JPH11592A - Multicolor small amount coating control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiently of multicolor coating by applying information recording media indicating coating information on coating material cartridges 2s which store coating materials of many coating material colors in small units, reading the information, controlling the operation of a coating device including a robot and applying coatings on works. SOLUTION: The coating robot 1 is provided with the stock device 3 which stows plural pieces of the coating material cartridges 2 storing the coating materials of many color kinds in the units of small amts. alongside the robot. A transfer device 4 is disposed above the stock device 3. The operating motions of the coating robot 1, the stock device 3 and the transfer device 4 are controlled by a controller 5. The coating material cartridge 2 of the required coating material color is taken out of the stock device 3 and is mounted at the coating robot 1 by the transfer device 4 when the coating of the works (car bodies) A which are horizontally transported is executed. The coating material in the coating material cartridge 2 is supplied to a coating machine 6 of the coating robot 1 and the work is thus automatically coated with the coating materials of the desired colors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating system for storing paints of various colors in small units and selectively supplying paints of required colors to a painting robot or a painting machine of an automatic painting apparatus. The present invention relates to a multi-color, small-quantity coating control system for controlling a coating process.

[0002]

2. Description of the Related Art For example, Japanese Utility Model Publication No. 4-46846,
As described in JP-46847-A, etc., in order to cope with diversification of paint colors and to improve the workability of multi-color paint, various kinds of small-quantity paint supply systems have been proposed and developed. I have. In recent years, since painting robots are often used for painting automobile bodies and the like, recently, it has been devised to be able to selectively supply paints of several to several tens of colors to the painting robots. Several multi-color coating systems have recently been proposed. For example, Japanese Patent Publication No. 7-34882 discloses a plurality of supply paths P1 to P3 for each paint color.
Are respectively provided in the work area of the painting robot 14, the bottle-shaped storage tank 22 is connected at a fixed point of each supply path, and at the time of coating, the storage tank is carried by the robot 14 by the operation of the robot 14 and Sprayer in robot
Disclosed is a spray coating device that can be connected to the spray coating device 20 to perform spray coating. Japanese Unexamined Patent Publication No. Hei 4-83549 discloses that paint guns 35a to 35n and paint intermediate tanks 21a to 21n of each paint color can be connected / separated to a paint circulation system classified by paint color near the painting robot 51. And using the mounting robot 41 to selectively mount / disconnect one or both of the coating gun and the coating intermediate tank to / from the coating robot 51 and selectively discharge the coating by the constant flow rate means 61. It discloses a multicolor coating apparatus capable of performing various multicolor coatings.

[0003]

However, the invention of the above-mentioned spray coating apparatus has the following problems. Since it is necessary to guide the supply path of each paint color into the work area of the painting robot, the number of paint colors that can be supplied is generally limited to several types, and there are certain limitations in diversifying multicolor painting. is there. In addition, very large equipment is required as a whole to guide the supply path of each paint color into the work area of the painting robot. Further, since the paint color is exchanged by the painting robot itself, the color exchange and painting cannot be performed simultaneously, and furthermore, it is necessary to wash the inside of the storage tank 22 every time the color is exchanged. The work efficiency of painting is very poor. Further, in the invention of the above-mentioned multi-color coating apparatus, although it is improved from the above-mentioned spray coating apparatus in terms of the efficiency of the coating operation, there are still the following problems. As the number of paint colors increases and the number of paint colors increases, it is necessary to expand the work area of the mounting robot to a wider range, which leads to a larger facility and a remarkably wider paint work space. Evils occur.
Further, since a paint circulation system is provided for each paint color, the coating equipment becomes large as a whole. Further, the above-described conventional multicolor coating system is suitable for selectively supplying a relatively large amount of paint per color to a coating robot. However, recently, it has been required that each car body purchaser be able to paint each car body with a desired paint color. From this situation,
The paint colors that can be used for painting the car body range from dozens or more, and the multi-color painting has further progressed, with the exception of paints used in large quantities such as white paint.
The use of paints of each color is becoming relatively smaller. Therefore, there has been a demand for the development of a multicolor coating system capable of selectively supplying paints of such many colors in smaller units to a coating machine such as a coating robot. However, none of the conventional multi-color coating systems developed so far can sufficiently satisfy this requirement.

Under these circumstances, the inventor of the present invention, in order to further improve the conventional multicolor coating technique, stores a large number of color paints in small units and selectively paints the desired color paint. A new multi-color, small-quantity painting system that can be supplied to a painting machine of a robot or an automatic painting device (hereinafter, both of them will be referred to as a painting robot) is devised and dated on or from the present application. It was disclosed in an earlier patent application. The new multi-color, low-volume coating system comprises an appropriate number of paint cartridges, each filled with a small amount of paint of a particular paint color, an endless conveyor mechanism holding the appropriate number of paint cartridges, and A stock device capable of rotating and transporting a paint cartridge to a take-out position, a painting robot having a structure capable of mounting a paint cartridge, and a paint cartridge of the required color taken out of the stock device and transported; A transfer device mounted on the robot, and a paint feeding mechanism capable of being connected to the mounted paint cartridge, and extruding the paint in the paint cartridge and supplying the paint to the coating machine of the coating robot at the time of connection. .

[0005] The present invention relates to the operation control of the above-described multi-color small-amount coating system. The object of the present invention is to select a paint cartridge of a paint color to be coated by using the multi-color small-amount coating system. An object of the present invention is to provide a multi-color, small-quantity coating control system capable of reliably performing automatic coating on a work using the same.

[0006]

According to the present invention, an information recording medium is attached to each paint cartridge or the like, and painting information necessary for automatic painting such as the paint color represented by the mark is stored in a stock apparatus. By reading by the reading means and controlling the operation of the multi-color small-quantity coating system based on the read coating information, it is possible to reliably perform automatic coating using a paint cartridge of a predetermined paint color for each work. It is something that can be done. More specifically, the present invention is directed to a stock system with an endless conveyor mechanism that has a suitable number of means for removably holding a paint cartridge and is capable of storing and rotating a large number of paint cartridges of various paint colors. Equipment, a specific paint cartridge is taken out of the stock device, transported, and a transfer device capable of being mounted on a coating robot; and a paint in the mounted paint cartridge is extruded and fed to a coating machine. In a coating system comprising a coating robot having a mechanism capable of performing, in each of the coating cartridges and / or the holding means, an information recording body indicating coating information necessary for automatic coating such as a coating color;
Reading means attached to the endless conveyor mechanism of the stock apparatus and capable of reading the coating information from the information recording medium by optical, magnetic or wireless communication for each of the loaded paint cartridges; Based on the applied coating information, control the operation of each of the stock device, the transfer device and the coating robot,
The present invention relates to a multi-color, small-quantity coating control system comprising: a control device for performing automatic coating for each work by selectively using a paint cartridge of a paint color to be coated.
As the above-mentioned coating information, the color type of the coating material to be filled in the coating cartridge, the date when the coating cartridge was loaded into the stock apparatus, the type of the work to be coated, the range, condition and procedure of the coating of the work are defined. Coating data and any combination of these are applicable.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The multi-color small-quantity coating control system according to the present invention is a multi-color small-quantity coating system proposed in the above-mentioned multi-color small-quantity coating system. A new control system has been added to enable this. First, the configuration of the previously proposed multi-color small-quantity coating system will be described. This multi-color small-quantity coating system stores paints of various colors in small units and selectively paints the desired color paints. Is a painting system that can be supplied to a paint cartridge, and is composed of a paint cartridge, a stock device, a transfer device, and a painting robot.

[0008] The paint cartridge is a double-structure container containing a relatively small amount of paint, for example, a tubular paint bag (made of synthetic resin), which is refillably loaded into, for example, a substantially cylindrical cartridge body. Then, the paint bag inside the cartridge can be crushed by pushing air into the cartridge from the rear end side of the cartridge, for example, by pushing air into the cartridge from the rear end side of the cartridge, and the paint can be pushed out from the front end side of the cartridge. Structure. Each of the paint cartridges is filled with a small amount of paint of a specific paint color (for example, a particular paint color desired by an individual who is a car purchaser (for example, a special color such as moss green)). The control system is provided with an appropriate number, typically about 20 to 100 paint cartridges.

The stock apparatus is an apparatus for storing a large number (for example, about 20 to 100) of paint colors in the form of a paint cartridge and for stirring the paint in the paint cartridge. As described in, it is possible to take out the paint cartridge of the required color and insert a new paint cartridge,
More preferably, the stocking device includes a mechanism for collecting used paint cartridges carried back by the transfer device. More specifically, the stock apparatus is provided with an endless conveyor mechanism, and an appropriate number of holding means capable of detachably holding the paint cartridge is attached to the mechanism. A device that can swivel a paint cartridge through its loading location and its unloading location. The endless conveyor mechanism is a conveyor mechanism capable of rotating and transporting a paint cartridge along an endless conveyor path, and includes, for example, an endless chain conveyor mechanism. The endless conveyor path passes through the location where the paint cartridge is loaded and the location where the paint cartridge is removed. The loading point of the paint cartridge is provided, for example, at the lower part of the stock device, and the take-out position of the paint cartridge is provided, for example, at the upper surface of the stock device. With this configuration, the stock apparatus can store a large number of paint color paint cartridges, and can selectively turn a required paint cartridge from among the paint cartridges to the take-out position. Can be taken out. In addition, since the stock device rotates the paint cartridge to be stored while rotating about the axial direction thereof, the paint in the paint cartridge can be stirred and mixed more uniformly during the rotation. Therefore, the present stock apparatus contributes to a stable supply of a homogeneous paint.

The holding means is a means for holding each of the paint cartridges detachably, and is assembled to the above-mentioned endless conveyor mechanism. The holding means is provided by the number of paint cartridges of many (for example, about 20 to 100) paint colors stored in the stock apparatus. The holding means not only when the stock device is not operating,
Even during operation of the endless conveyor mechanism, that is, while the paint cartridge is being rotated and carried along its endless conveyor path, it is required that the means be capable of securely holding the paint cartridge, and at the same time, It is required that the transfer device be configured so that the paint cartridge can be easily removed by a gripping operation by the following chuck means. Further, the holding means is required to have a structure that allows easy loading of the paint cartridge. From this viewpoint, a more preferable holding means is a storage frame capable of receiving the paint cartridge,
A pair of left and right bent holding arms rotatably supported around a bent portion on the outside of the storage frame, and a spring for urging the left and right holding arms inward so that the paint cartridge is gripped. When each arm of the left and right holding arms is pushed outward, the other arms respectively push out the paint cartridge loaded in the storage frame, so that the paint cartridge is transferred. It is configured so that it can be removed from the stock device by the device.
Particularly preferred holding means are configured as the toggle mechanism described below. The storage frame is a frame that can receive and store the paint cartridge.For example, when the paint cartridge is a cylindrical cartridge, the storage frame is
When the paint cartridge is housed therein, a plurality of frame bars are provided so that the paint cartridge comes into contact with appropriate portions of the front end face, the rear end face, and the outer peripheral face to stably hold the paint cartridge. The holding arm is a pair of left and right bent arms attached to the outside of the storage frame, and is supported rotatably about the bent portion. The spring means is at least a spring means (for example, a coil spring) for urging the left and right holding arms inward, and the urging force causes the holding arm to press down the paint cartridge loaded in the storage frame. The paint cartridge is configured to be gripped in a storage frame. Particularly preferably,
When the holding means is tilted inward from a position where one arm of the holding arm is present (for example, an upright position), the left and right holding arms are urged inward, and conversely, the position where one arm of the holding arm is present A mechanism (so-called toggle mechanism) is provided in which the left and right holding arms are biased outward when tilted outward. Therefore, in a more preferable embodiment, when the left and right holding arms are pushed outward, respectively, and the left and right one-arm portions are tilted outward from a certain posture, the left and right holding arms are directed outward of the spring means. It pivots outwardly by the action force,
Thereby, the other arms of the left and right holding arms push the paint cartridge loaded in the storage frame out of the storage frame. Therefore, the paint cartridge can be easily taken out. Thereafter, the left and right holding arms are each kept in a state of being pushed outward. Then, when the paint cartridge is loaded into the storage frame, the loaded paint cartridge pushes the other arm of the left and right holding arms inward, and the left and right one arm tilts inward from a certain posture. At this time, the left and right holding arms rotate inwardly and vigorously by the inward acting force of the spring means, so that one arm of the left and right holding arms presses the paint cartridge loaded in the storage frame. Thus, the paint cartridge is firmly held in the storage frame. Therefore, the paint cartridge can be easily loaded, and the paint cartridge can be stably held in the storage frame thereafter.
Therefore, in the present invention, more preferably, at the same time that the chuck means of the transfer device grips the paint cartridge, for example, the push-spread member of the chuck means abuts a pin provided on one arm of the holding arm, for example. When the left and right holding arms are tilted outward from the predetermined posture by pushing the left and right one arms outward, respectively, the other arms of the left and right holding arms are respectively inserted into the storage frames. By pushing out (for example, pushing up) the loaded paint cartridge, the paint cartridge can be easily held and carried by the chuck means, that is, can be easily taken out by the transfer device. It is composed of

As described above, the stock apparatus stores a large number of paint cartridges of paint colors, transports them while stirring the paint therein, and removes the specific paint cartridge by the transfer device. It can be transported to the removal position where it is to be removed.
The control device provided in this system operates a drive device of the above-described endless conveyor mechanism with respect to the stock device, and from among a large number of paint cartridge groups to be stored, a required (the next paint color to be painted) 1), a control operation of selecting a paint cartridge, accurately turning the paint cartridge to a take-out position by the transfer device, and providing the cartridge for removal by the transfer device.

The transfer device takes out a paint cartridge of a specific color, that is, a required color from the stock device and transports the paint cartridge.
It is more preferable that the apparatus is mounted on a painting robot and has a function of taking out a used paint cartridge from the painting robot after painting and collecting it in a stock apparatus. The transfer device has a higher degree of freedom with respect to the transfer operation, and a transfer robot in which the trajectory for transporting the paint cartridge can be freely changed. It includes both an automatic transfer device where the trajectory to be transported is predetermined. As a transfer device, for example, a paint cartridge is suspended and transported back and forth between a stock device and a painting robot, and the paint cartridge is taken out of the stock device and mounted on the painting robot, and a used paint cartridge is used. A structure that can take out from a painting robot and collect it in a stock apparatus is used. For example, the apparatus includes a moving body, chuck means (more preferably two chuck means), and a driving device in addition to the apparatus main body. Become.

The transfer device, in particular its body, is located close to, for example above or beside, the paint cartridge stocking device and the painting robot. The moving body includes a jig or a structure supported so as to be reciprocally movable between the stock apparatus and the painting robot, for example, reciprocally slidable along a guide rail laid on the apparatus body. The chucking means is attached to the moving body, and in particular, the two chucking means are attached to the moving body together. Each of the chuck means includes a mechanism for opening and closing the chuck pair, and when the moving body is located on the stock apparatus side, the chuck pair approaches and separates from the paint cartridge in the stock apparatus. A mechanism to move the chuck pair closer to and away from the mounted paint cartridge when located on the side, these actions being capable of gripping and releasing the paint cartridge, respectively. The mechanism for approaching / separating from the paint cartridge is, for example, when the transfer device is disposed above the stock device and the painting robot, the chuck pair is directed toward the paint cartridge in the stock device and mounted on the painting robot. And a mechanism for moving the paint cartridge up and down.
The driving device performs the reciprocating motion of the moving body (preferably 2
Drive means for performing the operation of the chuck means, and need not necessarily be an integrated device. For example, it is composed of a combination of a conveyor mechanism for reciprocating the moving body, a motor device for moving the chuck pair up and down, preferably an explosion-proof AC servomotor, and a cylinder device for opening and closing the chuck pair.

Therefore, the transfer device has the above structure, while holding the paint cartridge by the chuck means, transports the paint cartridge between the stock device and the painting robot by reciprocating the moving body, and thereafter, Release it when necessary. The control device provided in the system controls the entire operation of the transfer device, and more preferably, one of the chucks that transports the used paint cartridge when the moving body is located on the stock device side. The means is a collection port in the stock device (an input port for collecting paint cartridges)
Then, the used paint cartridge is released and inserted into the collection port of the stock device, and the other chucking means approaches the removal position in the stock device,
Subsequently, the paint cartridge of the paint color to be painted next, which has been transported in advance to the take-out position, is grasped and taken out of the stock apparatus, and when the moving body is located on the painting robot side, one of the chuck means is used. , Approaching the loading part of the painting robot (the place where the paint cartridge is loaded)
The used paint cartridge that has already been mounted and used for painting is grasped and taken out of the painting robot, and subsequently, the other chuck means that has carried the paint cartridge of the required paint color is the painting robot. , And controls a series of operations of releasing the required paint cartridge and mounting it on the coating robot. In this case, by such a series of operations, the loading of the paint cartridge of the paint color to be painted from the stock device to the painting robot and the collection of the used paint cartridge from the painting robot to the stock device are simultaneously performed. be able to.

[0015] The coating robot is provided with a coating cartridge, for example, the head of the robot, that is, the tip of the first arm or the second arm.
It has a structure that can be mounted at the rear end of the arm and can connect the mounted paint cartridge to a mounted coating machine (for example, a bell type electrostatic coating machine). In addition, the coating robot generally includes a paint color changing device (CCV) and a flow rate adjusting means (gear pump) in addition to the coating machine, and is usually connected to a thinner and an air supply source, and press-fits these components. By
The system is provided with a mechanism capable of cleaning the paint flow path from the mounting portion of the paint cartridge to the coating machine. The coating robot according to the present invention includes the above-described paint flow path, and connects the mounted paint cartridge to the paint flow path by, for example, the operation of an air cylinder device. A mechanism (paint feeding mechanism) is provided in which the paint in the paint cartridge is extruded to the outside by being injected into the inside and crushing the paint bag inside, and can be supplied to the coating machine through the paint flow path. It becomes. Other components of the painting robot, for example, mechanisms for performing operations such as rotation and deflection of the arm are not particularly limited. The control device provided in the present system controls the operation of the entire robot with respect to the coating robot, and particularly controls the operation of the above-described coating material feeding mechanism.

The control system in the present system comprises reading means and a control device. The reading unit is a unit that can read coating information necessary for automatic coating such as paint color from the information recording body optically, magnetically, or by wireless communication.For example, the information recording body is a barcode mark. At times, a barcode reader corresponds to this means. This reading means is attached to the endless conveyor mechanism of the stock apparatus, and is arranged, for example, along the conveyor path of the endless conveyor mechanism at a position facing the paint cartridge rotated and carried by the conveyor mechanism. Therefore, the reading means can read the coating information represented on each of the loaded paint cartridges from the information recording medium. As such a reading unit, a magnetic stripe reader, an IC card reader, an OCR device, or the like can be used in addition to the barcode reader described above.

The information recording medium is a recording medium that represents coating information such as a paint color necessary for automatic coating. The information recording body is attached to an outer surface (for example, a peripheral surface) of each paint cartridge. In order to indicate the address of the inserted paint cartridge, it is attached to each holding means, for example, to a holding frame. The information recording body is a recording body that can encode and represent the coating information or record the coating information in a built-in memory or the like, and can be machine-readable optically, magnetically, or wirelessly. I just need. As an optically machine-readable information recording medium,
For example, a barcode mark, a notch mark, and the like can be cited.In addition, examples of the magnetically machine-readable information recording medium include, for example, a magnetic stripe and the like. ,
For example, an IC card (for example, one in which an IC chip is inserted in a plastic card body) and the like are mentioned.
Although the IC card used in the present invention has a memory function (ROM function or RAM function), an IC card having an arithmetic function in addition to this memory function can also be used. The coating information includes, in addition to the color type of the paint to be filled in the paint cartridge, the date when the paint cartridge was loaded into the stock apparatus, the type of the work to be coated, the range, condition and procedure of the work to be coated. And coating data that determines the Which of these pieces of information is combined into one piece of coating information is arbitrary. Information on the color of the paint is needed to enable the selection of the required paint color, for example the paint product number or the hue, lightness, saturation of the paint used and the distinction between metallic and non-metallic paints Is determined by Date information is needed to select older paint cartridges of the same color type to be used in turn, i.e., to reduce the time that paint cartridges are stored in stock equipment. You. Instead of the date of loading the paint cartridge into the stock apparatus, the expiration date and the order of use of the paint cartridge may be controlled based on the date of manufacture of the paint cartridge or the date of preparation of the paint inside. In addition, the type information of the work and the information of the coating data are necessary in order to make the automatic coating by the coating robot appropriately correspond to each characteristic for each work to be coated. The type of each workpiece to be coated, the range of the outer surface of each workpiece to be coated, and the coating conditions (for example, the applied voltage of the coating machine (for an electrostatic coating machine) ), The flow rate of the paint to the painting machine (air pressure of the atomizing air and the pattern air)), and the painting procedure (for example, the direction in which the painting machine enters the work).

The control device is a device that controls the operation of each of the stock device, the transfer device, and the painting robot. The control device is connected to the reading device and operates in conjunction with the reading device. That is, the control device controls the operation of each of the stock device, the transfer device, and the painting robot based on the painting information read by the means, and paints the paint color to be painted on each work. The automatic coating is performed by selectively using the above-mentioned paint cartridges, and moreover, in accordance with various characteristics of each work. For example, when the system is provided with a bar code mark indicating the address of each holding means in the stock apparatus and a bar code reader is attached to the endless conveyor mechanism of the stock apparatus, In the painting stage, a paint cartridge having a bar code mark representing paint color, date and painting data, etc., is appropriately loaded into a stock apparatus, and a large number of paint cartridges each having a bar code mark are always provided. Make sure it is stored in the stock device. Or,
For example, when the present system is to attach an IC card reader, particularly a transceiver thereof, to an endless conveyor mechanism of a stock device, an operator can provide information such as paint color, date and coating data at a painting stage. The paint cartridge to which the IC card is attached is appropriately loaded into the stock device so that a large number of paint cartridges each having the IC card are always stored in the stock device. In these cases and the like, the control device
For each of the inserted paint cartridges, for example, coating information such as an address read by a bar code reader or an IC card reader, paint color, and coating data is accumulated, and based on the coating information, stock information is first obtained. The operation of the endless conveyor mechanism of the device is controlled, and then the paint cartridge of the paint color to be painted is rotated to the take-out position, stopped at that position, and then the operation of the transfer device is controlled to control the paint color. Take out the paint cartridge from the stock device, transport it, install it on the painting robot, and then control the operation of the painting robot,
The paint in the loaded paint cartridge is extruded and supplied to the coating machine.Then, the workpiece to be painted is automatically painted by the painting robot in accordance with the painting data. At a predetermined thickness at a predetermined position. Furthermore, preferably, after the coating of a certain paint cartridge is completed, the control device controls the operation of the transfer device, etc., removes the used paint cartridge from the painting robot, transports the used paint cartridge to the stock device, and transfers the used paint cartridge to the same device. It also performs the operation of collecting.

As described above, the multi-color small-quantity coating control system of the present invention stores a large number of paint colors in a stock device in the form of a paint cartridge, and uses a transfer device to store a specific paint cartridge. Is taken out of the stock device, transported, mounted on the coating robot, and then, while the paint in the loaded paint cartridge is supplied to the coating machine, the coating robot performs automatic coating. On the other hand, automatic coating using a paint cartridge of a required paint color can be reliably performed in a range, condition, and the like corresponding to various characteristics of a work.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. This embodiment is a non-limiting example, and it goes without saying that the present invention is not limited to this.

The multi-color, small-quantity coating control system of this embodiment is as follows.
As shown in FIG. 1, a painting robot 1, a stock device 3 for paint cartridges 2... Arranged on the side thereof, a transfer device 4 arranged above the stock device 3, and a painting robot 1, a control device 5 for controlling the operation of each of the stock device 3 and the transfer device 4. In other words, the present system is obtained by adding a control system to the multi-color small-quantity coating system shown in FIG. The multi-color small-amount coating control system of the present example is configured to apply a small amount of paint of various colors as shown in FIGS. 2 and 3 in order to coat a horizontally transported work (automobile body) A shown in FIG. The unit is stored in the stock apparatus 3 (that is, in the form of the paint cartridge 2), and the paint cartridge 2 of the paint color to be painted by the transfer unit 4 is taken out from the stock apparatus 3 and mounted on the painting robot 1. By supplying the paint in the cartridge 2 to the painting machine 6 of the painting robot 1, a painting control system capable of performing automatic painting by the painting robot 1 selectively using paint of a required color. In addition, in FIG. 3, f indicates the transport direction of the work A, and c indicates the turning center of the painting robot 1.

The paint cartridge 2 is a cylindrical metal or plastic container and, as shown in FIG. 12, has a tubular flexible paint bag (synthetic resin tube) inside.
7, a connecting portion 8 communicating with the paint bag 7 is provided at the front end thereof, and an air inlet 9 is provided at the rear end thereof. In this system, an appropriate number, for example, about 20 to about 100 paint cartridges 2... Each having a different paint color are prepared. That is, the paint bag 7 of the paint cartridge 2 is filled with a small amount of paint of a specific paint color, for example, an amount of paint required for that color in painting one work. Each paint cartridge 2 used in the present system is provided with an information recording body, for example, a bar code mark 70 as shown in FIG. 12 or an IC card 80 as shown in FIG. The information recording body 70 is a bar code mark that encodes coating information necessary for automatic coating. The information recording body 80 is an IC card that records coating information necessary for automatic coating on an IC chip 81. is there.
Both of these information recording bodies 70 and 80 indicate the color type of the paint to be filled in the paint cartridge 2, the date of loading the paint cartridge 2 into the stock apparatus 3, or the paint cartridge 2
Date of preparation, the type of work A to be painted, and
The range of the outer surface of the work A to be coated, the conditions for coating the work A (for example, the applied voltage at the coating machine 6 (in the case of an electrostatic coating machine), the flow rate of the coating material to the coating machine 6 or the amount of the paint discharged (in other words, And the coating data such as the air pressure of the atomizing air or the air pressure of the pattern air) and the coating procedure (for example, the approach route of the coating machine 6 to the work A) as encoded data (bar code) or It is recorded in the built-in memory of the IC chip 81. Note that the range of the coating, the coating conditions, the coating procedure, and the like generally differ depending on the type of the work A, and thus the coating data is individually determined depending on the type of the work A.

The stock apparatus 3 has an endless conveyor mechanism for holding an appropriate number of paint cartridges 2...
This is a device capable of rotating and transporting a paint cartridge of a required color to a take-out position (in FIG. 3, a frame s indicates the installation location). More specifically, the stock device 3 includes an endless chain conveyor mechanism 10 as shown in FIGS. 4 and 5 and about 30 holding means 11 attached to the mechanism, and a maximum of about 30 kinds of paint colors. The paint cartridges 2... Can be stored, and at the same time, the paints in the paint cartridges 2. The stock device 3 is also connected to the control device 5, whereby the operation of the conveyor mechanism 10 is controlled, and the necessary paint cartridges 2 are stored by the transfer device 4 from the stored paint cartridges 2. It has a configuration that can be selectively taken out. Further, as shown in FIG. 4, the stock apparatus 3 includes a collection mechanism 12 for collecting the used paint cartridge 2 in addition to the endless chain conveyor mechanism 10. The endless chain conveyor mechanism 10 includes a pair of left and right endless chains 1.
3 and 13 (each chain 13 is wound around five sprockets 14...) Are arranged side by side at a predetermined interval, and one sprocket shaft 15 is connected to an explosion-proof inverter motor 16 and a speed reducer 17. And coupling 18
The paint cartridge 2 held between the left and right endless chains 13, 13 can be rotated and carried by the operation of the drive mechanism 19 (FIG. 4).
Middle, arrow T direction). A take-out position (a place where the paint cartridge 2 is taken out) 20 is provided at an upper part of the stock apparatus 3, and a place where the paint cartridge 2 is inserted (a place where a new paint cartridge 2 is added from outside) is provided at a lower part thereof. 21 is provided, and the endless chain conveyor mechanism 10 is provided at the removal position 2 of the paint cartridge 2.
0 and an endless conveyor path passing through the charging point 21.

The holding means 11 is a means for detachably holding each of the paint cartridges 2, and is provided in a number corresponding to about 30 kinds of paint cartridges 2... Stored in the stock apparatus 3. 6 and 7.
, A storage frame 22 capable of receiving the paint cartridge 2 and a pair of left and right bent holding arms 23, 2
3 and coil springs 24, 24 attached to the holding arms 23, 23. The storage frame 22 has a number of upright frame bars 25... Disposed on a frame base 26 so as to surround the paint cartridge 2. When the paint cartridge 2 is placed in the frame base 25, the frame bars 25 By contacting the front end surface, the rear end surface, and the outer peripheral surface of the cartridge 2 without gaps, the paint cartridge 2 can be stably held. Each of the left and right holding arms 23 is an arm bent at a substantially right angle, and is rotatable around the bent portion 27 outside the storage frame 22 so that the inner corners thereof face each other. Supported. A holding member 29 is attached to the tip of the upper arm 28 of the holding arm 23, while the pushing member 3 is attached to the tip of the lower arm 30.
1 is attached. The coil springs 24, 24 are respectively interposed between the upper arm 28 of the holding arm 23 and the frame base 26 of the storage frame 22, so that when the upper arm 28 is tilted inward from the upright posture, the left and right holding arms 23 , 2
3 are urged inward, and conversely, when the upper arm 28 is tilted outward from the upright posture, the left and right holding arms 23,
23 are mechanisms that are respectively biased outward (so-called,
(See FIG. 5). Therefore,
By the inward acting force of the left and right coil springs 24, 24, a holding member 29 at the tip of the upper arm of the holding arms 23, 23,
29 presses the paint cartridge 2 loaded in the storage frame 22, so that the paint cartridge 2 is firmly gripped. 6 and 7, the upper arm 28 of the holding arm 23 has a horizontally elongated pin 82 implanted horizontally. On the other hand, the chuck means 32b of the transfer device 4 described below
As shown in FIG. 7, push-spread members 33 are attached to both left and right ends of the base portion 46, respectively. Thus, the holding means 11 is moved to the removal position 20 of the paint cartridge 2.
When stopped, the chucking means 32b, which has arrived immediately above the position, descends, and the pushing means
The upper and lower arms 28, 28 are pushed outward while the left and right holding arms 23, 23 are in contact with the left and right pins 82, 82, respectively. When tilted, the left and right holding arms 23,
23 rotates vigorously outward by the outward acting force of the left and right coil springs 24, 24, so that the pushing members 31, 31 at the distal ends of the lower arms are respectively inserted into the storage frame 22. The paint cartridge 2 is pushed up.
With such a configuration, the chuck means 32b is positioned at the removal position 2
At 0, the paint cartridge 2 can be easily grasped and carried away, that is, the paint cartridge 2 can be easily taken out by the transfer device 4. After the paint cartridge 2 is taken out, the holding means 11 is kept in a state where the left and right holding arms 23, 23 are respectively pushed outward. Then, the holding means 11 is turned and carried to the charging point 21 of the paint cartridge 2,
When the operator inserts a new paint cartridge 2, the inserted paint cartridge 2 pushes the pushing members 31, 31 of the left and right holding arms 23, 23 downward, and pushes the left and right lower arm portions 30, 30. Push inward, and when the left and right upper arms 28, 28 are tilted inward from the upright position,
The left and right holding arms 23, 23 rotate inwardly and vigorously, so that the left and right pressing members 29, 29 at the upper arm tip end.
Respectively hold down the loaded paint cartridge 2 from above and hold it in the storage frame 22. With such a configuration,
The paint cartridge 2 can be easily loaded.

As described above, the stock apparatus 3 stores the paint cartridges 2 of many paint colors, and carries the specific paint cartridge 2 to the removal position 20 by the transfer device 4 while rotating and carrying them. It has a configuration that can be used. At this time, since the stock apparatus 3 rotates and transports the stored paint cartridge 2 around its central axis, the paint in the paint cartridge 2 can be stirred and mixed more uniformly. In the figure, 3
Reference numeral 4 denotes a stop confirmation sensor (proximity switch) for detecting a stop of the paint cartridge 2 rotated and carried at the take-out position 20.
The sensor optically reads coating data such as the paint color type of the paint cartridge 2 arriving at the take-out position 20. As shown in FIG. 4, the collection mechanism 12 has a substantially U-shaped receiving bar 3 below the collection port 36 of the paint cartridge 2.
7 are arranged alternately left and right in an obliquely downward attitude, and a passage 38 through which the paint cartridge 2 slides down zigzag is formed up and down. Further, a passage 39 extending horizontally is formed on the side of the stock apparatus 3 following the passage 38. It is formed together with the outlet 40, and therefore, the used paint cartridge 2
When these are introduced from the recovery port 36, these passages 3
After passing through 8 and 39, it is finally collected from the outlet 40.

Further, as shown in FIGS. 1 and 2, the stock apparatus 3 is provided with a pressure-resistant explosion-proof structure barcode reader 71 as reading means attached to the conveyor mechanism 10. That is, as shown in detail in FIG. 14, the box-shaped barcode reader 71 is fixed to the outer wall 72 of the stock apparatus 3 and the barcode reader body 73 therein is disposed along the conveyor path of the endless chain conveyor mechanism 10, It is provided at a position facing the paint cartridge 2 held by the holding means 11. The reader 71 is a conveyor mechanism 1
A transparent window 74 is provided on the 0 side, and a terminal 75 connected to the reader body 73 is connected on the opposite side. The terminal 75 is connected to the control device 5 by a wiring i as shown in FIG. Therefore, the barcode reader 71
Means that a laser beam (for example, He-Ne laser beam) is applied to the paint cartridge 2 through a transparent window 74 from the reader body 73.
The laser beam is emitted toward a bar code mark 70 provided on the outer peripheral surface of the mark 70, and the reflected light from the mark 70 is incident on a light receiving sensor (not shown), so that the coating information ( The above-described information necessary for automatic coating such as paint color) can be optically read. In the present system, each holding means 11 in the stock apparatus 3 is provided with a bar code mark 76 indicating the address of the holding means 11 (FIG. 14). The address information shown at 76 can also be read optically. In short, the barcode reader 71 is configured to be able to individually read the coating information represented by the barcode marks 70 and 76 of the information recording medium for each of the loaded paint cartridges 2. I have.

Further, in another embodiment, as shown in FIG.
The card reader is attached to the conveyor mechanism 10, that is, the transceiver (having a flameproof structure) 79 of the IC card reader is mounted on the outer wall 72 of the stock apparatus 3 at a position facing the paint cartridge 2 to be conveyed. It is fixedly deployed. This IC card reading device is connected to the control device 5 by a wiring i. On the other hand, the paint cartridge 2 is provided with a plastic-based thin IC card 80 as shown in FIGS. This I
The C card 80 has an IC chip 81 for recording coating information.
Is inlaid. Therefore, the IC card reader reads the coating information (the above-mentioned information necessary for automatic coating such as the coating color) recorded in the IC chip 81, that is, in the built-in memory thereof, by wireless transmission and reception with the IC card 80. It is also possible to erase the recorded coating information and write new new coating information. In short, the control device 5 of the present system individually sets the information recording medium I for each of the loaded paint cartridges 2.
The configuration is such that the coating information recorded on the C card 80 can be read and accumulated.

The control device 5 is connected to the stock device 3 by a wire j. All the coating information read by the bar code reader 71 or the IC card reading device is accumulated in the control device 5.
Controls the operation of the endless chain conveyor mechanism 10 with respect to the stock apparatus 3 based on the input coating information. That is, when the operator instructs the control device 5 to paint color to be painted among the approximately 30 kinds of paint cartridges 2 stored in the stock device 3, the control device 5 transmits the paint color. A paint cartridge 2 of the paint color to be painted is selected from a group of 30 paint cartridges 2. More preferably, when there are a plurality of paint cartridges 2 of the same paint color, the preparation date of the paint is older. The paint cartridge 2 is selected, the endless chain conveyor mechanism 10 is operated, and the operation of rotating the selected paint cartridge 2 to the take-out position 20 is performed.

The transfer device 4 includes the paint cartridge 2
8 to 1 for simultaneously mounting on the coating robot 1 and collecting from the coating robot 1.
As shown in FIG. 0, in addition to the apparatus main body 41, a moving body 42,
It consists of two chuck means 32a and 32b and a driving device 49. The apparatus main body 41 is a structure in which the guide rail 43 is laid horizontally over the painting robot 1 and the stock apparatus 3. The moving body 42 is connected to the apparatus main body 4.
A guide rail 43 which is slidably reciprocally slidable on the first guide rail 43, and which is driven by the operation of the conveyor mechanism 44.
3 can slide horizontally and reciprocate. The moving body 42 includes two chuck means 32a, 32
2b are hung together at predetermined intervals in parallel. Each of the chuck means 32a and 32b is provided with two chuck pairs 45a and 45b which can be freely opened and closed, attached to the base portion 46, and opened and closed by operation of the cylinder device 47, and the base portion 46 is explosion-proof. It is provided so that it can be moved up and down by the operation of the AC servomotor 48.
Accordingly, each of the chuck means 32a and 32b moves the chuck pair 45a and 45b
Can be approached to or separated from the paint cartridge 2 located below, and the paint cartridge 2 can be gripped and released by the opening and closing operations of the chuck pairs 45a and 45b accompanying this. As described above, the transfer device 4 includes two chucking units 32a and 32b.
Thereby, the paint cartridge 2 can be gripped and released, and the paint cartridge 2 can be suspended and transported between the coating robot 1 and the stock apparatus 3 by the reciprocating motion of the moving body 42 while being suspended.

The control device 5 is also connected to the transfer device 4 via the wiring j, and controls the entire transfer operation of the transfer device 4. That is, when the moving body 42 is located on the side of the stock apparatus 3, the chuck means 32 a that has transported the used paint cartridge 2 descends and approaches the collection port 36 of the stock apparatus 3. The used paint cartridge 2 is released and put into the collection port 36, and then rises.
Descends and approaches the removal position 20 of the stock device 3,
Subsequently, the desired paint cartridge 2 of the paint color to be painted is grasped and taken out of the stock device 3 and then raised, and when the moving body 42 is positioned on the painting robot 1 side, the chuck means 32a is It descends and approaches the mounting space section 50 of the painting robot 1, grasps the used paint cartridge 2 already mounted there, takes it out of the painting robot 1, and then ascends. The chuck means 32b which has carried the paint cartridge 2 descends, approaches the mounting space 50 of the coating robot 1, releases the required paint cartridge 2, mounts it on the painting robot 1, and then rises. Control the operation of.

In this embodiment, each chuck means 3
2a and 32b are respectively provided with push-spread members 33 and 33 at both left and right ends of the base portion 46. As shown in FIGS. 6 and 7, the chuck pair 45a and 45b
When approaching the paint cartridge 2 held by the holding members 23, the holding members 23, 23 (pressing members 29, 29) hold the right and left push members 33, 33 against the pins 82 of the upper arms 28, 28, respectively. When the left and right upper arms 28, 28 are tilted outward from the upright posture, the left and right holding arms 23, 23 rotate vigorously, and their lower arms The pushing members 31, 31 at the tip of the part 30 respectively push up the paint cartridge 2 loaded in the storage frame 22, and accordingly,
The paint cartridge 2 can be easily gripped by the chuck pairs 45a and 45b. In the figure, reference numeral 62 denotes a sensor for detecting whether or not the paint cartridge 2 is being gripped.

As shown in FIGS. 11 and 3, the coating robot 1 can reciprocate in the transport direction f of the work A by the tracking mechanism 52, and has a mechanism for turning and turning the coating machine 6. With these motions, the work A can be automatically painted. Further, as shown in FIG. 11, the painting robot 1 has a space portion 50 having a structure on which the paint cartridge 2 can be mounted on the upper surface of its head 53 (the rear end of the second arm). When the paint cartridge 2 is mounted, the space portion 50 is coupled to the paint cartridge 2 and, at the same time, extrudes the paint in the paint cartridge 2 and supplies the paint to the coating machine 6 of the painting robot 1 (paint supply mechanism). (Feeding mechanism) 77. The control device 5 is also connected to the painting robot 1 by a wiring j.
Of the robot, including turning, turning, and operation of the paint feeding mechanism 77.

The structure of the above-mentioned paint feeding mechanism 77 will be further described with reference to the schematic views of FIGS. 12 and 13. FIG.
2 shows a space section 50 of the painting robot 1, and FIG.
Indicates a paint flow path from the space section 50 to the coating machine 6. A coupling pipe 55 is provided at the tip side of the mounted paint cartridge 2 so as to be displaceable in the longitudinal direction of the cartridge 2 (the direction of the arrow p in the drawing) by the operation of the air cylinder device 54. On the end side, an air inflow pipe 57 is provided so as to be displaceable in the longitudinal direction of the cartridge 2 (the arrow q direction in the figure) by the operation of the air cylinder device 56. The connection pipe 55 is connected to the paint flow path B, while the air inflow pipe 57 is connected to a pressurized air source (not shown). Therefore, the paint cartridge 2
Is mounted in the space portion 50, the connecting pipe 55 is connected to the connecting portion 8 of the paint cartridge 2 so that the paint bag 7 in the paint cartridge 2 communicates with the paint flow path B, and the air inflow pipe 57 Is connected to the air inlet 9 of the paint cartridge 2 so that pressurized air can flow into the paint cartridge 2. Coupling tube 55
(Paint flow path B) is connected to the bell type electrostatic coating machine 6 via a paint color changing (CCV) device 58 and a flow rate adjusting gear pump 59. Therefore, by the above combining operation,
When the pressurized air flows into the paint cartridge 2 when the paint bag 7 in the paint cartridge 2 communicates with the paint flow path B, the pressure of the paint cartridge 2 is increased by the air pressure.
The paint bag 7 in the inside is compressed, the paint in the paint bag 7 is pushed out, and is fed to the coating machine 6 of the coating robot 1 through the connecting pipe 55, the color change (CCV) device 58, and the gear pump 59. Finally, it is used for painting the work A. The connecting pipe 55 can also be moved laterally (in the drawing, the direction of arrow r) on the mounting jig 60, and the cleaning thinner / air valve unit 61 provided on the side of the paint cartridge 2. The inside and the paint flow path B can be cleaned by combining with the above.

The control device 5 controls each operation of the coating robot 1, the stock device 3 and the transfer device 4, and is equipped with a display device 78. For each paint cartridge 2 loaded in the stock apparatus 3, the address, paint color, date, type of work A and painting data (painting range, conditions) read by the barcode reader 71 or IC card reader. And all the coating information such as procedures) are accumulated in the control device 5 and displayed on the display device 78.
In addition to the coating information, a signal indicating the operation status of the coating robot 1, the stock device 3, and the transfer device 4 is input to the display device 78 through the control device 5, and
They are displayed on the display panel. For example, the display device 78 can display all the paint cartridges 2... Stored in the stock device 3 on a panel in a list format. More preferably, when a specific paint color is specified by keyboard input,
In the displayed list of the paint cartridges, only the display area of the paint cartridge 2 of the designated paint color has a performance of color display with the paint color. Then, when the operator designates the color type of the paint to be painted next or the type of the work A, the control device 5 first determines the number of the lots stored in the stock device 3 based on the accumulated painting information. A paint cartridge 2 having a paint color to be painted (or a paint color suitable for the work A) is selected from the group of paint cartridges 2... The user selects the paint cartridge 2 to be attached, then starts the operation of the conveyor mechanism 10 of the stock apparatus 3, turns the paint cartridge 2 of the paint color to be painted to the take-out position 20 and carries it. Start operation of the device 4,
The transported paint cartridge 2 is taken out of the stock device 3 and transported, mounted on the coating robot 1, and then
The operation of the painting robot 1 is started, the paint in the loaded paint cartridge 2 is extruded and supplied to the painting machine 6, and the painting robot 1 performs automatic painting on the work A to be painted by the selected paint cartridge. 2 in accordance with the specific coating data. Therefore, by the automatic coating using the present system, a coating film of the paint color to be coated is formed on a predetermined portion of the surface of the work A and with a predetermined thickness. further,
After the coating of the paint cartridge 2 of a certain paint color is completed, the control device 5 controls the operation of the transfer device 4, takes out the used paint cartridge 2 from the painting robot 1 and transports it to the stock device 3, The used paint cartridge 2 is configured to be collected by the collection mechanism 12 of the device 3.

As described above, the coating control system of this embodiment stores paints of many paint colors in a small amount (in the form of the paint cartridge 2) in the stock device 3 and stores the paints in the paint group. , The paint cartridge 2 of the paint color determined by the work A to be painted is selected, the transfer device 4 takes out the paint cartridge 2 from the stock device 3 and mounts the paint cartridge 2 on the painting robot 1. The coating is supplied to the coating machine 6 and the automatic coating by the coating robot 1 can be performed in accordance with the range and conditions of the coating determined by the work A. In other words,
The present system can perform multi-color, small-quantity automatic coating corresponding to various characteristics of the work A, including the color of the paint, for each work A. In particular, the coating control system of the present example visually monitors the coating process by displaying (especially color display) all the paint cartridges 2... Stored in the stock device 3 on the display device 78. The control operation can be performed, and there is an advantage that the management of the painting operation becomes very easy.
In addition, the coating control system of the present embodiment does not have a configuration in which the paint supply path (circulation system) for each paint color is guided to the inside of the work area of the coating robot 1, and therefore, the equipment does not become large. Further, the coating control system of the present example can change the paint color (reciprocation of the paint cartridge 2 by the transfer device 4) at the same time as the painting by the painting robot 1, so that the work efficiency of the multicolor painting is very high. Will be expensive.

[0036]

As described above, according to the control system of the present invention, paints of many paint colors are stored in small units, and a paint of a required paint color is selectively selected from the group of paint colors. To the painting machine of the painting robot,
It is used to control the operation of a multi-color, small-quantity coating system for coating a workpiece with a coating robot. And in the multi-color small-amount coating control system of the present invention,
It is possible to obtain an effect that an automatic painting using a paint cartridge of a paint color to be painted is selectively applied to each work so as to correspond to various characteristics of each work.

[Brief description of the drawings]

FIG. 1 is an overall view showing a multi-color, small-quantity coating control system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a multi-color, small-quantity coating system of the system shown in FIG. 1;

FIG. 3 is a view of the multi-color small-quantity coating system shown in FIG. 3 as viewed from above.

FIG. 4 is a front view schematically showing the inside of a stock apparatus used in the multicolor small-quantity coating control system of the embodiment.

5 is a side view of the stock apparatus shown in FIG. 4 as viewed from the side.

6 is a diagram showing a lower part of a holding means provided in the stock apparatus shown in FIG. 4 and a chuck means of the transfer apparatus.

FIG. 7 is a view showing a state of holding (left half view) and taking out (right half view) the paint cartridge.

FIG. 8 is a front view showing the entire transfer device used in the multi-color, small-quantity coating control system of the embodiment.

9 is an enlarged front view showing a moving body and a chuck means of the transfer device shown in FIG. 8;

FIG. 10 is an enlarged side view showing chuck means of the transfer device shown in FIG. 8;

FIG. 11 is a front view showing the entire coating robot used in the multi-color small-quantity coating control system of the embodiment.

FIG. 12 is a schematic diagram showing a configuration of a paint cartridge mounting portion in the head of the painting robot shown in FIG. 11;

FIG. 13 is a view showing a paint flow path from a paint cartridge mounting portion to a coating machine.

FIG. 14 is an enlarged view showing reading means attached to the endless conveyor mechanism in the multi-color, small-quantity coating control system of the embodiment.

FIG. 15 is a schematic view showing a mounting portion of a coating robot mounting a coating cartridge of another embodiment.

FIG. 16 is an enlarged view showing a reading means in the multi-color, small-quantity coating control system of another embodiment.

[Explanation of symbols]

Reference Signs List 1 coating robot 2 paint cartridge 3 stock device 4 transfer device 5 control device 6 coating machine 7 paint bag 10 endless conveyor mechanism 11 holding means 20 take-out position 32a, 32b chuck means 42 moving body 50 mounting space section 70 bar code mark ( Information recording body) 71 Barcode reader (reading means) 76 Barcode mark (information recording body) 77 Paint feeding mechanism 79 Transceiver of IC card reader (reading means) 80 IC card (information recording body)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toru Takeuchi 4-17-1, Higashi-Hachiman, Hiratsuka-shi, Kanagawa Prefecture Kansai Paint Co., Ltd. (72) Inventor Tokuyasu Yamaguchi 1-9-9, Kakimotocho, Toyota-shi, Aichi Prefecture Trini (72) Inventor Shigeki Fujiwara 1-9-9 Kakimotocho, Toyota City, Aichi Prefecture Trinity Industry Co., Ltd.

Claims (2)

[Claims] 1. A stock apparatus having an endless conveyor mechanism capable of storing and rotating a large number of paint cartridges of various paint colors, provided with an appropriate number of means for detachably holding a paint cartridge. A paint cartridge can be taken out of the stock device and transported, and a transfer device that can be mounted on a painting robot or an automatic painting device. The paint in the loaded paint cartridge can be extruded and fed to a coating machine. In a coating system comprising a coating robot or an automatic coating device having a mechanism, an information recording body indicating coating information necessary for automatic coating, such as a coating color, attached to each coating cartridge and / or the holding means; Each paint cartridge attached to the endless conveyor mechanism of the stock device and loaded A reading means capable of optically, magnetically or wirelessly reading the coating information from the information recording medium; and a stock device based on the read coating information.
A control device for controlling the operation of each of the transfer device and the painting robot or the automatic painting device, and performing automatic painting by selectively using a paint cartridge of a paint color to be painted on each work. , Multi-color small quantity painting control system. 2. The paint information includes the color type of paint to be filled in the paint cartridge, the date when the paint cartridge was loaded into the stock apparatus, the type of work to be painted, the range of painting of the work, 2. The multi-color, small-quantity coating control system according to claim 1, wherein the coating data defining conditions and procedures, and any combination thereof are applicable.