface of the coating machine 2, and the first paint is used as a connection port of a joint on the coating machine side that is connected to the joint base 26 by joining the coating machine 2 and the joining station 4. A total of five coating machine side ports, a first inflow port 27a and a first outflow port 28a for a tank, a second inflow port 27b and a second outflow port 28b for a second paint tank, and a tip cleaning port 31a are provided. In the coating machine 2, the first inflow port 27a and the paint chamber 12a of the first paint tank 9A communicate with each other through the first inflow path 25a, and the second inflow port 27b and the second paint tank 9B. The paint chamber 12b is communicated with the second inflow passage 25b, and the first outflow passage 29a branched from the first branch discharge passage 15a on the first paint tank 9A side is communicated with the first outflow port 28a. Together is, it is communicated to the second outlet channel 29b which branches from the second branch discharge passage 15b at the side of the second paint tank 9B to the second outlet port 28b.

  Further, the first bypass passage 30a branched from the first inflow passage 25a is communicated with the middle portion of the first outflow passage 29a, and the second bypass passage 30b branched from the second inflow passage 25b is provided in the middle of the second outflow passage 29b. The tip cleaning path 31 communicated with the tip and the tip cleaning port 31a is opened in parallel to the inside and outside of the bell cup 2b, and the inflow paths 25a and 25b and the branch discharges are opened. The path 15a, 15b, each outflow path 29a, 29b, and each bypass path 30a, 30b are provided with a path switching valve vx on the coating machine side.

  Further, the paint direct feed path 50 for feeding the non-conductive paint Tt is communicated with the main discharge path 15 via the path switching valve vx, similarly to the first and second branch discharge paths 15a and 15b.

  On the other hand, the joining station 4 is provided with a station-side joining base 33, which is connected to the station-side joining base 33 by joining the coating machine 2 and the joining station 4. The first feeding port 34a communicating with the first inflow port 27a on the coating machine side in a state where the joining base part 26 on the coating machine side is joined to the joining base part 33 on the station side by the work arm operation of the painting robot 1. A second feed port 34b communicating with the second inflow port 27b, a first discharge port 35a communicating with the first outflow port 28a, a second discharge port 35b communicating with the second outflow port 28b, and a tip cleaning port There are a total of five station-side ports, a tip cleaning feed port 32a that communicates with 31.

  In addition, the joining station 4 includes the paint paths 5a to 5n for the conductive paint, the main cleaning liquid path 6 and the main cleaning air path 7 in the same manner as the second color change valve unit CCV2 for the non-conductive paint. The branched common cleaning liquid path 6c and the common cleaning air path 7c are connected to the manifold 36, the paint valve vt for opening and closing the paint paths 5a to 5n, and the cleaning valve for opening and closing the common cleaning liquid path 6c and the common cleaning air path 7c. The first color change valve unit CCV1 in which vc is integrally provided in the manifold 36 is provided, and the main feed path extended from the manifold 36 of the first color change valve unit CCV1 inside the joining station 4 37 is connected in parallel to the first feeding port 34a and the second feeding port 34b through the first and second branch feeding paths 37a and 37b, and the first Beauty second discharge port 35a, the respective first and second discharge path 38a of 35b, are communicated to 38b.

  Further, the first cleaning liquid path 6a and the first cleaning air path 7a branched from the main cleaning liquid path 6 and the main cleaning air path 7 are arranged in parallel to the first cleaning crossing path 39a branched from the first branch feeding path 37a. And the second cleaning liquid path 6b and the second cleaning air path branched from the main cleaning liquid path 6 and the main cleaning air path 7 with respect to the second cleaning transfer path 39b branched from the second branch supply path 37b. The third cleaning liquid path 6d branched from the main cleaning liquid path 6 and the main cleaning air path 7 with respect to the front end cleaning feed path 32 connected in parallel with the front end cleaning feed port 32a. And the third cleaning air passage 7d are connected in parallel, and each branch feeding passage 37a, 38b, each cleaning crossing passage 39a, 39b, each cleaning liquid passage 6a, 6b, 6d, and each cleaning air passage 7a. , 7b, 7d have station side The path switching valve vy is interposed.

  That is, the first inflow path 25a, the second inflow path 25b, the first outflow path 29a, the second outflow path 29b, the tip cleaning path 31 in the coating machine 2, and the first branch feed path 37a in the joining station 4, The second branch feed path 37b, the first discharge path 38a, the second discharge path 38b, and the tip cleaning feed path 32 are joined on the coating machine side and the station side by joining the coating machine 2 and the joining station 4. is there.

  In the system configuration described above, the controller 3 is linked with the object conveyance to control the path switching by opening / closing the valves vx, vy, vt, vc, the rotation control of the motors 19a, 19b, and the operation of the painting robot 1. By the control, the painting operation is automatically advanced in the following procedures (a) to (f) (see FIG. 10).

  In FIGS. 4 to 9 showing the respective steps of the painting work, the valve indicated by a white square symbol is in an open state, and the valve indicated by a square symbol having a cross is in a closed state. The flow of the paints Tw and Tt is indicated by thick solid lines, the flow of the cleaning liquid S and the cleaning air A is indicated by white solid lines, and the working liquid L is indicated by thick broken lines.

  (A) FIG. 4 shows a painting process in which the paint Tw (conductive paint) filled in the paint chamber 12a of the first paint tank 9A is used. In this process, the paint in the first paint tank 9A is shown. In the state where only the chamber 12a is filled with the paint Tw (conductive paint) (that is, the paint chamber 12b of the second paint tank 9B is left empty), the coating machine 2 is moved from the joining station 4 by the operation of the work arm 1c. The first working fluid supply device 10A is placed in the paint discharge mode in the detached state by being separated and placed in the required painting position, so that the paint piston 14a of the first paint tank 9A moves forward to near the front end position by the working fluid pressure. Then, the filling paint Tw in the paint chamber 12a of the first paint tank 9A is applied to the first branch discharge path 15a-main discharge path 15-paint injection under the application state of the voltage generated by the high voltage generator 8. Is released in a charged state only needs paint ejection amount toward the coating object W from the bell cup 2b through the mouth 2a.

  In the painting process of the first paint tank 9A, the voltage applied to the paint Tw leaks to the paint supply source side through the conductive paint Tw due to the disconnection of the coating machine 2 from the joining station 4 and the disconnection of the joint path. In addition, leakage of the applied voltage to the outside through the hydraulic fluid L is prevented by the non-conductivity of the hydraulic fluid L, and electrical leakage through other members is prevented by an electrical insulating material disposed at an appropriate place. .

  (B) FIG. 5 shows a cleaning / filling process subsequent to the completion of the painting process shown in FIG. 4. In this process, the coating machine 2 is operated by the operation of the work arm 1c while the voltage application by the high voltage generator 8 is stopped. Are joined to the joining station 4 so that the ports 27a, 27b, 28a, 28b, 31a on the coating machine side communicate with the corresponding ports 34a, 34b, 35a, 35b, 32a on the station side. By setting the first hydraulic fluid supply device 10A to the paint discharge mode again, the paint piston 14a of the first paint tank 9A is moved forward to the front end position by the hydraulic fluid pressure, and a slight amount in the paint chamber 12a of the first paint tank 9A is obtained. The remaining paint Tw is discharged to the outside through the first branch discharge path 15a-main discharge path 15-paint spray outlet 2a.

  Then, following the discharge of the remaining paint, as a post-coating washing process (system washing / tip washing) for the first paint tank 9A and the tip of the coating machine, the washing liquid S (from the first washing liquid path 6a and the first washing air path 7a) In this example, the cleaning water) and the cleaning air A are divided into the first cleaning crossing path 39a on the station side, the downstream portion of the first branch feeding path 37a, the first feeding port 34a, and the first inflow port on the coating machine side. 27a-first inflow passage 25a-paint chamber 12a of the first paint tank 9A-first branch discharge passage 15a-first outflow passage 29a-first outflow port 28a-first discharge port 35a-first discharge passage on the station side 38a, the cleaning liquid S and the cleaning air A from the third cleaning liquid path 6d and the third cleaning air path 7d are supplied to the station side tip cleaning feed path 32-tip cleaning port 32a-painting. Through tip wash ports 31a- tip cleaning path 31 side is ejected alternately to people inside and outside of each of the bell cup 2b, thereby, removing the paint stains caused in the painting process of the previous (i).

  In addition, as a filling process for the second paint tank 9B in a form that is performed concurrently with the remaining paint discharge and the post-paint cleaning, the paint Tw (conducting material) to be used next in the state where the second hydraulic fluid supply device 10B is in the paint filling mode. Open the paint valve vt of the first color change valve unit CCV1 at the joining station 4, the manifold 36-main feed path 37-second branch feed path 37b-second. The pressure is supplied to the paint chamber 12b of the second paint tank 9B through the feed port 34b-the second inflow port 27b on the coating machine side-the second inflow passage 25b, and thereby the hydraulic fluid piston 16b of the second paint supply device 10B. , The amount of the next-use paint Tw necessary for the next painting process (that is, the painting of the next object to be coated W) is filled in the paint chamber 12b of the second paint tank 9B.

  Then, in this paint filling, the hydraulic fluid piston 16b of the second hydraulic fluid supply device 10B stops returning by contact with the piston rod 18b in the backward standby position, and is detected by the pressure sensor 55 in the second hydraulic fluid passage 11b. When the hydraulic fluid pressure p rises, the previously opened paint valve vt is closed to stop the pressurized supply of the paint Tw to the second paint tank 9b.

  (C) FIG. 6 shows a post-cleaning process following the cleaning / filling process shown in FIG. 5. In this process, the voltage application by the voltage generator 8 is stopped and the coating machine 2 is bonded to the bonding station 4. Then, as a post-coating cleaning process for the first paint tank 9B, the cleaning liquid S and the cleaning air A from the first cleaning liquid path 6a and the first cleaning air path 7a are used as the first cleaning connecting path 39a-first on the station side. Downstream portion of the branch feed path 37a—the first feed port 34a—the first inflow port 27a on the coating machine side—the first inflow path 25a—the paint chamber 12a of the first paint tank 9A—the first branch discharge path 15a—the first. 1 outflow path 29a-first outflow port 28a-passing alternately through the station side first discharge port 35a-first discharge path 38a, thereby making the cleaning of the first paint tank system more complete

  Further, following the completion of the paint filling to the second paint tank 9B, as a post-fill washing process (connection part washing) for the second paint tank 9B in a form to be performed in parallel with the post-paint washing (system washing) for the first paint tank 9A. By operating the cleaning valve vc in the first color changing valve unit CCV1, the cleaning liquid S and the cleaning air A from the common cleaning liquid path 6c and the common cleaning air path 7c are connected to the manifold 36 of the first color changing valve unit CCV1 in the joining station 4. -Main feeding path 37-second branch feeding path 37b-second feeding port 34b-second inflow port 27b on the coating machine side-second inflow path 25b-second cleaning crossing path 30b-second outflow path 29b−second outlet port 28b−second discharge port 35b on the station side−second discharge path 38b, and alternately pass through the second discharge tank 35B. Removing paint stains caused by paint filling.

  Thereafter, in this step, the motor 19b of the second hydraulic fluid supply device 10B is operated in a slightly reverse direction to slightly retract the piston rod 18b, so that the hydraulic fluid piston 16b moves the residual hydraulic fluid in the second hydraulic fluid path 11b. If the hydraulic fluid pressure p detected by the pressure sensor 55 in the second hydraulic fluid passage 11b drops below the set value ps at this time, the paint chamber 12b of the second paint tank 9B and the second operation are moved. The operation of the work arm 1c is determined by determining that an appropriate state in which air bubbles are not mixed is maintained in the sealed hydraulic fluid filling region including the hydraulic fluid path 11b and the hydraulic fluid chamber 20b of the second hydraulic fluid supply device 10B. Thus, the coating machine 2 is detached from the joining station 4 and proceeds to the next coating step (d).

  If the detected hydraulic fluid pressure p by the pressure sensor 55 in the second hydraulic fluid passage 11b does not drop below the set value ps, it is determined that there is an improper state where air bubbles are mixed in the sealed hydraulic fluid filling area. Then, predetermined response processing such as abnormality notification is performed.

  (D) FIG. 7 shows a painting process in which painting is performed using the paint Tw (conductive paint) filled in the paint chamber 12b of the second paint tank 9B. In this process, Similarly, in a state where only the paint chamber 12b of the second paint tank 9B is filled with the paint Tw (the paint chamber 12a of the first paint tank 9A is left), the coating machine 2 is connected to the joining station 4 by the operation of the work arm 1c. In this disengaged state, the second hydraulic fluid supply device 10B is placed in the paint discharge mode, so that the paint piston 14b of the second paint tank 9B is moved close to the front end position by the hydraulic fluid pressure. The charged paint Tw in the paint chamber 12b of the second paint tank 9B is moved to the second branch discharge path 15b-main discharge path 15-paint jet under the application state of the voltage generated by the high voltage generator 8. Is released in a charged state only needs paint ejection amount toward the coating object W from the bell cup 2b through 2a.

  Even in the painting process of the second paint tank 9B, the leakage of the voltage applied to the paint Tw to the paint supply source side through the conductive paint Tw is caused by the disconnection of the coating machine 2 from the joining station 4. It is prevented by cutting, and leakage of the applied voltage to the outside through the hydraulic fluid L is prevented by non-conductivity of the hydraulic fluid L, and electrical leakage through other members is prevented by an electrical insulating material disposed at a proper place. Is done.

  (E) FIG. 8 shows a cleaning / filling process following the completion of the painting process shown in FIG. 7. In this process, the coating machine 2 is operated by the operation of the work arm 1c with the voltage application by the high voltage generator 8 stopped. Are joined to the joining station 4 so that the ports 27a, 27b, 28a, 28b, 31a on the coating machine side communicate with the corresponding ports 34a, 34b, 35a, 35b, 32a on the station side. 2 By setting the hydraulic fluid supply device 10B to the paint discharge mode again, the hydraulic fluid pressure causes the paint piston 14b of the second paint tank 9B to move forward to the front end position, and a slight amount in the paint chamber 12b of the second paint tank 9B. The remaining paint Tw is discharged to the outside through the second branch discharge path 15b-main discharge path 15-paint spray outlet 2a.

  Then, following the discharge of the remaining paint, as a post-painting cleaning process (system cleaning / tip cleaning) for the second coating tank 9B and the tip of the coating machine, the cleaning liquid S and the second cleaning liquid path 6b and the second cleaning air path 7b The cleaning air A is changed from the second cleaning connecting path 39b on the station side to the downstream portion of the second branch feeding path 37b, the second feeding port 34b, the second inlet port 27b on the coating machine side, and the second inlet path 25b. -The paint chamber 12b of the second paint tank 9B-the second branch discharge path 15b-the second outflow path 29b-the second outflow port 28b-the station side second discharge port 35b-the second discharge path 38b and alternately passing through The cleaning liquid S and the cleaning air A from the third cleaning liquid path 6d and the third cleaning air path 7d are supplied to the station side tip cleaning feed path 32-tip cleaning port 32a-coating machine side tip cleaning port. 31a- jetted through tip wash path 31 alternately with respect to people inside and outside of each of the bell cup 2b, thereby, removing the paint stains caused in the painting process of the previous (d).

  In addition, as a filling process for the first paint tank 9A in the form of discharging the residual paint and washing after painting, the paint Tw (conducting material) to be used next in the state where the first hydraulic fluid supply device 10A is in the paint filling mode. The paint valve vt of the paint) is opened, and the next use paint T is connected to the manifold 36 of the first color change valve unit CCV1 at the joining station 4—main feed path 37—first branch feed path 37a—first. The supply port 34a is pressurized and supplied to the paint chamber 12a of the first paint tank 9A through the first inflow port 27a on the coating machine side and the first inflow passage 25a, whereby the hydraulic fluid piston 16a of the first paint supply device 10A is supplied. , The amount of the next-use paint Tw necessary for the next painting process (that is, the painting of the next object to be coated W) is filled in the paint chamber 12a of the first paint tank 9A.

  Then, in this paint filling, the hydraulic fluid piston 16a of the first hydraulic fluid supply device 10A stops moving backward upon contact with the piston rod 18a at the backward standby position, and is detected by the pressure sensor 55 in the first hydraulic fluid passage 11a. When the hydraulic fluid pressure p rises, the previously opened paint valve vt is closed, and the pressurized supply of the paint Tw to the first paint tank 9a is stopped.

  (F) FIG. 9 shows a post-cleaning process following the cleaning / filling process shown in FIG. 8. In this process, voltage application by the voltage generator 8 is also stopped and the coating machine 2 is bonded to the bonding station 4. Then, as a post-coating cleaning process for the second paint tank 9B, the cleaning liquid S and the cleaning air A from the second cleaning liquid path 6b and the second cleaning air path 7b are used as the second cleaning connecting path 39b-second on the station side. Downstream portion of the branch feed path 37b-second feed port 34b-second inflow port 27b on the coating machine side-second inflow path 25b-paint chamber 12b of the second paint tank 9B-second branch discharge path 15b-second. 2 outflow passage 29b−second outflow port 28b−passing alternately through the station side second discharge port 35b−second discharge passage 38b, thereby making the cleaning of the second paint tank system more complete

  Further, following the completion of the filling of the paint to the first paint tank 9A, as a post-fill washing process (connection part washing) for the first paint tank 9A in a form concurrently with the post-paint washing (system washing) for the second paint tank 9B. By operating the cleaning valve vc in the first color changing valve unit CCV1, the cleaning liquid S and the cleaning air A from the common cleaning liquid path 6c and the common cleaning air path 7c are connected to the manifold 36 of the first color changing valve unit CCV1 in the joining station 4. -Main feeding path 37-first branch feeding path 37a-first feeding port 34a-first inflow port 27a on the coating machine side-first inflow path 25a-first cleaning crossing path 30a-first outflow path 29a-the first outlet port 28a-the station-side first discharge port 35a-the first discharge path 38a, and the passage is alternately made to pass through the first paint tank 9A. That to remove the paint stains caused by paint filling.

  Thereafter, in this process, the motor 19a of the first hydraulic fluid supply device 10A is slightly reversely operated to slightly retract the piston rod 18a, so that the hydraulic fluid piston 16a is moved to the remaining hydraulic fluid in the first hydraulic fluid passage 11a. If the hydraulic fluid pressure p detected by the pressure sensor 55 in the first hydraulic fluid passage 11a falls below the set value ps at this time, the paint chamber 12a of the first paint tank 9A and the first operation are moved. The operation of the work arm 1c is determined by determining that an appropriate state in which air bubbles are not mixed is maintained in the hermetically sealed hydraulic fluid filling region composed of the liquid passage 11a and the hydraulic fluid chamber 20a of the first hydraulic fluid supply device 10A. Thus, the coating machine 2 is detached from the joining station 4 and proceeds to the next coating step (A).

  Further, if the hydraulic fluid pressure p detected by the pressure sensor 55 in the first hydraulic fluid passage 11a does not drop below the set value ps, it is determined that there is an improper state in which air bubbles are mixed in the sealed hydraulic fluid filling region. Then, predetermined response processing such as abnormality notification is performed.

  Thereafter, while the object W to be coated with the conductive paint Tw continues in the object conveyance by the conveyor, the first paint tank 9A is repeated by repeating the steps (a) to (f) in that order. And the second paint tank 9B are alternately used in such a manner that the transported objects W are sequentially applied to the designated colors.

  On the other hand, in the case where an object to be coated with the non-conductive paint Tt is interposed in the object conveyance by the conveyor, the second and second paint tanks 9A and 9B are replaced with the second paint tank 9A and 9B, instead of the second paint tank 9A and 9B. In the color change valve unit CCV2, by opening the paint valve vt of the paint Tt (non-conductive paint) corresponding to the specified color of the workpiece W, the paint Tt is made to be the manifold of the second color change valve unit CCV2. 54-It is made to eject from the coating material ejection port 2a of the coating machine 2 through the coating material direct feed path 50, and the to-be-coated object W is coated with the non-conductive coating material Tt of the designated color.

  After the coating with the non-conductive paint Tt, the cleaning liquid S 52 (for example, thinner) and the cleaning air A are supplied from the dedicated cleaning liquid path 52 and the dedicated cleaning air path 53 by operating the cleaning valve vc in the second color changing valve unit CCV2. Are alternately ejected from the paint jet outlet 2a through the manifold 54-paint direct feed path 50 of the second color change valve unit CCV2, and thereby from the second color change valve unit CCv2 by the non-conductive paint Tt to the paint jet outlet 2a. Remove paint stains.

  When painting with the non-conductive paint Tt, a work mode in which the work arm 1a is operated in a state where both the first and second paint tanks 9A and 9B are emptied, or the first and second paint tanks 9A and 9B. The working arm 1c in a state in which the paint tank not used in the previous coating with the conductive paint Tw (that is, the paint tank used in the next painting with the conductive paint Tw) is filled with the next conductive paint Tw. You can take any of the work modes that operate.

In short, in this embodiment, the painting station 2 attached to the movable support arm 1a for painting work is equipped with the paint tanks 9A and 9B, and the joining station for joining and detaching the painting machine 2 by the operation of the movable support arm 1a. 4 and
A filling step of filling the paint tanks 9A and 9B with the paint Tw by feeding the paint through the joining paths 25a, 37a, 25b and 37b connected by the joining in a state where the coating machine 2 is joined to the joining station 4;
After the filling step, the painting step of ejecting the filling paint Tw in the paint tanks 9A and 9B from the painting machine 2 to the article W in a state where the coating machine 2 is detached from the joining station 4;
After the painting process, the coating machine 2 is joined to the joining station 4, and the paint tanks 9A and 9B and the communication paint path to the paint tanks 9A and 9B are fed by the cleaning liquid supplied through the joining paths 25a, 37a, 25b and 37b connected by the joining. In the coating system provided with the controller 3 for repeatedly performing the post-painting cleaning process for cleaning
The paint machine 2 is equipped with a first paint tank 9A and a second paint tank 9B as paint tanks, and the controller 3 includes a filling process for the first paint tank 9A and a post-paint washing process for the second paint tank 9B. And filling the second paint tank 9B and the first paint tank 9A with a filling process for the first paint tank 9A and a filling process for the first paint tank 9A, respectively. The painting process and the washing process after painting are repeated in that order.

In addition, after the filling process for each of the first paint tank 9A and the second paint tank 9B, the controller 3 performs the filling until the coating machine 2 is detached from the joining station 4 for the subsequent painting process. In addition to adopting a structure for performing a post-filling cleaning process for cleaning the joint paths 25a, 37a, 25b, and 37b used for feeding the paint in the process by passing the cleaning liquid to the joint paths,
Each of the filling step for the first paint tank 9A and the subsequent post-filling washing step is performed in parallel with the post-painting washing step for the second paint tank 9B, and the filling step for the second paint tank 9B and the subsequent post-filling washing step. And a post-painting cleaning process for the first paint tank 9A, and a filling process, a post-filling cleaning process, a painting process, and a post-painting cleaning process for the first paint tank 9A and the second paint tank 9B, respectively. It is also configured to be repeated in that order.

  That is, by performing the filling process for one paint tank and the post-paint washing process for the other paint tank in this manner, the post-washing washing process for one paint tank is performed together with the filling process for the other paint tank. By combining it with the post-painting cleaning process, the interval time required to reach the start of the next painting process after the completion of each painting process is effectively shortened, thereby enabling painting in this type of painting system. Product production efficiency is improved.

  In the coating system of the present embodiment, the cleaning liquid S used for cleaning is applied to the coating machine 2 and the joining station 4 in the post-paint cleaning process and the post-fill cleaning process for the first paint tank 9A and the second paint tank 9B, respectively. In this configuration, the used cleaning liquid S is returned from the coating material ejection port 2a of the coating machine 2 to the outside through the joining paths 29a, 38a, 29b, and 38b that are connected to each other. The used cleaning liquid S is surely prevented from being scattered to the joining station 4 and the coating machine 2 joined to the joining station 4 as compared with the case where it is discharged and discharged.

  Although the painting operation is as described above, in this painting system, the following (a) to (d) bleed processing is automatically performed by the operation control by the controller 3 at the start of the system and at the time of instruction from the operator. (See FIGS. 11-15).

  (A) As shown in FIG. 11, in a state where the voltage application by the high voltage generator 8 is stopped, the coating machine 2 is joined to the joining station 4 by the operation of the work arm 1c, and each port 27a, 27b, 28a, 28b, 31a are communicated with the corresponding ports 34a, 34b, 35a, 35b, 32a on the station side, and in this joined state, the on-off valve vm of the cylinder side hydraulic fluid discharge passage 23 and the tank side hydraulic fluid discharge passage 24 is opened. In the state where the hydraulic fluid supply passage 21 and the hydraulic fluid passages 11a and 11b are closed, the paint pistons 14a and 14b are connected from the first and second cleaning fluid passages 6a and 6b in the joining station 4. By supplying the cleaning liquid S to the paint tank paint chambers 12a and 12b, the paint tank 9A and 9B are moved back to the rear end position in the hydraulic fluid chambers 13a and 13b. In addition to discharging the air to the tank side hydraulic fluid discharge passage 24, the hydraulic fluid pistons 16a and 16b are moved forward to the front end position by the forward rotation operation of the motors 19a and 19b, and the cylinder chambers 20a and 20b of the hydraulic fluid cylinders 17a and 17b. Is discharged to the cylinder side hydraulic fluid discharge passage 23.

  (B) Next, as shown in FIG. 12, the on-off valve vm of the hydraulic fluid supply passage 21 is opened to start supplying the hydraulic fluid L to the cylinder chambers 20a and 20b of the hydraulic fluid cylinders 17a and 17b. Then, the remaining air in the cylinder chambers 20a, 20b in the clearance state is purged by the hydraulic fluid L by the forward movement of the hydraulic fluid pistons 26a, 26b, and is completely discharged to the cylinder side hydraulic fluid discharge passage 23. Thereafter, when a predetermined waiting time elapses, as shown in FIG. 13, the on-off valve vm of the cylinder side hydraulic fluid discharge passage 23 is closed and the on-off valve vm of the hydraulic fluid passages 11a, 11b is opened to operate. Supply hydraulic fluid L from the liquid supply passage 21 is supplied from the cylinder chambers 20a, 20b of the hydraulic fluid cylinders 17a, 17b to the hydraulic fluid chambers 13a, 13b of the paint tanks 9A, 9B through the hydraulic fluid passages 11a, 11b. Remaining air in the paint tank working chambers 13a, 13b in the clearance state is purged with the working fluid L by the backward movement of the paint pistons 14a, 14b, and then completely discharged to the tank side working fluid discharge passage 24.

  (C) Thereafter, as shown in FIG. 14, the tank-side hydraulic fluid discharge passage 24 is opened and closed while the paint pistons 14a and 14b are held at the rear end positions by the cleaning liquid supply pressure to the paint tank paint chambers 12a and 12b. The valve vm is closed and the piston rods 18a, 18b of the hydraulic fluid pistons 16a, 16b are retracted to a predetermined retracted position by the reverse operation of the motors 19a, 19b, whereby the supply hydraulic fluid L from the hydraulic fluid supply path 21 is used. The hydraulic fluid pistons 16a and 16b are moved back to a position where the volume of the cylinder chambers 20a and 20b is slightly larger than the maximum volume of the paint tank paint chambers 12a and 12b. When the piston rods 18a and 18b at the predetermined retracted positions come into contact with the piston rods 18a and 18b, the return movement is stopped, and the hydraulic fluid paths 11a and 11b When the hydraulic fluid pressure p detected by the pressure sensor 55 rises, the hydraulic fluid supply path 23 is closed to close the on-off valve vm of the hydraulic fluid supply passage 23, and the hydraulic fluid is supplied to the cylinder chambers 20a and 20b of the hydraulic fluid cylinders 17a and 17b. To stop.

  (D) Subsequently, as shown in FIG. 15, the path switching valve vy of the first and second cleaning liquid paths 6a and 6b in the joining station 4 and the opening and closing valve of the first and second inflow paths 25a and 25b in the coating machine 2 With the vx closed, the supply of the cleaning liquid to the paint tank paint chambers 12a and 12b is stopped, and the motors 19a and 19a are opened while the path switching valves vx of the first and second outflow passages 29a and 29b in the coating machine 2 are opened. The hydraulic fluid pistons 16 a and 16 b are moved forward by the forward rotation operation of 19 b, whereby the cleaning liquid S in the paint tank paint chambers 12 a and 12 b is discharged to the first and second discharge passages 38 a and 38 b of the joining station 4. Then, when the paint pistons 14a, 14b reach the front end position and stop and the detected hydraulic fluid pressure p of the pressure sensor 55 in the hydraulic fluid passages 11a, 11b rises, the cleaning liquid discharge from the paint tank paint chambers 12a, 12b is completed. Then, the motors 19a and 19b are stopped, and this completes the air bleeding process.

[Another embodiment]
Another embodiment of the present invention will be listed below.

  In the above-described embodiment, the structure has been described in which the paint pistons 14a and 14b are moved forward by the hydraulic fluid pressure so that the filling paint Tw in the paint tanks 9A and 9B is ejected from the coating machine 2. However, instead of this, the paint piston 14a , 14b may be moved forward by a mechanical transmission mechanism, or may be moved forward by a gas pressure such as air pressure, so that the filled paint Tw in the paint tanks 9A, 9B may be ejected from the coating machine 2.

  In the above-described embodiment, an example in which the paint tanks 9A and 9B are used for the coating with the conductive paint Tw such as the water-based paint has been described. 9B may be used, and the paint tanks 9A and 9B may be used for painting in which painting with the conductive paint Tw and painting with the non-conductive paint Tt are mixed.

  In the above-described embodiment, the rotary atomizing type coating machine is shown, but the coating machine 2 is not limited to the rotary atomizing type and may be of any type such as a compressed air injection type.

  The specific shape and structure of the system component device including the coating machine 2 and the internal flow path structure thereof are not limited to the shape and structure shown in the above-described embodiment, and each claim of the claims Various modifications can be made within the scope described in (1).

  The painting system according to the present invention can be applied to any kind of painting such as automobile bodies, parts of single cars and bicycles, casings of home appliances, furniture, and the like.

Diagram showing the overall configuration of the painting system Circuit diagram of main parts Configuration diagram of hydraulic fluid supply device Circuit diagram showing each process of painting work Circuit diagram showing each process of painting work Circuit diagram showing each process of painting work Circuit diagram showing each process of painting work Circuit diagram showing each process of painting work Circuit diagram showing each process of painting work Process flow chart of painting work Explanatory drawing which shows each process of air bleeding processing Explanatory drawing which shows each process of air bleeding processing Explanatory drawing which shows each process of air bleeding processing Explanatory drawing which shows each process of air bleeding processing Explanatory drawing which shows each process of air bleeding processing

Explanation of symbols

1c Movable support arm 2 Coating machine 9A First paint tank 9B Second paint tank 4 Joining station 25a, 37a Joining path 25b, 37b Joining path Tw Paint W Workpiece S Cleaning fluid 3 Controller 29a / 38a Joining path 29b / 38b Joining Path 2a Paint outlet 12a, 12b Paint chamber 11a, 11b Hydraulic fluid path 17a, 17b Hydraulic fluid cylinder 13a, 13b Hydraulic fluid chamber 14a, 14b Paint piston 16a, 16b Hydraulic fluid piston 19a, 19b Motor L Hydraulic fluid 10A, 19B Liquid supply device

Claims (5)

Equipped with a paint tank attached to the movable support arm for painting work, and provided with a joining station for joining and detaching the paint machine by the operation of the movable support arm,
In a state where the coating machine is bonded to the bonding station, a filling step of filling the paint tank with a paint by feeding a paint through a joining path connected by the joining;
After the filling step, in a state where the coating machine is detached from the joining station, a coating step for ejecting the filling paint in the paint tank from the coating machine to the object to be coated;
After the painting process, the coating machine is joined to the joining station, and a post-painting washing process in which the paint tank is washed by feeding a washing liquid through a joining path connected by the joining is repeated in that order. A coating system provided with a controller for
The paint machine is equipped with a first paint tank and a second paint tank as the paint tank,
The controller causes the filling step for the first paint tank and the post-paint washing step for the second paint tank to be performed in parallel, and the filling step for the second paint tank and the post-paint washing step for the first paint tank. The coating system is configured to repeatedly perform the filling step, the coating step, and the post-painting cleaning step in that order for each of the first paint tank and the second paint tank.   The controller includes a filling step after the filling step for each of the first paint tank and the second paint tank and before the coating machine is detached from the joining station for the subsequent painting step. The coating system according to claim 1, wherein a post-filling cleaning step is performed to clean the joint path used for feeding the paint by passing a cleaning liquid through the joint path.   The controller causes the filling step for the first paint tank and the subsequent post-washing washing step to be performed in parallel with the post-coating washing step for the second paint tank, and the filling step for the second paint tank and Each of the subsequent post-cleaning cleaning process and the post-coating cleaning process for the first paint tank are performed in parallel, and the filling process for the first paint tank and the second paint tank, the post-fill cleaning process, and the coating are performed. The coating system according to claim 2, wherein the process and the post-coating cleaning process are repeated in that order.   The cleaning liquid used for cleaning in the post-painting cleaning step or the post-filling cleaning step is configured to return from the coating machine to the joining station through a joining path connected by joining the coating machine and the joining station. Item 4. The coating system according to any one of Items 1 to 3. For each of the first paint tank and the second paint tank, the interior of the paint tank is partitioned into a paint chamber communicating with the paint jet port of the coating machine and a working fluid chamber communicating with the working fluid cylinder through the working fluid passage. A paint piston,
As an operation means of the paint piston, the hydraulic fluid in the hydraulic fluid cylinder is pressurized and fed to the hydraulic fluid chamber side through the hydraulic fluid passage in a sealed path state by the forward movement of the hydraulic fluid piston by a motor. A paint discharge mode in which the paint piston is moved forward by liquid pressure;
The hydraulic fluid is returned from the hydraulic fluid chamber to the hydraulic fluid cylinder side through the hydraulic fluid passage, and the hydraulic fluid piston is allowed to return to the paint chamber due to the hydraulic fluid return. Provided for each of the first paint tank and the second paint tank is a hydraulic fluid supply device capable of switching the mode to a paint filling mode in which the paint piston is moved backward by the paint pressure in accordance with the paint supply. The coating system according to any one of claims 1 to 4.

Images