JPH09299840A - Color change apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a waiting time required for purging in the change-over of coating. SOLUTION: A coating robot 1 has the first arm 5 which stands on a revolving base 4, the second arm 6 extending horizontally from the upper end of the first arm 5, and a wrist part 7 attached to the end of the second arm 6. Two coating supply passages are formed in a color change valve unit 12 installed on the second arm 6, and the unit 12 is connected with a coating gun 8 through coating supply tubes 10A, 10B. Usually, coating is supplied to the coating gun 8 from one coating supply passage for coating operation. When a next coating signal is inputted, the washing and air purging of the other coating supply passage are carried out in parallel with the coating operation. Therefore, since it is necessary for the coating gun 8 to be washed before the next work is carried in, a color change time can be reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a color changing device,
In particular, the present invention relates to a color changing device configured to reduce the color changing time of paint.

[0002]

2. Description of the Related Art For example, in a painting process for painting the surface of a work by a painting robot, when the work is conveyed by a conveyor, the painting robot performs a predetermined painting work in accordance with a previously taught painting program. That is, the painting robot automatically starts the painting work when the work arrives at the work area, and finishes the predetermined painting work before the work passes through the work area.

When the predetermined coating work is completed, the coating robot turns the arm to return it to the standby position where the coating is started. In a painting system that automatically performs painting work using a painting robot in this way, the paint color is specified for each work, and when the paint color of the work changes, so-called color change is performed in conjunction with the conveyance of the work. It is carried out.

That is, the previous A remaining in the coating gun between the end of coating on the work designated by color A and the start of coating on the work designated by color B
Color paint must be purged. In a coating system that performs such paint purging, a waste liquid collection container for collecting the waste liquid (previous paint) sprayed from the coating gun provided at the end of the arm is installed near the painting robot. When changing colors, the robot used to rotate the arm to insert the coating gun into the collection container and spray the waste liquid purged from the coating gun into the waste liquid collection container.

Further, after cleaning the inside of the coating gun with a cleaning liquid such as thinner for a certain period of time, a paint of a new coating color is supplied and jetted to a waste liquid collection container. Further, in the painting robot, a color changing valve unit is provided in the vicinity of the robot or on the arm, and a painting gun is attached to the tip of the wrist at the tip of the arm. The color change valve unit has a manifold to which a plurality of paint supply valves, an air supply valve, and a thinner supply valve are connected. The paint supply valve is an air operated three-port two-position valve driven by compressed air, and is provided with three ports: a paint supply port, a paint recirculation port, and a paint discharge port. A paint supply tube is connected to each port.

The air supply valve and the thinner supply valve use an air operated two-port two-position valve driven by compressed air. An air tube is connected to the air supply valve and a thinner supply tube is connected to the thinner supply valve. Are connected.
The 3 port / 2 position valve is used for the paint supply valve.
This is to prevent the solidification of the paint by supplying the paint to the coating gun only when painting and circulating the paint when not painting.

The two-port two-position valve is used for the air supply valve and the thinner supply valve because it is not necessary to circulate the compressed air and the thinner. The reason why each valve is an air operated type is that it is explosion-proof. This is because it is advantageous. The procedure for changing colors is as follows. Close the paint supply valve and stop the paint supply to the paint supply tube. The air supply valve installed on the upstream side of the paint supply path is opened for a certain period of time, and the paint in the paint supply tube and the paint gun is discharged by compressed air. Similarly, the thinner supply valve installed at the most upstream side of the paint supply path is opened for a certain period of time, and the thinner cleans the interior of the paint supply tube and the interior of the coating gun. The air supply valve is opened for a certain period of time, and the thinner in the paint supply tube and the paint gun is discharged with compressed air. For more reliable washing, repeat step several times. Open the paint supply valve for the paint to change colors for a certain period of time,
Purge thinner with paint.

[0008]

In the conventional color changing device, the previous paint remains in the common tube that supplies the paint from the painting gun or the color changing valve unit to the painting gun. Require thorough cleaning of the paint gun and common tubing. Therefore, the air purging and the thinner cleaning must be repeated several times, and the cleaning time is long, so the waiting time until the start of coating with the next paint is long, and the work transfer speed must be reduced accordingly. .

Therefore, conventionally, the next paint cannot be supplied until the cleaning of the common tube for supplying the paint to the coating gun from the color change valve unit having only one system path is completed,
There is a problem that the operating rate of the painting line is reduced. Then, this invention aims at providing the color change device which solved the said subject.

[0010]

In order to solve the above problems, the present invention has the following features. Claim 1
In a color changing device for selectively supplying one paint of a plurality of paints of different colors to a coating gun, a plurality of paint supply system paths for supplying one paint to the coating gun are provided, and the plurality of paint supply system paths are provided. It is characterized in that switching means for switching the paint supply system path is provided.

Therefore, according to the first aspect, since a plurality of paint supply system paths for supplying one paint to the coating gun are provided and the plurality of paint supply system paths are switched, one paint supply system path at the time of color change is provided. It is not necessary to wait until the cleaning is completed, and it is sufficient to wait for the time for cleaning only the paint remaining on the coating gun, so it is possible to prevent a decrease in the operating rate of the coating line.

Further, the invention of claim 2 is characterized in that the switching means supplies the coating material to one coating material supply passage and the cleaning liquid to the other coating material supply passage. Therefore, according to claim 2, by supplying the paint to one paint supply system path and supplying the cleaning liquid to the other paint supply system path, the paint supplied from the one paint supply system path is used. Since the other paint supply system passages can be washed while the coating is being performed, the waiting time at the time of color change can be reduced to the minimum.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration of a painting robot to which an embodiment of a color changing device according to the present invention is applied.

The painting robot 1 is installed in a painting area for painting work, and the painting area 2 is supplied with an object to be coated at a constant speed by a conveyor. The coating robot 1 is a playback-type vertical articulated robot that performs a pre-teached coating operation when an object to be coated is conveyed. The painting robot 1 generally has a base 3 and
A swivel base 4 that swivels on the base 3, a first arm 5 that stands up on the swivel base 4, a second arm 6 that extends horizontally from the upper end of the first arm 5, and a tip of the second arm 6. The wrist portion 7 provided on the. A paint gun 8 is attached to the tip of the wrist 7. The coating gun 8 moves to a predetermined coating height position by swinging the first arm 5 and the second arm 6, and the wrist 7 changes the coating spray direction.

In the coating robot 1, each movable part is driven by a motor (not shown) to adjust the position of the coating gun 8 and the coating direction, and each motor is controlled by a control signal from a controller 9. The swivel base 4, the first arm 5,
It is controlled to drive the second arm 6 and the wrist portion 7.
Further, an encoder (not shown) for detecting the angle of each movable part is incorporated in each joint of the painting robot 1.

The coating gun 8 is provided with a switching unit 11 in which a pair of paint supply tubes 10A and 10B for supplying paint of a designated color are connected in parallel. And
The ends of the paint supply tubes 10A and 10B are connected in parallel to the color change valve unit 12 mounted on the second arm 6. The switching unit 11 and the color changing valve unit 12 are provided with the paint supply tube 10A or 1 as described later.
The switching operation is performed so that only one of 0B and 0B is communicated with the coating gun 8 and the other of the paint supply tubes 10A and 10B is switched to be washed.

A paint supply tube 1 drawn from a paint supply device (not shown) for supplying paints of three colors (A, B, C) to each of the electromagnetic valves of the color changing valve unit 12.
3 to 15, an air supply tube 16, and a thinner supply tube 17 that supplies thinner as a cleaning liquid are individually connected.

A waste liquid recovery container 18 is installed near the painting robot 1 so as not to interfere with the painting operation. The waste liquid collecting container 18 is provided with discharge pipes 45a and 45b.
It is connected to the switching unit 11 via. Therefore, the waste liquid when the paint remaining on the paint supply tube 10A or 10B is washed with a cleaning liquid such as thinner at the time of color change is collected in the waste liquid collection container 18 via the discharge pipe lines 45a and 45b of the switching unit 11. It

FIG. 2 is a diagram showing the structure of the color change valve unit 12. The color change valve unit 12 has three colors (A,
(B and C colors), the compressed air, and the thinner can be selectively supplied to the coating gun 8. The paint supply valve mechanisms 21 to 23, the air supply valve mechanism 24, and the thinner supply valve. Mechanism 25. The valve mechanisms 21 to 25 are connected to the passages 27A and 27B of the paint supply manifold 27. The paint supply tubes 10A and 10B are connected to the downstream ends of the passages 27A and 27B.

Each of the valve mechanisms 21 to 25 is a pneumatically driven switching valve that is switched by the supply of an air signal, and has a structure in which two valves are combined. Each of the paint supply valves 21 to 23 has a configuration in which an upstream switching valve 21a to 23a and a downstream switching valve 21b to 23b, each of which is a spring offset type three-port two-position valve, are combined in series.

The upstream side switching valves 21a to 23a are valves for selecting the paint supply or the paint circulation, that is, whether the paint sent from a paint supply device (not shown) is supplied to the coating gun 8 or the paint. It is a valve that selects whether to recirculate to the supply device. Therefore, the upstream side switching valve 21a-
Paint supply tubes 28A to 28C for supplying paints A, B, and C, respectively, are connected to the inflow port of 23a, and paints A and B not used for painting are supplied to the outflow ports of the upstream-side switching valves 21a to 23a. , C to the paint supply device are connected to paint reflux tubes 29A to 29C.

The upstream side switching valves 21a to 23a are connected to the paint supply tubes 28A to 28A when the air signal is not input.
28C and the paint recirculation tubes 29A to 29C are communicated with each other, and when an air signal is input, the paint supply tube 2
8A to 28C and the downstream side switching valves 21b to 23b are switched to communicate with each other.

The downstream switching valves 21b-23b are valves for selecting one of the passages 27A and 27B of the paint supply manifold 27, and the upstream switching valve 2 is provided at the inflow port.
The paint supply pipelines 30A to 30C drawn out from the outflow ports 1a to 23a are connected. The paint supply pipelines 31A to 31C and 32A to 32C, which communicate with the passages 27A and 27B of the paint supply manifold 27, are connected to the outflow ports of the downstream switching valves 21b to 23b.

The downstream side switching valves 21b to 23b are used for the paint supply manifold 27 when an air signal is not input.
27B and the upstream side switching valves 21a to 23a are communicated with each other, and the passage 27A of the paint supply manifold 27 and the upstream side switching valves 21a to 23a are communicated with each other by the input of the air signal.

The air supply valve mechanism 24 is a valve for supplying cleaning air to the passages 27A and 27B of the paint supply manifold 27 at the time of color change to purge the previous paint and thinner, and the upstream switching valve 24a. It is formed by combining with the downstream side switching valve 24b. At the inflow port of the upstream side switching valve 24a,
Air supply tube 33 connected to an air source (not shown)
Is connected, and the air supply conduit 34 that is communicated with the outflow port of the upstream side switching valve 24a is connected to the inflow port of the downstream side switching valve 24b.

The upstream side switching valve 24a is closed when no air signal is input, and when the air signal is input, it opens to open the air supply tube 33 and the downstream side switching valve 24b. Switch to communicate with each other. The downstream side switching valve 24b is connected to the passages 27A, 2 of the paint supply manifold 27.
7B is a valve for selecting any one of 7B, and when the air signal is not input, the passage 27B of the paint supply manifold 27 and the upstream side switching valve 24a are connected to each other, and the paint supply manifold 27 is input by the input of the air signal. The passage 27A and the upstream switching valve 24a communicate with each other.

The air supply pipes 35A, 35B communicating with the outflow port of the downstream side switching valve 24b are connected to the upstream ends of the passages 27A, 27B of the paint supply manifold 27. Further, the air supply tube 33 is provided with a check valve 36 for preventing backflow of air.

The thinner supply valve mechanism 25 supplies thinner as a cleaning liquid to the passage 27 of the paint supply manifold 27 at the time of color change.
It is a valve for supplying A and 27B to wash the residual paint of the previous time, and is composed of a combination of an upstream switching valve 25a and a downstream switching valve 25b. A thinner supply tube 38 connected to a thinner supply device (not shown) is connected to the inflow port of the upstream side switching valve 25a, and a thinner supply pipe 39 connected to the outlet port of the upstream side switching valve 25a is connected to the downstream side. It is connected to the inflow port of the side switching valve 25b.

The upstream switching valve 25a is closed when an air signal is not input, and is opened when an air signal is input to open the thinner supply tube 38 and the downstream switching valve 2a.
Switch to communicate with 5b. Then, the thinner supply conduit 4 communicating with the outflow port of the downstream switching valve 25b
0A and 40B are passages 27 of the paint supply manifold 27.
It is connected to the upstream ends of A and 27B. The downstream switching valve 25b is connected to the passage 27A of the paint supply manifold 27,
27B is a valve for selecting any one of 27B, and when the air signal is not input, the paint supply manifold 27
27B of the paint supply manifold 27 by communicating the air signal to the upstream side switching valve 25a.
And the upstream switching valve 25a are connected to each other.

Further, the thinner supply tube 38 is provided with a backflow prevention valve 41 for preventing backflow of the thinner. The switching unit 11 also has a pair of open / close valves 41 and 42. Each of the on-off valves 41, 42 is a spring offset type two-port two-position valve, and is a pneumatically driven type valve that is switched by supply of an air signal. The inflow port of the on-off valve 41 is connected to the paint supply tube 10A drawn from the downstream end of the passage 27A of the paint supply manifold 27, and the inflow port of the on-off valve 42 is connected to the passage of the paint supply manifold 27. It is connected to the paint supply tube 10B pulled out from the downstream end of 27B.

At the outflow ports of the on-off valves 41 and 42, supply pipe lines 44a and 44b connected to a connecting member 43 communicated with the coating gun 8 and a discharge pipe line 45a for discharging the paint as waste liquid, 45b is connected. The open / close valves 41 and 42 are usually the paint supply tubes 10A and 1A.
0B and the discharge pipelines 45a and 45b are in communication with each other, and the paint supply tubes 10A and 10B are switched to communicate with the supply pipelines 44a and 44b by the supply of an air signal.

FIG. 3 is a plan view of the switching unit 11 and the color changing valve unit 12, FIG. 4 is a bottom view of the switching unit 11 and the color changing valve unit 12, and FIG. 5 is a side view of the switching unit 11 and the color changing valve unit 12. 6 is a rear view of the color changing valve unit 12, and FIG. 7 is a rear view of the color changing unit 11.

The passage 27A of the paint supply manifold 27,
The paint supply valve mechanisms 21 to 23 and the air supply valve mechanism 24 are integrally connected to both sides of the paint supply manifold 27B, and the thinner supply valve mechanism 25 is provided at the upstream end of the passages 27A and 27B of the paint supply manifold 27. Are united together. An air signal supply tube 46 for supplying an air signal is connected to each valve.

FIG. 8 is a vertical sectional view of the paint supply manifold 27. Passage 27 of a pair of paint supply manifolds 27
A and 27B are integrated in a vertically stacked state. The passage 27A of the paint supply manifold 27,
Passages 27A and 27B for passing paint, air, and thinner pass through the inside of 27B.

At the front ends of the passages 27A, 27B of the paint supply manifold 27, the paint supply tubes 10A,
10B is connected to the passage 2 of the paint supply manifold 27.
Paint supply valve mechanisms 21 to 23 are provided on the left and right sides of 7A and 27B.
And the air supply valve mechanism 24 are connected, and the thinner supply valve mechanism 25 is connected to the rear ends of the passages 27A and 27B of the paint supply manifold 27, and the valve mechanisms 21 to 25 are connected to the passages 27A and 27B. It is in communication.

FIG. 9 is a block diagram showing the configuration of the control device 9. The control device 9 includes a control calculation device 47 that performs color change control, which will be described later, a ROM 48 that stores various control programs such as color change control, and a RAM 4 that stores control data and the like.
9 and an i / o control unit 50 that outputs a control signal to a solenoid valve (not shown) for supplying an air signal.

The control arithmetic unit 47 is instructed by the host robot controller to specify the paint color, the next paint signal output when the next color is changed, and the start and end of the coating of the coating gun 8. Paint ON / OFF signal,
A color change signal for switching the paint is input and each valve is controlled to open and close according to these signals. In addition, the control arithmetic unit 4
7 outputs a status signal to the host robot controller.

Now, the color change control process executed by the control device 9 will be described with reference to the flowcharts of FIGS. The control device 9 determines whether or not the paint signal A is input in step S1 (hereinafter, “step” is omitted). When the paint signal A is not input in S1, the process proceeds to S2, and it is determined whether or not the paint signal B is input. When the paint signal B is not input in S2, the process proceeds to S3, and it is determined whether the paint signal C is input. If the paint signal C is not input in S3, the process returns to S1.

Now, when the paint signal A comes in from the host robot controller, the process proceeds to S4, the on-off valve 41 of the switching unit 12 is opened, and the passage 27A of the paint supply manifold 27 constituting the paint supply system path A and Paint supply tube 10A
To the painting gun 8. In the next step S5, an air signal is output to the upstream side switching valve 21a and the downstream side switching valve 21b of the paint supply valve mechanism 21 for switching. Therefore, the paint A is changed by the switching operation of the upstream switching valve 21a and the downstream switching valve 21b.
Is supplied to the coating gun 8 via the paint supply tube 10A.

Subsequently, in S6, the work for painting the work is started. As a result, the paint A is sprayed from the painting gun 8 onto the work. In the next step S7, it is determined whether or not the next paint signal has come from the host robot controller. When there is no next paint signal, it is not necessary to change the color, and therefore the paint A is continued to be applied. However, if the next paint signal comes from the host robot controller in S7, S
Paint A supplied to paint gun 8 from paint supply system A in 8
The cleaning process of the coating material supply path B is performed in parallel while continuing the coating operation.

That is, in S9, an air signal is output to the upstream side switching valve 24a of the air supply valve mechanism 24 to switch to the air purge state. Therefore, the compressed air supplied from the air source (not shown) passes through the passage 27B of the paint supply manifold 27.
And the paint supply tube 10B. Therefore, the paint remaining in the passage 27B of the paint supply manifold 27 and the paint supply tube 10B is air-purged and discharged into the waste liquid collection container 18 via the discharge pipe line 45b.

In the next step S10, an air signal is output to the upstream side switching valve 25a and the downstream side switching valve 25b of the thinner supply valve mechanism 25 for switching. Therefore, the thinner supplied from the thinner supply device (not shown) is supplied to the paint supply system path B. That is, the thinner supplied from the thinner supply valve mechanism 25 is supplied to the passage 27B of the paint supply manifold 27 and the paint supply tube 10B. Therefore, the passage 27B of the paint supply manifold 27 and the paint supply tube 10
The paint remaining on B is washed and discharged to the waste liquid collection container 18.

After that, in S11, an air signal is output to the upstream side switching valve 24a and the downstream side switching valve 24b of the air supply valve mechanism 24 for switching. Therefore, again, the air source (not shown)
The compressed air supplied from is supplied to the passage 27B of the paint supply manifold 27 and the paint supply tube 10B.
Therefore, the thinner remaining in the passage 27B of the paint supply manifold 27 and the paint supply tube 10B is removed from the discharge conduit 45.
The waste liquid recovery container 18 is purged via b.

In the next step S12, the number of times of cleaning of the paint supply system passage B is confirmed, and it is determined whether or not the preset number of times of cleaning n has been reached. Then, when the number of times of cleaning n has not been reached, the processing of S10 to S12 is repeated. However, when the number of times of cleaning n is reached, the process proceeds to S13, and it is determined whether or not a color change signal comes from the host robot controller.
When the color change signal is input in S13, the paint A
When it is determined that the coating has been completed, the process proceeds to S14, the opening / closing valve 41 of the switching unit 11 is closed, and the coating control of the paint supply system path A is stopped. Then, in S15, the opening / closing valve 42 of the switching unit 11 is opened to connect the paint supply system path B to the coating gun 8.

In the next S16, when an air signal is output to the upstream side switching valve 24a of the air supply valve mechanism 24 to switch to the air purge state, the compressed air supplied from the air source (not shown) is applied to the paint supply manifold 27. Is supplied to the passage 27B, the paint supply tube 10B, and the coating gun 8. Therefore, the paint remaining on the passage 27B of the paint supply manifold 27, the paint supply tube 10B, and the coating gun 8 is air-purged and sprayed from the coating gun 8 toward the wall surface of the coating area.

At the next step S17, an air signal is output to the upstream side switching valve 25a and the downstream side switching valve 25b of the thinner supply valve mechanism 25 to perform switching. Therefore, the thinner supplied from the thinner supply device (not shown) is supplied to the paint supply system path B. That is, the thinner supplied from the thinner supply valve mechanism 25 is supplied to the passage 27B of the paint supply manifold 27, the paint supply tube 10B, and the coating gun 8. Therefore, the paint remaining on the passage 27B of the paint supply manifold 27, the paint supply tube 10B, and the painting gun 8 is washed and sprayed from the painting gun 8 toward the wall surface of the painting area.

Thereafter, in S18, an air signal is output to the upstream side switching valve 24a and the downstream side switching valve 24b of the air supply valve mechanism 24 to switch them. Therefore, again, the air source (not shown)
Compressed air supplied from the passage 27B of the paint supply manifold 27, the paint supply tube 10B, and the coating gun 8
Is supplied to. Therefore, the thinner 27 remaining on the passage 27B of the paint supply manifold 27, the paint supply tube 10B, and the coating gun 8 is sprayed from the coating gun 8 toward the wall surface of the coating area 2.

In the next step S19, the number of times of cleaning the coating gun 8 is confirmed, and it is determined whether or not the preset number of times of cleaning n has been reached. Then, when the number of times of cleaning n has not been reached, the processing of S17 to S19 is repeated. However, when the number of cleaning times n is reached, the process proceeds to S20, and the paint B or the paint C
Is supplied to the painting gun 8. That is, the paint supply valve mechanism 2
No. 2 upstream switching valve 22a, downstream switching valve 22b or coating supply valve mechanism 23 upstream switching valve 23a, downstream switching valve 2
An air signal is output to 3b to switch. Therefore, paint B
Alternatively, the coating material C is supplied to the coating gun 8 via the passage 27B of the coating material supply manifold 27 and the coating material supply tube 10B.

When the next work is conveyed to the coating area 2, the coating gun 8 is turned on in S21, and the coating material B or the coating material C is sprayed toward the wall surface of the coating area 2. And
In S22, when the next work arrives in the coating area 2,
The coating operation of the paint B or the paint C on the work is controlled.

In the next step S23, it is determined whether or not the next paint signal is input from the host robot controller. When the next paint signal is input, the process returns to step S7.
However, if the next paint signal is not input, S24
Then, it is determined whether or not the painting end signal is input. S
If the painting end signal is not input at 24, S7
Returning to step S7, the processes after S7 are repeated.

In this way, in the painting robot 1,
Since two paint supply system paths A and B are provided, one paint supply system path is used to clean the other paint supply system path while the paint is supplied to the coating gun for painting. Therefore, the cleaning time at the time of color change can be shortened accordingly. That is, since it is sufficient to secure only the time for cleaning the paint remaining on the coating gun, it is possible to increase the operating rate of the coating process by setting the work transfer interval according to the cleaning time of the coating gun.

Even when the paint signal B or C is input in S2 or S3, the same processing as in S4 to S24 is executed, and the description thereof will be omitted. In the above embodiment, the color changing device applied to the painting robot has been described as an example, but the present invention is not limited to this, and it is needless to say that the present invention can be applied to, for example, a reciprocating device for painting.

[0053]

As described above, according to claim 1, since a plurality of paint supply system paths for supplying one paint to the coating gun are provided and a plurality of paint supply system paths are switched, one paint at the time of color change. It is not necessary to wait until the cleaning of the supply system passage is completed, and it is sufficient to wait for the time for cleaning only the paint remaining on the coating gun, so it is possible to prevent the operating rate of the coating line from decreasing.

According to a second aspect of the present invention, the paint supplied from one paint supply system path by supplying the paint to one paint supply system path and the cleaning liquid to the other paint supply system path. Since it is possible to clean the other paint supply system passages while painting using, the waiting time at the time of color change can be reduced to the minimum.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a painting robot to which an embodiment of a color changing device according to the present invention is applied.

FIG. 2 is a configuration diagram of a switching unit and a color changing valve unit.

FIG. 3 is a plan view of a switching unit and a color changing valve unit.

FIG. 4 is a bottom view of a switching unit and a color changing valve unit.

FIG. 5 is a side view of a switching unit and a color changing valve unit.

FIG. 6 is a rear view of the color change valve unit.

FIG. 7 is a rear view of the color changing unit.

FIG. 8 is a vertical sectional view of a paint supply manifold.

FIG. 9 is a block diagram showing a configuration of a control device.

FIG. 10 is a flowchart illustrating a color change control process executed by a control device.

FIG. 11 is a flowchart of a process executed after the process of FIG.

[Explanation of symbols]

1 Painting Robot 4 Swing Base 5 1st Arm 6 2nd Arm 7 Wrist 8 Painting Gun 9 Control Units 10A, 10B Paint Supply Tube 11 Switching Part 12 Color Change Valve Unit 13-15 Paint Supply Tube 16 Air Supply Tube 17 Thinner Supply tube 18 Waste liquid collection container 21-23 Paint supply valve mechanism 21a-23a Upstream switching valve 21b-23b Downstream switching valve 24 Air supply valve mechanism 25 Thinner supply valve mechanism 27 Paint supply manifold 28A-28C Paint supply tube 29A-29C Paint recirculation tube 30A to 30C, 31A to 31C, 32A to 32C Paint supply conduit 33 Air supply tube 35A, 35B Air supply conduit 38 Thinner supply tube 39 Thinner supply conduit 41, 42 Open / close valve 44a, 44b Supply conduit 45a , 45b discharge pipe

Claims (2)

[Claims] 1. A color changing device for selectively supplying one paint of a plurality of paints of different colors to a coating gun, wherein a plurality of paint supply system paths for supplying one paint to the coating gun are provided. A color changing device having a switching means for switching the paint supply system path. 2. The color changing device according to claim 1, wherein the switching means supplies the paint to one paint supply system path and supplies the cleaning liquid to another paint supply system path.