JP6297421B2 - Gripping / extrusion unit and coating system - Google Patents

Description

  The present invention relates to a gripping / extrusion unit and a coating system including such a gripping / extrusion unit.

  Conventionally, in a coating apparatus used for coating a work such as a small portable terminal or an automobile part, the paint in the paint tank is supplied to the spray gun through a hose, and the paint is applied from the spray gun to the work. Painting is performed by spraying. However, in the conventional general painting equipment, since the paint is supplied into the pump from the paint tank outside the painting equipment through the supply tube, the equipment tends to be large, and there is a tube in the equipment. It has a complicated structure.

  On the other hand, in the coating apparatus described in Patent Document 1, the pump gripping unit grips a syringe pump in which a paint filling space is formed. As a result, the entire coating apparatus is made compact, and it is not necessary to perform a cleaning operation when changing the color of the paint, thereby facilitating the operation of replacing the syringe pump.

JP2012-050967A

  However, the conventional coating apparatus is provided with two operation mechanisms, a mechanism for gripping the syringe pump and a mechanism for pressing the pump gripping unit, each of which includes a drive mechanism (cylinder unit, slide mechanism) such as a pneumatic device. ) Is required. For this reason, there existed a subject that the weight and cost of a pump holding | grip unit increased. In particular, when the pump gripping unit is mounted on a robot, the weight of the pump gripping unit may increase, which may affect the portable weight of the painting robot. Therefore, reducing the weight of the pump gripping unit is also important for reducing the load on the robot.

  The present invention has been made in consideration of such points, and an object thereof is to provide a gripping / extrusion unit and a coating system capable of simplifying the structure of the gripping / extrusion unit and reducing the weight thereof. And

  The present invention is a gripping / extrusion unit for gripping a coating unit, and includes a support member, a drive mechanism connected to the support member, and having an advancing / retreating member that can advance and retract between an advancing position and a retracted position, and the drive A manifold attached to a mechanism and having a fluid supply part for supplying fluid to the coating unit, an arm provided on the support member and gripping the coating unit, an arm connected to the drive mechanism and moving the arm The manifold is connected to the coating unit when the advance / retract member of the drive mechanism is in the advanced position, and the manifold is separated from the paint unit when the advance / retreat member is in the retracted position. And the arm is driven by the drive mechanism via the arm moving mechanism and grips the coating unit. A gripping-extrusion unit, characterized in that it is movable between an open position for opening said coating unit and location.

  In the present invention, while the advance / retreat member moves from the retracted position to the advanced position, the arm moves from the open position to the gripping position, and after the arm moves to the gripping position, the manifold moves to the gripping position. A gripping / extruding unit connected to a coating unit.

  According to the present invention, the arm includes a flat portion and a bending portion, and the arm moving mechanism includes a roller that rolls along the flat portion and the bending portion of the arm. -Extrusion unit.

  In the present invention, when the roller rolls on the flat portion, the arm takes the gripping position, and when the roller rolls on the curved portion, the arm takes the open position. Is a gripping / extrusion unit characterized by

  The present invention is a gripping / extruding unit characterized in that a pair of arms and a pair of arm moving mechanisms are provided, and the pair of arm moving mechanisms have a point-symmetric structure when viewed from the coating unit side. is there.

  The present invention is the gripping / extrusion unit characterized in that an engagement pin that engages with a hole of the coating unit is provided at the tip of the arm.

  The present invention is a coating system including the gripping / extrusion unit and a moving mechanism, and the gripping / extrusion unit is attached to the moving mechanism.

  According to the present invention, the manifold is connected to the painting unit when the advance / retreat member of the drive mechanism is in the advanced position, and the manifold is separated from the paint unit when the advance / retreat member is in the retracted position. Further, the arm is driven by the drive mechanism via the arm moving mechanism, and is movable between a gripping position for gripping the coating unit and an open position for opening the coating unit. In this way, since both the advance / retreat operation of the manifold and the opening / closing operation of the arm can be executed by using one drive mechanism, the structure of the gripping / extrusion unit can be simplified and the weight thereof can be reduced. .

The front view which shows the coating system by one embodiment of this invention. The perspective view which shows the holding | grip and extrusion unit by one embodiment of this invention. The bottom view which shows the state which the holding | grip and extrusion unit by one embodiment of this invention hold | gripped the coating unit. The perspective view seen from the lower part which shows the state which the holding | grip and extrusion unit by one embodiment of this invention hold | gripped the coating unit. The perspective view seen from the lower part which shows the state which the holding | grip and extrusion unit by one embodiment of this invention hold | gripped the coating unit. The schematic sectional drawing which shows a manifold and a coating unit in the state which the manifold removed from the coating unit. The schematic sectional drawing which shows a manifold and a coating unit in the state in which the manifold was connected to the coating unit. The top view which shows a holding | grip and extrusion unit and a coating unit in the state which an arm takes an open position. FIG. 3 is a plan view showing a gripping / extrusion unit and a coating unit in a state where an arm takes a gripping position.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 9 are diagrams showing an embodiment of the present invention.

  First, the configuration of a coating system according to an embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 1, the coating system 10 includes a robot (movement mechanism) 20 having a base portion 21 and robot arms 22 to 24, a gripping / extrusion unit 30 attached to the robot arm 24 at the tip of the robot 20, A coating unit 70 that is detachably gripped by the gripping / extrusion unit 30 is provided.

As described above, the robot 20 includes the base portion 21 and the plurality of robot arms 22 to 24. Among these, the base portion 21 is fixed to the ceiling surface C and is suspended from the ceiling surface C. The robot arm 22 is freely rotated with respect to the base unit 21 about the rotary shaft J _A, the robot arm 23 is rotated around the rotation axis J _B relative to the robot arm 22 and freely, the robot arm 24 is made rotatable relative to the robot arm 23 about the rotary shaft J _c. The rotation axes J _A , J _B , and J _c are arranged in parallel to each other.

  The robot 20 is not limited to this as long as it can move the gripping / extrusion unit 30 and the coating unit 70 to a predetermined position. That is, as the robot 20, a generally used robot (for example, a vertical articulated robot) can be used.

  Next, the configuration of the gripping / extrusion unit 30 will be described with reference to FIGS. 2 to 5.

  As shown in FIGS. 2 to 5, the gripping / extruding unit 30 includes a support member 31, a cylinder (drive mechanism) 35 coupled to the support member 31, a manifold 56 attached to the cylinder 35, and the support member 31. And a pair of arm moving mechanisms 51 connected to a cylinder 35.

  Of these, the support member 31 is attached to the robot arm 24 (see FIG. 1) via the attachment plate 28, and is connected to the top plate 32 fixed to the attachment plate 28 and the top plate 32 to hold the cylinder 35. And a pair of T-shaped arm holding portions 34 respectively connected to both side portions of the cylinder holding portion 33.

  The cylinder (drive mechanism) 35 includes a cylinder main body 36 fixed to the cylinder holding portion 33, and a rod (advance / retreat member) 37 that can advance and retract along the X direction with respect to the cylinder main body 36. Yes. Further, a plate-like manifold connecting portion 38 connected to the manifold 56 is provided at the tip of the rod 37. The rod 37 can freely move in and out of the cylinder main body 36, and is retracted from the cylinder main body 36 to the advance position (see FIG. 9) protruding in the X direction plus side, and drawn to the cylinder main body 36 side (X direction minus side). It can be moved back and forth between the retracted position (see FIG. 8). As the cylinder 35, a generally used cylinder (for example, an air cylinder or an electric cylinder) can be used.

  The manifold 56 supplies fluid from the outside to the coating unit 70 and has a substantially rectangular parallelepiped shape as a whole. The configuration of the manifold 56 will be described later with reference to FIGS. 6 and 7.

The pair of arms 41 holds the coating unit 70 and is provided so as to be rotatable with respect to the support member 31 on both sides of the cylinder 35. Specifically, each arm 41, the arm holder 34, respectively, are provided so as to be pivotable about the pivot axis A ₁ extending in the Z direction. In addition, the arm 41 includes a grip portion 42 located at the tip of the arm 41, a flat portion 43 connected to the grip portion 42, and a curved portion 44 connected to the flat portion 43.

Gripper 42 is intended to grip in contact from the side to the painting unit 70, which extend parallel to each pivot axis A _1. Engagement pins 45 that enter and engage with the holes 83 (see FIGS. 6 and 7) of the coating unit 70 are provided inside the grip portion 42. As a result, the arm 41 firmly holds the painting unit 70, so that when the manifold 56 is connected to the painting unit 70, the painting unit 70 is prevented from moving erroneously. In this case, two engaging pins 45 are provided at both upper and lower ends of the grip portion 42, but the position and the number of the engaging pins 45 are not limited to this.

  Each flat portion 43 is long and extends in a direction (X direction) perpendicular to the grip portion 42. The flat portion 43 has a flat outer surface 43a, and a roller 53 (described later) of the arm moving mechanism 51 rolls along the outer surface 43a.

  Each curved portion 44 extends from the flat portion 43 and has a shape curved toward the outside (the side away from the cylinder 35). The outer surface 44a of the curved portion 44 is provided smoothly and continuously with respect to the outer surface 43a of the flat portion 43, and the outer surface 44a has a substantially arc shape when viewed from the plane. A roller 53 (described later) of the arm moving mechanism 51 rolls along the outer surface 44a.

  The pair of arm moving mechanisms 51 moves the corresponding arm 41 as the cylinder 35 is driven. Each of the pair of arm moving mechanisms 51 includes a connecting member 52 and a roller 53 that is rotatably provided on the connecting member 52.

  The inner end of each connecting member 52 is connected to the manifold connecting portion 38. Each connecting member 52 extends obliquely from the inner end (end of the manifold connecting portion 38) toward the outer end (end on the opposite side of the manifold connecting portion 38).

Each roller 53, in the outer end of the connecting member 52 is attached rotatably around a rotation axis A ₂ extending in the Z direction. Each roller 53 has a predetermined diameter so as to always contact each arm 41, and rolls along the flat portion 43 and the curved portion 44 of each arm 41. As will be described later, when each roller 53 rolls on the flat portion 43, the arm 41 takes a gripping position (see FIG. 9), and when each roller 53 rolls on the curved portion 44, the arm 41. Takes an open position (see FIG. 8). As a result, when the cylinder 35 is driven, each arm 41 is driven via the arm moving mechanism 51 to hold the painting unit 70 (see FIG. 9), and to open the painting unit 70 (see FIG. 8). See).

  In this case, the pair of arm moving mechanisms 51 have a point-symmetric structure as viewed from the painting unit 70 side (X direction plus side). Specifically, the pair of connecting members 52 have the same shape and size, and the pair of rollers 53 have the same shape and size. Of the pair of connecting members 52, one connecting member 52 is fixed to the upper surface (the surface on the Z direction plus side) of the manifold connecting portion 38, and the other connecting member 52 is the lower surface (Z The surface is fixed to the negative side. Furthermore, one roller 53 is attached to the lower surface (Z-direction negative surface) of the one connecting member 52, and the other upper surface (Z-direction positive surface) of the other connecting member 52 is connected to the other surface. A roller 53 is attached. As described above, since the pair of arm moving mechanisms 51 have a point-symmetric structure, the same parts can be used as the pair of connecting members 52 and the pair of rollers 53, respectively, thereby reducing the number of parts. Can do.

  Next, the configuration of the manifold 56 and the painting unit 70 will be described with reference to FIGS. 6 and 7. 6 shows a state where the manifold 56 is detached from the coating unit 70, and FIG. 7 shows a state where the manifold 56 is connected to the coating unit 70.

  As shown in FIGS. 6 and 7, the manifold 56 of the gripping / extruding unit 30 has a connection surface 56 a connected to the coating unit 70. A plurality of male side couplers (plugs) 57A and 57B for supplying fluid to the coating unit 70 are projected from the connection surface 56a.

  The male-side couplers 57A and 57B are inserted into the female-side couplers 77A and 77B of the painting unit 70, respectively, and perform fluid exchange (supply or reception) between the manifold 56 and the painting unit 70. For example, one male side coupler 57 </ b> A is a coupler (fluid supply unit) for supplying water (fluid) from the outside toward the painting unit 70, and the other male side coupler 57 </ b> B is supplied from, for example, the painting unit 70. A coupler for returning water (fluid) to the outside.

  The male side couplers 57A and 57B are connected to a flow path 58 having an L-shaped cross section formed inside the manifold 56, respectively. In this case, the flow path 58 opens to a surface different from the connection surface 56a of the manifold 56, and a fluid coupling 59 is connected to the opened portion. The male couplers 57A and 57B preferably have a structure that prevents fluid from leaking when the male couplers 57A and 57B are separated from the female couplers 77A and 77B. For example, the male couplers 57A and 57B are quick couplers with check valves. Also good. An O-ring 67 is provided around each of the male couplers 57A and 57B to prevent water (fluid) from leaking between the male couplers 57A and 57B and the female couplers 77A and 77B. ing.

  An air supply port (fluid supply unit) 61 that supplies air (fluid) to the coating unit 70 is provided on the connection surface 56 a of the manifold 56. A channel 64 having an L-shaped cross section formed inside the manifold 56 is connected to the air supply port 61. The flow path 64 opens to a surface different from the connection surface 56a of the manifold 56, and a joint 65 for air (fluid) is connected to the opened portion. A plurality of air supply ports 61 and flow paths 64 may be provided, and these may include, for example, those for supplying atomizing air, pattern air, and needle air to the coating gun 73, respectively. Good.

  An O-ring 62 is disposed around the air supply port 61 to prevent air from leaking between the manifold 56 and the coating unit 70. Further, a dummy O-ring 63 is provided at a position on the opposite side of the air supply port 61 across the male couplers 57A and 57B in the connection surface 56a. By providing the dummy O-ring 63, when the manifold 56 is connected to the coating unit 70, the width of a minute gap formed between the manifold 56 and the coating unit 70 by the O-ring 62 is connected to the connection surface. It is made substantially uniform within 56a. Thereby, the coating unit 70 is prevented from being tilted in any one of the vertical directions with respect to the manifold 56.

  As shown in FIGS. 6 and 7, the painting unit 70 includes a painting unit main body 71, a lid 72 that covers the painting unit main body 71, and a painting gun 73 attached to the lid 72.

  Among these, the coating unit main body 71 is formed with a recess 74 that opens to the manifold 56 side. In the recess 74, female side couplers 77A and 77B to which the above-described male side couplers (plugs) 57A and 57B of the manifold 56 are respectively attached are arranged.

  The coating unit main body 71 has a storage space 75 in which a paint pouch 78 having a structure in which the paint P is stored in a bag-like vinyl laminate material is stored. The accommodation space 75 is in fluid communication with the female side couplers 77A and 77B, and the paint pouch 78 in the accommodation space 75 is filled with water (fluid) L supplied from the female side coupler 77A. Further, the mouth portion 78 a of the paint pouch 78 communicates with the coating gun 73 via a flow path 79 in the lid portion 72. Then, the pressure applied to the paint pouch 78 is changed by changing the pressure of the water supplied from the female coupler 77A to the accommodation space 75, and the amount and pressure of the paint P supplied from the paint pouch 78 to the paint gun 73 are changed. Can be controlled.

  The coating unit main body 71 is formed with an air flow path 81 for supplying the air supplied from the air supply port 61 of the manifold 56 to the coating gun 73. Further, an O-ring 82 is interposed between the coating unit main body 71 and the lid portion 72. As shown in FIGS. 8 and 9, a hole 83 for engaging the engagement pin 45 of the arm 41 is formed on the side surface of the coating unit 70.

  Next, the effect | action of this Embodiment which consists of such a structure is demonstrated with reference to FIG. 8 and FIG. FIG. 8 shows a state in which the arm 41 is in the open position and the rod 37 is in the retracted position, and FIG. 9 shows a state in which the arm 41 is in the gripping position and the rod 37 is in the advanced position. Yes.

  First, the operation when the coating unit 70 is gripped using the gripping / extrusion unit 30 will be described.

First, by pulling the rod 37 of the cylinder 35 toward the cylinder body 36 (X direction minus side), the rod 37 is moved to the retracted position. As the rod 37 moves toward the retracted position, the roller 53 of each arm moving mechanism 51 also moves backward (moves to the X direction minus side). During this time, each roller 53 rolls from the flat portion 43 of the arm 41 to the bending portion 44 and presses the bending portion 44 in the direction in which the arm 41 opens. A pair of arms 41 this time is driven so as to rotate about respective pivot axis A _1, it is moved to the open position (see FIG. 8).

  Next, by driving the robot 20, the gripping / extrusion unit 30 is moved and arranged so that the gripping / extrusion unit 30 faces the coating unit 70.

Subsequently, the rod 37 of the cylinder 35 is projected to move the rod 37 toward the advancing position. As the rod 37 moves toward the advancing position, the roller 53 of each arm moving mechanism 51 moves forward (moves to the X direction plus side). During this time, each roller 53 rolls along the arm 41 and moves from the curved portion 44 onto the flat portion 43. When the roller 53 reaches the flat portion 43, the roller 53 immediately presses the curved portion 44 in the direction in which the arm 41 is closed. This pair of arms 41 by is driven to rotate about the pivot axis A _1, it moves to the gripping position. At this time, the rod 37 has not yet reached the traveling position.

  Thus, when the pair of arms 41 moves to the gripping position, the coating unit 70 is held by the gripping portions 42 of the pair of arms 41, and the coating unit 70 is fixed to the gripping / extrusion unit 30. Further, the engagement pin 45 provided in the grip portion 42 is engaged with the hole 83 of the coating unit 70, so that the coating unit 70 can be reliably positioned with respect to the gripping / extrusion unit 30.

  Thereafter, the rod 37 of the cylinder 35 further protrudes so that the rod 37 reaches the advanced position, and the manifold 56 provided at the tip of the rod 37 is connected to the coating unit 70 (see FIG. 9). At this time, the male side couplers 57A and 57B provided on the manifold 56 are inserted into the female side couplers 77A and 77B of the painting unit 70, respectively. Further, an air supply port 61 provided in the manifold 56 is connected to an air flow path 81 of the coating unit 70.

  In this way, the manifold 56 is connected to the coating unit 70 after the pair of arms 41 are moved to the gripping position and the coating unit 70 is firmly gripped. For this reason, there is no possibility that the painting unit 70 moves by mistake when the manifold 56 contacts the painting unit 70, and the manifold 56 can be reliably connected to the painting unit 70.

  Next, using a coating gun 73 of the coating unit 70, coating is performed on an object to be coated (not shown). Specifically, the robot arms 22 to 24 of the robot 20 are moved, and the paint P is applied from the paint gun 73, whereby the object to be coated is applied. During this time, water is supplied from the male-side coupler 57A of the manifold 56 to the female-side coupler 77A of the painting unit 70, and the amount of the paint P supplied from the paint pouch 78 to the paint gun 73 is controlled by controlling the pressure of this water. Pressure is controlled. Water from the coating unit 70 is returned from the female side coupler 77B to the male side coupler 57B of the manifold 56. Further, air is supplied from the air supply port 61 of the manifold 56 to the air flow path 81 of the coating unit 70, and this air is sent to the coating gun 73.

  Thereafter, application of the paint P from the coating gun 73 is stopped, and the robot arms 22 to 24 of the robot 20 are stopped.

  Next, an operation when the coating unit 70 is removed using the gripping / extrusion unit 30 will be described.

  First, by pulling the rod 37 of the cylinder 35, the rod 37 moves away from the advance position. At this time, the manifold 56 provided at the tip of the rod 37 is separated from the coating unit 70. The male couplers 57A and 57B provided in the manifold 56 are removed from the female couplers 77A and 77B of the painting unit 70, respectively. The air supply port 61 provided in the manifold 56 is also an air flow path 81 of the painting unit 70. Removed from. At this time, the roller 53 of each arm moving mechanism 51 rolls on the flat portion 43 of the arm 41, and the pair of arms 41 holds the gripping position.

Thereafter, when the rod 37 of the cylinder 35 moves backward, the roller 53 of each arm moving mechanism 51 further moves backward (moves to the X direction minus side). During this time, each roller 53 rolls from the flat portion 43 of the arm 41 to the bending portion 44 and presses the bending portion 44 in the direction in which the arm 41 opens. This pair of arms 41 by is driven to rotate about respective pivot axis A _1, it is moved to the open position.

  Thus, when the pair of arms 41 moves to the open position, the gripping portions 42 of the pair of arms 41 are separated from the coating unit 70, and the coating unit 70 is released from the gripping / extrusion unit 30. Next, the rod 37 of the cylinder 35 further moves backward to reach the retracted position (see FIG. 8). Thereafter, the gripping / extrusion unit 30 is moved by driving the robot 20. In this case, the gripping / extrusion unit 30 may move to the vicinity of another coating unit 70 and grip the coating unit 70.

  As described above, according to the present embodiment, when the rod 37 of the cylinder 35 is in the advanced position, the manifold 56 is connected to the painting unit 70, and when the rod 37 is in the retracted position, the manifold 56 is separated from the painting unit 70. To do. The pair of arms 41 is driven by the cylinder 35 via the arm moving mechanism 51, and is movable between a gripping position for gripping the coating unit 70 and an open position for opening the coating unit 70. As described above, both the forward / backward movement of the manifold 56 and the opening / closing movements of the pair of arms 41 can be executed using only one cylinder 35. Therefore, the driving mechanism for performing the forward / backward movement and the opening / closing movement are performed. There is no need to provide a separate drive mechanism. Thereby, the structure of the gripping / extrusion unit 30 can be simplified, and the weight of the gripping / extrusion unit 30 can be reduced. Further, the load on the robot 20 can be reduced by reducing the weight of the gripping / extrusion unit 30.

  Further, according to the present embodiment, while the rod 37 moves from the retracted position to the advanced position, the pair of arms 41 moves from the open position to the gripping position, and after the arm 41 moves to the gripping position, the manifold 56 Connected to the painting unit 70. Thus, while the rod 37 moves from the retracted position to the advanced position, the step of gripping the coating unit 70 by the arm 41 is first performed, and then the step of connecting the manifold 56 to the coating unit 70 is performed. Thus, the manifold 56 can be connected to the coating unit 70 after the coating unit 70 is held by the arm 41 so as not to move, so that the manifold 56 can be reliably connected to the coating unit 70. Further, since the operations of the above two steps can be executed by only one cylinder 35, as described above, the number of parts of the gripping / extrusion unit 30 can be reduced and the weight can be reduced. Moreover, such an operation can be realized by simply moving the rod 37 of the cylinder 35 forward and backward, so that the structure of the gripping / extrusion unit 30 can be simplified.

  In the above embodiment, water is supplied from the male coupler 57A of the manifold 56 to the female coupler 77A of the coating unit 70, and the amount and pressure of the paint P discharged from the coating gun 73 are controlled by the pressure of this water. The case has been described as an example. However, the present invention is not limited to this. For example, the paint P may be directly supplied from the male coupler 57A of the manifold 56 to the female coupler 77A of the painting unit 70.

  In the above embodiment, the case where the arm 41 has the flat portion 43 and the curved portion 44 has been described as an example. However, the present invention is not limited to this, and the arm 41 may not have the curved portion 44. In this case, for example, a spring member that urges the arm 41 toward the open position is provided, and the roller 53 presses the flat portion 43 while the rod 37 moves from the retracted position to the advanced position, so that the spring member The arm 41 may be closed against the force.

  A plurality of constituent elements disclosed in the above-described embodiment can be appropriately combined as necessary. Or you may delete a some component from all the components shown by the said embodiment.

DESCRIPTION OF SYMBOLS 10 Coating system 20 Robot 30 Gripping / extrusion unit 31 Support member 32 Top plate 33 Cylinder holding part 34 Arm holding part 35 Cylinder (drive mechanism)
36 Cylinder body 37 Rod (advancing / retracting member)
38 Manifold connecting part 41 Arm 42 Grasping part 43 Flat part 44 Bending part 45 Engaging pin 51 Arm moving mechanism 52 Connecting member 53 Roller 56 Manifold 57A Male side coupler (fluid supply part)
57B Male coupler 61 Air supply port (fluid supply part)
70 Coating Unit 73 Coating Gun 77A Female Side Coupler 77B Female Side Coupler 78 Paint Pouch 83 Hole

Claims (7)

A gripping / extrusion unit for gripping a coating unit,
A support member;
A drive mechanism coupled to the support member and having an advancing / retreating member capable of advancing / retreating between an advancing position and a retracted position;
A manifold attached to the drive mechanism and having a fluid supply section for supplying fluid to the coating unit;
An arm provided on the support member and holding the coating unit;
An arm moving mechanism connected to the driving mechanism and moving the arm;
When the advance / retract member of the drive mechanism is in the advanced position, the manifold is connected to the coating unit, and when the advance / retract member is in the retracted position, the manifold is separated from the paint unit,
The arm is driven by the drive mechanism via the arm moving mechanism and is movable between a gripping position for gripping the coating unit and an open position for opening the coating unit. Extrusion unit.   While the advance / retreat member moves from the retracted position to the advanced position, the arm moves from the open position to the gripping position, and after the arm moves to the gripping position, the manifold is connected to the coating unit. The gripping / extruding unit according to claim 1, wherein:   The arm has a flat part and a curved part, and the arm moving mechanism has a roller that rolls along the flat part and the curved part of the arm. The gripping / extrusion unit described.   The arm takes the gripping position when the roller rolls on the flat part, and the arm takes the open position when the roller rolls on the curved part. The gripping / extruding unit according to claim 3.   A pair of arms and a pair of arm moving mechanisms are provided, and the pair of arm moving mechanisms has a structure that is point-symmetric when viewed from the coating unit side. The gripping / extrusion unit described in the item.   The gripping / extrusion unit according to any one of claims 1 to 5, wherein an engagement pin that engages with a hole of the coating unit is provided at a tip of the arm.   A coating system comprising the gripping / extrusion unit according to any one of claims 1 to 6 and a moving mechanism, wherein the gripping / extrusion unit is attached to the moving mechanism.

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