JPH09308848A - Color changing device and robot for coating - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten cleaning time in the case when a coating is changed to another coating. SOLUTION: A robot 1 for coating has a first arm 5 standing on a rotational base 4 on a base stage 3 and a second arm 6 extending in the horizontal direction from the top end of the first arm 5 and a first color change valve unit 10 is fitted on the second arm 6 and a second color change valve unit 12 is fitted on the base stage 3. The first color change valve unit 10 selectively feeds coating materials A and B with high frequency of use and the second color change valve unit 12 selectively feeds coating materials C-E with low frequency of use. When color is changed to a coating material with high frequency of use, time for color change is shortened by the first color change valve unit 10 and, when color is changed to a coating material with low frequency of use, time for cleaning is shortened by cleaning in advance the second color change valve unit 12.

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 and a painting robot, and more particularly to a color changing device and a painting robot configured to shorten a 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 washed. Further, in the painting robot, a color changing valve unit is provided near the robot or on the arm of the robot, and a painting gun is attached to the tip of the wrist portion 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. Paint supply valve is an air operated 3 port 2 driven by compressed air
A position valve is used to provide 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, and each valve is of the air operated type because it is explosion-proof. This is because it is advantageous. Here, the color changing procedure of the painting robot will be described. In addition, the color change is
It is executed after the painting program is finished, or after the painting program is finished and the painting robot is in a standby state. (1) Determine whether there is a color change request. (2) When there is a color change request, the painting robot is set to a color change position where the discharged paint and discharged cleaning liquid can be discharged from the coating gun. (3) Close the paint supply valve to stop the supply of paint to the paint output pipe. (4) The compressed air supply valve arranged on the most upstream side of the paint output pipe is opened for a certain period of time, and the paint output pipe is supplied with compressed air for cleaning.
Drain residual paint in the painting gun from the painting gun. (5) Similarly, the cleaning liquid supply valve installed on the most upstream side of the paint output pipe is opened for a certain period of time, the inside of the paint output pipe and the coating gun are cleaned with the cleaning liquid, and the drain cleaning liquid is discharged from the coating gun. (6) The compressed air supply valve is opened for a certain period of time, and the residual cleaning liquid in the paint output pipe and the painting gun is discharged from the painting gun with compressed air. (7) To surely wash, repeat (5) and (6) several times. (8) Open the paint supply valve of the paint for which the color is changed, and perform the blow-off to completely discharge the residual cleaning liquid with the paint.

The color change is completed by the above steps (1) to (8).

[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, air purging and thinner cleaning must be repeated several times, and if the color changing device is installed in a place away from the painting robot in order to reduce the weight increase of the arm, the common tube becomes longer and the cleaning is performed. Since it takes a long time, there is a problem that the operating rate of the coating line is reduced.

Further, in order to shorten the cleaning time of the paint supply path such as the coating gun and the common tube, it is effective to shorten the paint supply path. Therefore, in the case of a configuration in which the painting gun is attached to the arm tip of the painting robot, the common tube can be shortened by mounting the color changing device on the arm. However, when the color changing device is mounted on the arm, the weight of the arm increases, so that a larger driving force is required to drive the arm, which causes a problem that the arm driving motor becomes large.

Further, when the weight of the arm increases, it is disadvantageous in terms of operation accuracy and durability of the painting robot, and the number of color changing valves increases as the number of coating colors increases, so that the color changing device is improved. As the size increases and the weight increases, it becomes difficult to mount the arm. Therefore, an object of the present invention is to provide a color changing device and a painting robot that solve the above problems.

[0011]

In order to solve the above problems, the present invention has the following features. Claim 1
In a color change device having a plurality of color change valves for selectively supplying one of a plurality of paints of different colors to a coating gun, the plurality of color change valves are dispersed according to the frequency of use. It is characterized by being arranged at a plurality of locations.

Therefore, according to the first aspect, since the plurality of color change valves are dispersed according to the frequency of use and arranged at a plurality of positions, it is possible to prevent the plurality of color change valves from being arranged at one place in a concentrated manner. For example, the paint supply path of the color change valve that is frequently used can be shortened, so that the cleaning time of the paint supply path of a color mainly used can be shortened.

Further, according to the invention of claim 2, an arm supported swingably, a coating gun attached to the tip of the arm, and one coating material selected from a plurality of coating materials having different colors are selected for the coating gun. In a painting robot having a plurality of color change valves to be supplied, a color change valve that is used most frequently among the plurality of color change valves is provided in the arm, and the color change valve that is used less frequently is used. The color change valve is provided at a position other than the arm.

Therefore, according to the second aspect, since the color change valve which is frequently used is provided in the arm and the color change valve which is rarely used is provided in a place other than the arm, the paint supply of the color change valve which is frequently used is provided. Since the path can be shortened, the main cleaning time can be shortened, and the weight of the arm can be reduced to reduce the load on the arm drive motor and reduce the size. Further, even if the number of color change valves is increased, the installation locations can be dispersed to allow mounting on the arm.

Further, the invention of claim 3 is characterized in that the color change valve provided at a position other than the arm supplies the paint to the coating gun via the color change valve provided on the arm. It is what Therefore, according to the third aspect, since the color change valve provided at a position other than the arm supplies the paint to the coating gun via the color change valve provided at the arm, the color change valve provided at the arm Installed in a place other than the arm by previously cleaning the tube that connects the color change valve provided in the place other than the arm and the color change valve provided in the arm while painting with the paint from It is possible to shorten the cleaning time when switching to the specified color change valve.

Further, the invention of claim 4 is characterized in that the color change valve provided in the arm is provided so as to supply at least white paint to the coating gun. Therefore, according to the fourth aspect, since the color change valve for supplying the white paint most frequently used is provided in the arm, the paint supply path of the color change valve most frequently used can be shortened. It is possible to shorten the cleaning time of the color change valve for the white paint that is most often used.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of a color changing device and a painting robot according to the present invention. The painting robot 1 is installed in a painting area for performing 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 articulated robot that performs a pre-teaching coating operation when an object to be coated is conveyed. The painting robot 1
Generally, a base 3 and a swivel base 4 that swivels on the base 3,
A first arm 5 standing on the turning base 4, a second arm 6 extending horizontally from an upper end of the first arm 5,
It is composed of a wrist portion 7 provided at the tip of the arm 6. 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 receives a control signal from a robot controller 9. Thus, the turning base 4, the first arm 5, the second arm 6, and the wrist portion 7 are controlled to be driven. An encoder (not shown) for detecting the angle of each movable part is incorporated in each joint of the painting robot 1, and the robot controller 9 feeds back a detection signal output from the encoder. As a result, each motor is controlled to accurately drive the swivel base 4, the first arm 5, the second arm 6, and the wrist portion 7. The robot controller 9 is connected with a hand operation device 9a that is operated during teaching operation.

A first color changing valve unit 10 as a first color changing device is mounted on the second arm 6. The first color change valve unit 10 is configured so that the paints A and B that are frequently used can be selectively supplied. The paint gun 8 is connected to a first color change valve unit 10 via a paint supply tube (common tube) 11 that supplies paint.

For example, as a paint frequently used, in the case of automobile bodies, white paint is most often used. Therefore, in this embodiment, the first color change valve unit 10 attached to the second arm 6 is provided with a color change valve for supplying at least white paint. Therefore, it is possible to shorten the cleaning time of the color change valve for the white paint that is most often used.

Further, the first color change valve unit 10 is
Since it does not have all the color change valves for changing colors, the size and weight are reduced and the load on the second arm 6 is reduced. Therefore, the driving force of the motor for driving the second arm 6 can be small, and the capacity of the motor can be reduced, and the second arm 6 can be operated at high speed during the coating operation, and the coating gun 8 can be operated. This is advantageous for improving the accuracy of the operating position.

A second color changing valve unit 12 as a second color changing device is mounted on the base 3. The second color change valve unit 12 is configured to be able to selectively supply the paints C to E that are less frequently used. The second color change valve unit 12 is connected to the first color change valve unit 10 via the paint supply tube 13.

As described above, the color changing device is divided into the first color changing valve unit 10 and the second color changing valve unit 12, and the color changing devices are dispersed and arranged in different places. Since the first color change valve unit 10 provided on the second arm 6 has the color change valves for the colors A and B that are frequently used, when changing the color from the paint A to the paint B. Alternatively, when the color is changed from the paint B to the paint A, only the short paint path between the first color change valve unit 10 and the coating gun 8 is cleaned, so that the cleaning time can be shortened. It can be shortened.

The paint discharge tube 14 drawn out from the first color change valve unit 10 is connected to a waste paint collecting device 15 installed near the painting robot 1. The waste liquid when the paint remaining on the color change valve units 10 and 12 and the paint supply tube 13 is washed with a cleaning liquid such as thinner at the time of color change is collected by the waste paint collecting device 15 via the paint discharging tube 14. .

Therefore, the first color change valve unit 10
When changing the colors of the paints A to B supplied from the paints C to D, the second color change valve unit 12 and the paint supply tube 13 are washed in advance, and the cleaning liquid and the paint used previously are used. Can be discharged to the waste paint collecting device 15. Therefore, it is possible to shorten the cleaning time when changing the colors from the paints A and B to the paints C to D, and to shorten the waiting time until the start of coating with the next paint.

FIG. 2 is a system diagram showing the structure of the color change valve units 10 and 12. The coating system shown in FIG. 2 shows, as an example, a configuration in which five colors of coating materials A to E are selectively supplied to the coating gun 8. In the first color change valve unit 10, the paint gun 8 is connected to the paint supply tube 11
Has a paint output tube 16 common to all colors that is communicated via
The paint output pipe 16 is provided with a paint supply valve 17 for supplying the paint A, a paint supply valve 18 for supplying the paint B, and a paint supply valve 19 for supplying the paints C to E. ing.

A paint supply line 17a from a paint supply device (not shown) for supplying paint A is connected to the paint supply valve 17, and a paint supply device for supplying paint B (to the paint supply valve 18). A paint supply line 18a from (not shown) is connected. The paint supply valve 19 is connected to the paint supply tube 13 from the second color changing valve unit 12.

Further, the paint output tube 16 is provided with a coating gun 8
And a thinner supply valve 20 for supplying thinner for cleaning the paint output pipe 16 and the paint supply tube 11, and a cleaning air supply valve 21 for air purging the coating gun 8, the paint output pipe 16 and the paint supply tube 11. ing. The thinner supply valve 20 is connected to a thinner supply pipe 20a from a thinner supply device (not shown), and the thinner supply pipe 20a is provided with a check valve 20b. An air supply pipe 21a from an air supply device (not shown) is connected to the cleaning air supply valve 21, and a backflow prevention valve 21b is arranged in the air supply pipe 21a.

In the second color change valve unit 12, the paint supply valve 19 is communicated with via the paint supply tube 13.
A common paint output pipe 22 for selectively supplying the paints C to E is provided, and a paint supply valve 23 for supplying the paint C and a paint supply valve 24 for supplying the paint E are provided to the paint output pipe 22.
And a paint supply valve 25 for supplying the paint E.

A paint supply line 23a from a paint supply device (not shown) for supplying the paint C is connected to the paint supply valve 23, and a paint supply device (for supplying the paint D is supplied to the paint supply valve 24 ( A paint supply line 24a from (not shown) is connected. Further, the paint supply valve 25 is provided with a paint supply conduit 25a from a paint supply device (not shown) for supplying the paint E.
Is connected.

Further, to the paint output pipe 22, a thinner supply valve 26 for supplying thinner for cleaning the paint output pipe 22, the paint supply tube 13 and the paint output pipe 16, the paint output pipe 22, the paint supply tube 13 and the paint. A cleaning air supply valve 27 for purging the output pipe 16 is provided.
The thinner supply valve 26 is connected to a thinner supply pipe 26a from a thinner supply device (not shown).
A check valve 26b is provided in the thinner supply line 26a. An air supply pipe 27a from an air supply device (not shown) is connected to the cleaning air supply valve 27, and a backflow prevention valve 27b is arranged in the air supply pipe 27a.

The paint supply valves 17 to 19 and 23 to 25
Is an air operated three-port two-position valve that is driven and switched by the supply of operating air. The thinner supply valve 20, the cleaning air supply valve 21, the thinner supply valve 26, and the cleaning air supply valve 27 are operated respectively. It is composed of an air operated 2-port 2-position valve that is driven by air supply to switch.

The reason why the air-operated type valve is used is that the coating area has a flammable atmosphere, which is advantageous in terms of explosion protection. Further, the paint supply valves 17 to 19 and 23 to 25 are composed of 3 port 2 position valves.
This is because when the paint is not supplied to the coating gun 8, the paint is returned to the paint supply device to prevent the paint from solidifying.
Further, although the thinner supply valve 20, the cleaning air supply valve 21, the thinner supply valve 26, and the cleaning air supply valve 27 are normally closed, they are opened when the operating air is supplied at the time of color change. It is an off valve.

Each valve of the first color change valve unit 10 and the second color change valve unit 12 is switch-controlled in cooperation so that only one color is always supplied at the time of coating. The paint supply valves 17 to 19 and 23 to 25, the thinner supply valve 20, the cleaning air supply valve 21, the thinner supply valve 26, and the cleaning air supply valve 27 are connected to the operating air conduits 28a to 28a.
28j is connected to each of the operating air pipelines 28a.
Each valve is switched by air (air signal) from 28j.

Air output line 30 of air supply unit 29
Includes an operating air supply line 31, a pattern air supply line 32 for supplying pattern air to the coating gun 8, an atomizing air supply line 33 for supplying atomizing air, a cleaning air supply valve 21, A cleaning air supply conduit 34 for supplying cleaning air to 27 is connected.

In the operating air supply line 31, solenoid valves SV1 to SV1 for operating air supply are provided.
The SV 15 is provided, the pattern air supply valves 32 and 36 are provided in the pattern air supply conduit 32, and the atomizing air supply valves 37 and 38 are provided in the atomizing air supply conduit 33.

The solenoid valves SV1 to SV15 are normally closed, and are opened by a control signal output from the robot controller 9. Solenoid valve SV1
The SV 10 includes paint supply valves 17 to 19, thinner supply valve 20, cleaning air supply valve 21, paint supply valves 23 to 25, thinner supply valve 2 via operating air pipes 28a to 28j.
6, an electromagnetic valve for supplying operating air to the cleaning air supply valve 27.

Further, the solenoid valve SV11 is an electromagnetic valve for supplying operating air for coating on / off to the coating gun 8 through an operating air conduit 28k. Solenoid valves SV12 to SV15 are operated air line 2
It is an electromagnetic valve for supplying the operation air to the atomizing air supply valves 37, 38 and the pattern air supply valves 35, 36 via 8l to 28o.

When changing colors, it is first necessary to clean the interior of the paint output tubes 16 and 22 and the interior of the coating gun 8 which are common pipelines for coating material with a cleaning liquid (thinner). Therefore,
A thinner supply valve 20 and a cleaning air supply valve 21 are provided at the upstream end of the paint output pipe 16, and a thinner supply valve 26 and a cleaning air supply valve 27 are provided at the upstream end of the paint output pipe 22. It is arranged. Therefore, at the time of cleaning, thinner and compressed air for cleaning are supplied to the paint output pipes 16 and 22 for cleaning.

Since the thinner supply valves 20, 26 and the cleaning air supply valves 21, 27 are air-operated two-port two-position valves, the thinner supply valves 20, 26 are connected to the solenoid valves SV4, SV9. Is supplied as operating air. Further, air signals from the solenoid valves SV5 and SV10 are supplied to the cleaning air supply valves 21 and 27 as operating air.

The paint gun 8 is supplied with operating air for paint on / off control from a solenoid valve SV11, atomized air from atomized air supply valves 37 and 38, and a pattern from pattern air supply valves 35 and 36. Air is supplied. The atomizing air is 2 by the atomizing air supply valves 37 and 38.
It is possible to select the atomizing pressure of a kind of paint and supply it to the coating gun 8. Similarly, for pattern air, two types of coating patterns can be selected by the pattern air supply valves 35 and 36.

The operated air is controlled by opening or closing the solenoid valves SV1 to SV15 in accordance with a control signal output from a robot controller 9 which will be described later. When the solenoid valve is turned on, the operating air is opened. Supplied to the valve.

FIG. 3 is a block diagram of a color change control device for controlling the first color change valve unit 10 and the second color change valve unit 12. The color change control device 39 is provided in the robot controller 9, and includes a ROM 40 that stores a program indicating a calculation procedure, a RAM 41 that temporarily stores a calculation result, and a sampling time and a solenoid valve control time. A timer 42, and an i / o control unit 43 that outputs a signal to each solenoid valve,
And a control arithmetic unit 44.

The color change control device 39 uses the next paint signal output from the robot controller 9, a color change request signal for notifying the color change timing, and a robot position signal for detecting the posture of the painting robot 1 to change the color change valve unit. It controls 10 and 12.

The output from the color change control device 39 is sent to solenoid valves SV1 to SV10 for turning on and off compressed air for operating air, and the color change valve unit 1 is operated.
0, 12 and the on / off of the coating gun 8 are controlled. Further, the color change control device 39 includes the color change valve unit 10,
During the color change sequence, the reference numeral 12 outputs a status signal indicating completion of color change, an error state, etc. to the robot controller 9.

Next, the sequence of color change from the paint A to the paint B will be described with reference to the flowcharts of FIGS. Now, the color change control device 39 controls the first color change valve unit 10 so that the paint supply valve 17 is switched by the signal from the robot controller 9 and the paint A is supplied to the coating gun 8. (Not shown)
To paint. The first color change valve unit 1 in this state
Operate air is supplied to the solenoid valve SV
Only from 1.

Therefore, the paint supply valve 17 to which the operating air is supplied from the solenoid valve SV1 is turned on, and the paint A is supplied to the coating gun 8 through the paint output pipe 16. Further, the other paints B to E are circulated to the paint supply device without being discharged to the paint output pipe 16.

The robot controller 9 executes step S1.
(Hereinafter, "steps" will be omitted.) The painting program is reproduced to cause the painting robot 1 to perform painting work. During the reproduction of the coating program, for example, every second, it is determined whether or not there is a color change request in the next coating program (S2).

In S2, if there is a color change request, S
3, the robot controller 9 sends the color change request signal,
And the paint B signal to the color change control device 39. still,
The color change control device 39 starts the color change control by the color change request signal and the paint B signal as described later.

After that, when the predetermined coating program is completed (S4), the coating robot 1 is moved to the standby position (S5), and then it is confirmed whether the coating robot 1 has moved to the standby position (S6). . The reason why the painting robot 1 is moved to the standby position is to avoid interference with the work when the painting robot 1 is in the color changing posture. Subsequently, it is determined whether or not the color change is completed after the color change posture is reached.

Next, the painting robot 1 is moved to the color changing posture for color changing (S7), and it is confirmed that the painting robot 1 has reached the color changing posture (S8). And
It is determined whether the color change is completed (S9). Also, S9
In, when the status signal indicating that the color change is completed is not input, it is determined that the color change is not completed, the process proceeds to S10, and it is determined whether or not there is an error. Then, when there is no error, the process returns to S9 again, and when there is an error, the process proceeds to S11 to execute the error processing.

When a status signal indicating that the color change is completed is input in S9, the process proceeds to S12, and the painting robot 1 is moved to the standby position for starting painting.
Then, it is confirmed whether or not the painting robot 1 has moved to the standby position (S13). Then, in S14, the reproduction sequence of the next coating program is executed.

On the other hand, the control arithmetic unit 44 of the color change control device 39, which has received the color change request signal and the paint B signal in S3, executes the following color change control shown in FIG. When the color change request signal and the paint signal are input from the robot controller 9, the color change control device 39 first determines in S21 of FIG. 5 whether the next paint is the paint A or B or the paints C to D. . For example, when the next paint is paint B, the process proceeds to S22, and the painting program being reproduced is ended, and it is determined whether or not the painting robot 1 has reached the color changing posture.

Therefore, when the painting robot 1 reaches the color changing posture, the process proceeds to the next S23, where the solenoid SV1
Is turned off, the paint supply valve 17 for the paint A is switched to the circulation state, and the paint supply from the paint supply valve 17 to the paint output pipe 16 is stopped. In the next step S24, the solenoid SV5 is turned on for a certain period of time (set by the timer 42) to open the cleaning air supply valve 21, and the cleaning air supplies the paint output pipe 1
The residual paint in 6 is discharged from the painting gun 8. Then S2
In 5, the solenoid SV4 is turned on for a certain period of time (set by the timer 42) to open the thinner supply valve 20, the interior of the paint output pipe 16 is cleaned with thinner, and the discharged thinner after cleaning is discharged from the coating gun 8. .

In S26, in order to ensure the cleaning, S2
4, the number of times of cleaning in S25 is counted, and the cleaning process is repeated a preset number of times. The number of times of the above-mentioned cleaning step varies depending on the type of paint and the required coating quality, and is set appropriately. When the washing process is repeated a predetermined number of times, the solenoid S
V5 is turned on for a certain time (set by the timer 42) to open the cleaning air supply valve 21, and the residual thinner in the paint output pipe 16 is discharged from the coating gun 8 by the cleaning air.

Next, in S28, the solenoid SV2 is turned on, the paint supply valve 18 for the paint B is switched to the paint supply side, and the paint B is supplied to the paint output pipe 16. And S29
Then, in order to completely discharge the residual thinner from the coating gun 8 by the coating material B, the solenoid SV11 is turned on for a certain period of time (set by the timer 42) to inject air from the coating gun 8, and the coating gun 8 performs waste blowing. .

Then, in S30, a color change completion signal is output to the robot controller 9. This completes a series of control processes for changing the color of the next paint to paint A or paint B. Subsequently, a sequence of color change from the paint B to the paint C will be described.

Now, the color change control device 39 controls the first color change valve unit 10 so that the paint B is supplied to the coating gun 8 via the paint supply valve 18 by the next paint signal from the robot controller 9. , The work is painted with paint B. The first color change valve unit 10 in this coating state
The operating air to the paint is supplied only to the paint supply valve 18 for the paint B via the solenoid valve SV2.

Therefore, the coating material B is guided to the coating gun 8 via the coating material output line 6. The paint C is returned from the supply side of the paint supply valve 23 to the return side. When the color change from the paint B to the paint C is performed, the first color change valve unit 10 supplying the paint B being coated and the second color change valve unit 12 supplying the next paint C are It is necessary to work in cooperation with each other. Therefore, it is possible to wash the second color change valve unit 12 and the paint output tube 22 in advance while the work is being painted with the paint B.

Therefore, when the color change control device 39 receives the color change request signal and the next paint C signal from the robot controller 9, it performs the following control. In S21 of FIG. 5, it is determined whether the next paint is paints A and B or paints C to D. When the next paint is paint C, the process proceeds to S31, and it is determined whether the paint currently being applied is paint A or paint B. If the paint currently being painted is not the paint A or the paint B in S31, the paints currently being painted are paints C to D, so that the process waits until the current painting work is completed in S32.

Then, in S31, when the paint currently being applied is the paint A or the paint B, or when the coating is completed in S32, the process proceeds to S33, and the paint is supplied from the second color change valve unit 12. Stop. Then, S3
In No. 4, the solenoid SV10 is turned on for a certain period of time (set by the timer 42) to open the cleaning air supply valve 27, and the residual air in the coating material output pipe 22 is removed by the cleaning air from the coating material supply tube 13 and the coating material supply valve. 19, the paint is discharged to the waste paint collecting device 15 via the paint discharge tube 14. Then, in S35, the solenoid SV9 is turned on for a predetermined time (timer 42
(Set by setting) to turn on the thinner supply valve 26, and use thinner to set the paint output tube 22 and the paint supply tube 1.
3. The inside of the paint supply valve 19 is washed, and the waste thinner is discharged to the waste paint collecting device 15.

In order to perform the cleaning surely, S3 is carried out in S36.
4, the number of times of cleaning in S35 is counted, and the cleaning process is repeated a preset number of times. The number of times of the above-mentioned cleaning step varies depending on the type of paint and the required coating quality, and is set appropriately. When the cleaning process is repeated a predetermined number of times, the solenoid S
V10 is turned on for a certain period of time (set by the timer 42) to open the cleaning air supply valve 27, and the cleaning air (compressed air) is used to supply the paint output pipe 22, the paint supply tube 13,
The residual thinner in the paint supply valve 19 is discharged to the waste paint collecting device 15.

This completes the cleaning process for the second color change valve unit 12. After that, in S22, the coating program of the coating material B is finished, and the coating robot 1 waits until it reaches the color changing posture. Therefore, when the painting robot 1 reaches the color changing posture, the process proceeds to the next step S23, the solenoid SV2 is turned off, the paint supply valve 18 of the paint B is switched to the circulation state, and the paint output valve 16 is changed from the paint supply valve 18 to the circulating state. Stop the paint supply to.

At the next step S24, the solenoid SV5 is turned on for a fixed time (set by the timer 42), and the air supply valve 2 is turned on.
1 is opened, and the residual paint in the paint output tube 16 and the paint supply tube 11 is discharged from the painting gun 8 by the cleaning air. Subsequently, in S25, the solenoid SV4 is turned on for a certain period of time (set by the timer 42) to turn the thinner supply valve 2 on.
The valve 0 is opened, the paint output tube 16 and the paint supply tube 11 are cleaned with thinner, and the discharged thinner after cleaning is discharged from the coating gun 8.

In order to ensure the cleaning, in S26, S24,
The number of times of cleaning in S25 is counted, and the cleaning process is repeated a preset number of times. When the cleaning process is repeated a predetermined number of times, the solenoid SV5 is turned on for a certain time (set by the timer 42) in S27 to open the air supply valve 21, and the paint output pipe 16 is opened by the cleaning air.
And the residual thinner in the paint supply tube 11 is applied to the painting gun 8
Discharged from With this, the first color change valve unit 10
And the paint supply tube 11 is washed.

Next, in S28, the solenoids SV3 and SV
6 is turned on, the paint supply valve 19 for the paints C to E and the paint supply valve 23 for the paint C are switched to the paint supply side, and the paint C from the paint supply valve 23 is supplied to the paint output pipe via the paint supply valve 19. Discharge to 16. Then, in S29, since the residual thinner is completely discharged from the coating gun 8 by the coating C,
The solenoid SV11 is turned on for a certain period of time (set by the timer 42) to eject the paint from the coating gun 8.
And throw it away.

After that, the process proceeds to S30, and a color change completion signal is output to the robot controller 9. This completes the color changing process from the paint B to the next paint C. In the above embodiment, the color changing device for selectively supplying any one of the five color paints A to E has been described as an example. However, an apparatus configured to supply five or more color paints may be used. Of course, can also be applied.

In the above embodiment, the painting robot 1 is used.
The configuration in which the first color changing valve unit 10 is mounted on the second arm 6 and the second color changing valve unit 12 is installed on the base 3 of the painting robot 1 has been described as an example.
Not limited to this, for example, the third color change valve unit
It is also possible to mount the arm 5 and the swivel base 4.

Further, in the above embodiment, the fixed time set by the timer 42 is the cleaning air, thinner, the supply pressure of the paint, the volume of the paint supply passage such as the paint output pipe or the paint supply tube to be washed, and the pipeline. Determined from resistance etc. In the above embodiment, the color change control device 39 is provided in the robot controller 9. However, the present invention is not limited to this, and the color change control device 39 may be provided separately from the robot controller 9. Of course, it is also good.

Further, although the thinner is used as the cleaning liquid in the above embodiments, it is possible to use a cleaning liquid other than thinner, for example, in the case of a water-soluble paint, water is used as the cleaning liquid. Can be used as

[0072]

As described above, according to the first aspect, a plurality of color change valves are dispersed according to the frequency of use and are arranged at a plurality of positions, so that a plurality of color change valves are centrally arranged at one place. Can be prevented. Also, since the paint supply path of the color change valve that is frequently used can be shortened, the paint supply path is short in the case of color change of the same color that is frequently used, so the cleaning time of the paint supply path should be shortened. You can

According to the second aspect, the color change valve that is frequently used is provided in the arm, and the color change valve that is rarely used is provided at a position other than the arm. The route can be shortened. Further, in the case of frequently changing colors of different colors, since the paint supply path is short, the cleaning time can be shortened. Furthermore, the weight of the arm can be reduced to reduce the load on the arm drive motor, and the motor can be downsized. Also,
Even if the number of color change valves increases, it is possible to install them on the arm by distributing the installation locations.

According to the third aspect of the invention, the color changing valve provided at a position other than the arm is provided on the arm for supplying the paint to the coating gun via the color changing valve provided on the arm. While painting with the paint from the color change valve, wash the tube that connects the color change valve provided on the part other than the arm and the color change valve provided on the arm in advance, so that It is possible to shorten the cleaning time when switching to the color change valve provided at the location.

Further, according to the present invention, since the arm is provided with the color change valve for supplying the most used white paint, the paint supply path of the most frequently used color change valve should be shortened. Therefore, it is possible to shorten the cleaning time of the color change valve for the white paint that is most often used.

[Brief description of drawings]

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

FIG. 2 is a configuration diagram of a coating system.

FIG. 3 is a block diagram of a color change control device.

FIG. 4 is a flowchart executed by a robot controller.

FIG. 5 is a flowchart executed by the color change control device.

[Explanation of symbols]

 1 Painting Robot 4 Swing Base 5 1st Arm 6 2nd Arm 7 Wrist 8 Painting Gun 9 Robot Controller 10 1st Color Change Valve Unit 11, 13 Paint Supply Tube 12 2nd Color Change Valve Unit 14 Paint Discharge Tube 15 Waste paint recovery device 16,22 Paint output pipe 17-19, 23-25 Paint supply valve 20,26 Thinner supply valve 21,27 Cleaning air supply valve 29 Air supply unit 35,36 Pattern air supply valve 37,38 Fog Air supply valve 39 Color change control device 42 Timer 44 Control arithmetic device

Claims (4)

[Claims] 1. A color changing device having a plurality of color changing valves for selectively supplying one of a plurality of paints of different colors to a coating gun, wherein the plurality of color changing valves are distributed according to the frequency of use. The color changing device is characterized in that it is arranged in a plurality of places. 2. An arm swingably supported, a coating gun attached to the end of the arm, and a plurality of colors for selectively supplying one of a plurality of coating materials of different colors to the coating gun. In a painting robot having a change valve, a color change valve that is frequently used among the plurality of color change valves is provided in the arm, and a color change valve that is rarely used among the plurality of color change valves is other than the arm. A painting robot characterized by being installed at the location. 3. The color change valve provided at a position other than the arm supplies the paint to the coating gun via the color change valve provided at the arm.
The described painting robot. 4. The painting robot according to claim 2, wherein the color change valve provided on the arm is provided so as to supply at least white paint to the painting gun.