JPH10328591A - Transfer device used for small quantity coating material supply system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to efficiently execute the mounting of coating material cartridges to a coating robot and the recovering thereof to a stock device with a transfer device used for a small quantity coating material supply system by transporting the coating material cartridges back and forth between the stock device and the coating robot. SOLUTION: This transfer device supports a moving body 10 freely movably back and forth from the stock device 3 to the coating robot 1. Two shucking means 11a, 11b are mounted together at the moving body to allow the attaching and detaching of the moving body to and from the coating material cartridge 2 and the holding and releasing thereof. When the moving body 10 exists at the stock device side, the chucking means 11a charges the used coating material cartridge 2 into a recovery port 20 and the chucking means 11b takes the required coating material cartridge 2 out of the stock device 3. When the moving body 10 exists at the coating robot side, the chucking means 11a takes out the used coating material cartridge 2 and in succession, the chucking means 11b mounts the required coating material cartridge at the coating robot 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small-quantity paint supply system, that is, a system capable of automatically supplying paints of various colors selectively to a painting robot or an automatic painting apparatus in small units. More specifically, the present invention relates to a transfer device used in the small-quantity paint supply system.

[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, painting robots are often used for painting automobile bodies and the like. Recently, painting robots have been improved to selectively supply paints of several to dozens of colors to the painting robots. Several small paint supply systems have recently been proposed. For example, Japanese Patent Publication No. Hei 7-34882 discloses a plurality of supply paths for each paint color.
P1 to P3 are respectively guided in the work area of the painting robot 14, and the bottle-shaped storage tank 22 is connected at a fixed point of each supply path, and at the time of painting, the storage tank is moved to the robot 14 by the operation of the robot 14. Disclosed is a spray coater that can be carried and connected to a sprayer 20 in a robot to perform spray painting. Also, JP-A-4-83549
The publication discloses that paint guns 35a to 35n and paint intermediate tanks 21a to 21n of each paint color are arranged near the paint robot 51 so as to be connectable / separable with a paint circulation system classified by paint color, and a mounting robot. Using 41, one or both of the painting gun and the paint intermediate tank are selectively attached to and detached from the painting robot 51, and the paint is discharged by the constant flow rate means 61, enabling selective multicolor painting. Discloses a multicolor coating apparatus.

[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 conventional multicolor paint supply system as described above is suitable for selectively supplying a relatively large amount of paint per color to a painting robot. In recent years, for example, paint colors used for automobile bodies have reached several tens or more types, and multi-color painting has further progressed, and with this, except for paints used in large quantities such as white paints, The use of paint of each color is relatively smaller. Therefore, there has been a demand for the development of a paint supply system capable of selectively supplying paints of such many colors to a painting robot in smaller units. However, the conventional multicolor paint supply system cannot sufficiently satisfy this demand.

Under these circumstances, the present inventor has developed a new small paint supply system which further improves the conventional multicolor paint supply technique, that is, selectively paints paints of more colors in smaller units. It can be supplied to a painting robot or an automatic painting device (hereafter, these two are collectively referred to as a painting robot). Moreover, the efficiency of the whole painting work including color exchange is very high, and the whole equipment is very small. We planned to develop a small amount paint supply system. The object of the present invention under this development plan is a transfer device used in a small-quantity paint supply system, which reciprocates a paint cartridge between its stock device and a painting robot, and It is an object of the present invention to provide a transfer device capable of efficiently mounting a cartridge on a coating robot and collecting the cartridge into a stock device.

[0005]

SUMMARY OF THE INVENTION According to the present invention, two chuck means capable of gripping and releasing a paint cartridge are reciprocally movable between a stocking apparatus and a painting robot so that they can be reciprocated. With one reciprocating operation, it is possible to simultaneously mount the paint cartridge on the painting robot and collect the used paint cartridge into the stock device.

More specifically, the present invention is a transfer device for removing a paint cartridge from its stock device and mounting it on a painting robot, and removing a used paint cartridge from the painting robot and collecting it in the stock device. An apparatus main body, a moving body supported reciprocally over the stock apparatus and the painting robot with respect to the apparatus main body, an approach / separation and a chuck member for a paint cartridge attached to the moving body together. Opening and closing operations, two chuck means capable of gripping and releasing the paint cartridge, a driving device for performing the reciprocating movement of the moving body and the operation of the chuck means, and the moving body moving toward the stock apparatus side. When located, one of the chuck means removes the used paint cartridge from the stock device. And the other chuck means takes out the required paint cartridge from the stock device, and when the moving body is located on the painting robot side, one chuck means removes the used paint cartridge mounted on the painting robot. And a control device for controlling a series of operations in which the other chuck means is mounted on the coating robot and the other chuck means is subsequently taken out from the transfer device. .

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention aims at storing a large number of paint cartridges of various paint colors in a stock apparatus and selectively removing a necessary paint cartridge from the paint cartridge. This is a small-quantity paint supply system in which a paint cartridge is taken out of the stock device using a transfer device and mounted on a painting robot, and thereafter, the used one can be collected in the stock device from the painting robot. The transfer device of the present invention is a device suitable for use in this small-quantity paint supply system, and includes a moving body, two chuck means, a driving device, and a control device in addition to the device main body, and supports (suspends) the paint cartridge. ), While reciprocating between the stock device and the painting robot, removing the paint cartridge from the stock device and mounting it on the painting robot, and removing the used paint cartridge from the painting robot and collecting it in the stock device. Is what you can do. The transfer device according to the present invention has a higher degree of freedom with respect to the transfer operation, a transfer robot in which the trajectory for transporting the paint cartridge can be freely changed, and a lower degree of freedom with respect to the transfer operation, Both the automatic transfer device in which the trajectory for transporting the paint cartridge is predetermined is included. The transfer device, in particular its body, is arranged close to, for example above or beside, the paint cartridge stocking device and the painting robot. The moving body is reciprocally movable with respect to the apparatus main body over the stock apparatus and the painting robot, for example, with a jig, a structure, or the like supported so as to be reciprocally slidable along a guide rail laid on the apparatus main body. is there. Each of the two chuck means has a mechanism for opening and closing the chuck pair, and a mechanism for moving the chuck pair to and away from the paint cartridge in the stock apparatus and the paint cartridge mounted on the painting robot. By operation, each paint cartridge can be grasped and released, and are attached together to the above-mentioned moving body. 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 two chuck means are respectively directed toward the paint cartridge in the stock device, And a mechanism for moving up and down toward the paint cartridge mounted on the painting robot. The driving device is a driving device that performs the reciprocating motion of the moving body and the operation of the two chucking devices, and is not necessarily an integrated device. For example, it comprises a combination of a conveyor mechanism for reciprocating the moving body, preferably an explosion-proof AC servomotor, a cylinder device for moving the chuck means up and down, and a cylinder device for opening and closing the chuck pair. Therefore, from the above configuration, 2
While holding the paint cartridge with each of the two chucking means, the paint cartridge is transported between the stock apparatus and the painting robot by reciprocating motion of the moving body, and then released when necessary. I can do it.

The control device is a device for controlling the entire operation of the transfer device including the reciprocating movement of the moving body. In particular, the control device of the present invention is provided when the moving body is located on the stock device side. One of the chuck means, which has transported the used paint cartridge, approaches a collection port (an input port for collecting the paint cartridge) in the stock apparatus, and then releases the used paint cartridge, thereby Into the collection port of the stock apparatus, and at the same time, the other chuck means approaches a take-out position (a place where the paint cartridge is taken out) in the stock apparatus, and then paints which have been carried in advance to the take-out position. By grasping the paint cartridge of the paint color, the required paint cartridge is taken out of the stock device,
When the moving body is located on the side of the painting robot, one of the chucking means approaches the mounting portion of the painting robot (the place for mounting the paint cartridge), and the used chucking device already mounted there and used for painting. By grasping the paint cartridge, it is taken out from the painting robot, and subsequently, the other chuck means, which has carried the required paint cartridge, approaches the mounting portion of the painting robot and removes the required paint cartridge. A mechanism is provided for controlling a series of operations in which the robot is released and mounted on a painting robot. Therefore, the transfer device of the present invention performs the above-described series of operations (one reciprocating operation accompanied by two chuck means) from the stock device of the paint cartridge of the paint color to be painted to the painting robot. The loading and the collection of the used paint cartridge from the painting robot to the stock device can be performed at the same time.

The paint cartridge is for refillably loading a relatively small amount of paint container, for example, a paint bag made of synthetic resin, into the cartridge body, and is, for example, a substantially cylindrical cartridge. Further, the configuration of the painting robot is not particularly limited. For example, a paint cartridge is mounted on the head of the robot, that is, on the front end side of the first arm or the rear end side of the second arm, and at the same time, the coating cartridge is optionally replaced with a color changing device. A coating robot can be used, which is connected to a coating machine via an air supply mechanism and can connect the paint cartridge to an air pushing mechanism and a cleaning thinner / cleaning air supply device.

As described above, the desired small-quantity paint supply system comprises a combination of a transfer device and a stock device for a paint cartridge. The stock apparatus is an apparatus for storing a large number of paint cartridges (for example, about 20 to 100 kinds) of paint colors. As described below, a required paint cartridge is taken out and a new paint cartridge is stored. The stocking device includes a mechanism for collecting used paint cartridges carried back by the transfer device. The stock device is more preferably assembled to the endless conveyor device arranged to carry the paint cartridge through its loading point and its unloading position, and the endless conveyor device, and each paint cartridge is detachably attached. An appropriate number of holding means for holding, and operating the drive mechanism of the endless conveyor device based on the address information of the loaded paint cartridge or based on the type information of the paint cartridge detected by the sensor, And a control device for rotating the paint cartridge to a take-out position by the transfer device.
The stock apparatus having such a configuration can store a large number of paint color paint cartridges, and can selectively remove a required paint cartridge from the paint cartridges by the transfer device. The endless conveyor device is a conveyor device having an endless conveyor path and capable of rotating and transporting a paint cartridge along the path, for example, an endless chain conveyor apparatus.
This conveyor device has a circulation path that passes through a place where the paint cartridge is loaded and a position 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.

The holding means is a means for holding each of the paint cartridges detachably, and is assembled to the above-mentioned endless conveyor device. 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 device, i.e., while the paint cartridge is being rotated along its endless conveyor path, it is required that the means be capable of reliably holding the paint cartridge, and at the same time, It is required that the paint cartridge be configured so that the paint cartridge can be easily taken out by a gripping operation by the chuck means of the transfer device. 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 includes a storage frame capable of receiving the paint cartridge, a pair of left and right bent holding arms rotatably supported around a bent portion outside the storage frame, A spring means for urging the left and right holding arms inward so that the cartridge is gripped.When each arm of the left and right holding arms is pushed outward, the other arms are respectively housed. By extruding the paint cartridge loaded in the frame, the paint cartridge is configured to be removable from the stock device by the transfer 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 has a front end face when the paint cartridge is stored therein, A plurality of frame rods are provided so as to abut on appropriate portions of the rear end surface and the outer peripheral surface 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 by the urging force,
When the holding arm presses the paint cartridge loaded in the storage frame, the paint cartridge is configured to be gripped in the storage frame. Particularly preferably, when the holding arm 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 biased inward, and conversely, the one arm of the holding arm is A mechanism (so-called toggle mechanism) is provided in which the left and right holding arms are urged outward when tilted outward from a certain posture. Therefore,
In a more preferred aspect, when the left and right holding arms are pushed outward, respectively, and the left and right arms are tilted outward from a certain posture, the left and right holding arms exert the outward acting force of the spring means. Accordingly, 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 is easily grasped and carried by the chuck means.
That is, it is configured such that it can be easily taken out by the transfer device.

The control device of the stock device performs a control operation of turning a required paint cartridge to a take-out position where it is taken out by the transfer device by operating a drive mechanism of the endless conveyor device. The operation is performed based on the address information of the loaded paint cartridge or based on the type information of the paint cartridge detected by the sensor. When performing the control operation based on the address information, as the control device, based on the driving amount of the endless conveyor device, using a device that can calculate the position of the loaded paint cartridge in the endless conveyor path, and, When each paint cartridge is loaded at the loading location, the address of the paint cartridge is automatically read or manually input to the control device, so that the control device can determine the address of the paint cartridge circulating through the endless conveyor path. Based on the address information, calculate the amount necessary to turn the paint cartridge to be taken out to the take-out position, and then calculate the amount of endless By driving the conveyor, the paint cartridge to be removed can be taken out. Control is performed that carry turn up. In the case where the control operation is performed based on the type information, for example, a paint cartridge provided with an identification mark for each paint color in advance is prepared, loaded into a stock apparatus, and represented by the identification mark. An optical reading sensor capable of reading information on each paint color is arranged at or near the removal position of the paint cartridge, and
The sensor identifies and detects a paint cartridge to be removed from a group of paint cartridges being carried around, and then controls the paint cartridge to be removed at the removal position based on the type information. Done.

[0013]

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.

As shown in FIGS. 1 and 2, the small-quantity paint supply system of this embodiment is provided inside a painting booth (not shown).
At the side of the painting robot 1, the paint cartridge 2
··· the stocking device 3 and the transfer device 4 above the stocking device 3, ie the paint cartridge 2 ···
From the stock apparatus 3 and mounted on the coating robot 1. Although not shown in detail, the paint cartridge 2 is a cylindrical metal or plastic container loaded with a paint bag made of synthetic resin. The paint bag is filled with a small amount of paint of a specific paint color, for example, the amount of paint required for that color in the painting of one work. As shown in FIG. 2, the painting robot 1 has a color changing device 6 (a bell-shaped painting of the robot 1) together with a space 5 on which a paint cartridge can be mounted, on its head, that is, on the upper surface on the rear end side of the second arm. When the paint cartridge 2 is mounted on the upper surface of the head of the robot 1, the paint cartridge 2 is simultaneously connected to the color changing device 6 and the air. The paint in the paint cartridge 2 is extruded by the action of the air push-out mechanism 8 and supplied to the coating machine 7 of the robot 1 via the color changing device 6 by the action of the air push-out mechanism 8. In the drawings, p indicates the center of rotation of the painting robot 1.

The transfer device 4 is a device for mounting the paint cartridge 2 on the coating robot 1 and recovering the paint cartridge 1 from the coating robot 1 as shown in detail in FIGS.
In addition to the apparatus main body 9, a moving body 10, two chuck means 11
a, 11b, drive device 12, and control device (not shown)
Consisting of The apparatus main body 9 is a structure in which the guide rail 13 is laid horizontally over the painting robot 1 and the stock apparatus 3. The moving body 10 is a component that is slidably supported on the guide rails 13 of the apparatus main body 9, and that slides horizontally along the guide rails 13 by the operation of the conveyor mechanism 14, that is, the explosion-proof AC servomotor 18. can do. Further, the moving body 10 is formed by suspending two right and left chuck means 11a and 11b together at predetermined intervals in parallel. Each of the chuck means 11a and 11b is provided with two swingable chuck pairs 15a and 15b mounted on a base portion 16 and opened and closed by operation of a cylinder device. It is prepared to be able to move up and down by the operation of 17. Therefore, each of the chuck means 11a and 11b moves the chuck pair 15a, 15
b can be moved closer to or further away 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 15a and 15b accompanying this. As described above, the transfer device 4 includes two chucking units 11a,
11b, the paint cartridge 2 is grasped and released, and while the paint cartridge 2 is hung, the painting robot 1 and the stock device 3
Can be transported back and forth between

The control device controls the entire operation of the transfer device 4. As described below, the stock apparatus 3 has a take-out position 19 (a place where the paint cartridge 2 is taken out) and a collection port 20 (the paint cartridge 2
(A port for feeding and recovering) (see FIG. 6). When the moving body 10 is located on the side of the stock apparatus 3, the above-described control device causes the chuck unit 11 a that has transported the used paint cartridge 2 to approach the collection port 20 of the stock apparatus 3. The used paint cartridge 2 is released and put into the collection port 20. At the same time, the chucking means 11b approaches the take-out position 19 of the stock device 3, and then the required paint cartridge of the paint color to be painted is applied. When the moving body 10 is positioned on the side of the coating robot 1, the chucking means 11 a approaches the mounting space 5 of the coating robot 1 and is already mounted there. The used paint cartridge 2 is grasped and taken out from the painting robot 1, and subsequently, the required paint cartridge 2 is transported. Click means 11b is closer to the mounting space portion 5 of the coating robot 1, and controls a series of operations that is mounted on the coating robot 1 releases the required paint cartridge 2. In this example, each of the chuck means 11a and 11b is
Are provided at both left and right ends of the chuck, and as shown in FIGS. 8 and 9, the chuck pair 15a, 15b
Paint cartridge 2 held by holding means 30
When approaching the right and left, the push-out members 21, 21 respectively push the holding arms 22, 22 (press members 24, 24) outward while contacting the pins 28 of the left and right upper arm portions 23, 23, respectively. When the left and right upper arms 23, 23 are tilted outward from the upright posture, the left and right holding arms 2
The upper arms 23, 23 rotate vigorously, and the pushing members 26, 26 at the distal ends of the lower arms 25 respectively push up the paint cartridge 2 loaded in the storage frame 27, and accordingly, The paint cartridge 2 can be easily gripped by the chuck pairs 15a and 15b. In the drawing, reference numeral 51 denotes a sensor for detecting whether or not the paint cartridge 2 is gripped.

The stock apparatus 3 is an apparatus shown in FIGS. 6 and 7, and is an endless chain conveyor 29.
And about 30 holding means 30 attached to this.
And a control device (not shown) for controlling the operation of the conveyor device 29, and stores the paint cartridges 2 of approximately 30 paint colors, and transfers the required paint cartridges 2 out of them. The structure can be selectively taken out by the mounting device 4. Further, the stock device 3
Is used paint cartridge 2 as shown in FIG.
A collecting mechanism 31 for collecting the is also provided in the endless chain conveyor device 29. The endless chain conveyor device 29 includes a pair of left and right endless chains 32, 3
2 (each chain 32 has five sprockets 33)
Are arranged side by side at a fixed interval, and one sprocket shaft 34 is connected to an explosion-proof inverter motor 35 and a speed reducer 36 via a coupling 37, and these drives are driven. By operating the mechanism 38, the paint cartridge 2 held between the left and right endless chains 32, 32 can be rotated and carried. In the lower part of the stock device 3, a charging point 3 for the paint cartridge 2 is provided.
9, that is, a place where a new paint cartridge is externally added. Therefore, the endless chain conveyor device 29 is provided at the charging point 39 of the paint cartridge 2.
And an endless conveyor path through the take-out position 19 described above. The holding means 30 is a means for detachably holding each of the paint cartridges 2, and is provided in a number equal to the number of about 30 kinds of paint cartridges 2... Stored in the stock apparatus 3. As shown in FIGS. 8 and 9, the holding means 30 includes a storage frame 27 capable of receiving the paint cartridge 2 and a pair of left and right bent holding arms 22, 22.
And a coil spring 4 attached to the holding arms 22, 22.
It consists of 0 and 40. The storage frame 27 holds the paint cartridge 2
Are arranged on the frame base 42 so as to surround the paint cartridge 2. When the paint cartridge 2 is placed in the paint cartridge 2, the frame rods 41 are the front end face and the rear end face of the paint cartridge 2. Also, the paint cartridge 2 can be stably held by being in contact with the outer peripheral surface without any gap. Each of the left and right holding arms 22 is an arm bent at a substantially right angle. The left and right holding arms 22 are rotatable around the bent portion 43 outside the storage frame 27 so that their inner corners face each other. Supported. A holding member 24 is attached to the tip of the upper arm 23 of the holding arm 22, while the pushing member 2 is attached to the tip of the lower arm 25.
6 is attached. The coil springs 40, 40 are interposed between the upper arm 23 of the holding arm 22 and the frame base 42 of the storage frame 27, respectively, so that when the upper arm 23 is tilted inward from the upright posture, the left and right holding arms 22 , 2
2 are respectively urged inward, and conversely, when the upper arm 23 is tilted outward from the upright posture, the left and right holding arms 22,
22 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 40, 40, the holding members 22, the pressing members 24 at the distal end of the upper arm,
The paint cartridges 2 are firmly gripped by the press of the paint cartridges 2 loaded in the storage frames 27 respectively. As shown in FIGS. 8 and 9, the upper arm 23 of the holding arm 22 has a horizontally elongated pin 28 implanted horizontally. On the other hand, the chuck means 11b of the transfer device 4 described above
As shown in FIG. 2, push-spread members 21 are provided at both left and right ends of the base portion 16, respectively. Thus, when the holding means 30 stops at the take-out position 20 of the paint cartridge 2, the chuck means 1 having arrived immediately above the position.
1b descends, and with this, the spreading members 21, 21
Pushes the upper arms 23, 23 of the left and right holding arms 22, 22 outward, respectively, while contacting the left and right pins 28, 28, and the upper arms 23, 23 of the left and right tilt outward from the upright posture. The left and right holding arms 22, 22
The paint cartridge in which the extruding members 26 at the lower arm tip are respectively loaded into the storage frame 27 by virtue of the outwardly acting force of the left and right coil springs 40 and 40. Push 2 upward. Therefore, with such a configuration, the chuck means 11b can easily grasp and carry the paint cartridge 2 at the removal position 19, that is, the paint cartridge 2 can be easily taken out by the transfer device 4. I have. After the paint cartridge 2 is taken out, the holding means 30
Is kept in a state where the left and right holding arms 22, 22 are each pushed outward. Thus, the holding means 30 is turned to the loading point 39 of the paint cartridge 2 and when the operator loads a new paint cartridge 2, the loaded paint cartridge 2 is moved to the left and right holding arms 22. , 22 by pushing the pushing members 26, 26 downward,
Push the left and right lower arms 25, 25 inward, and
When the left and right upper arms 23, 23 are tilted inward from the upright posture, the left and right holding arms 22, 22 rotate inwardly and vigorously, and therefore, the left and right pressing members 24, 2 at the tip of the upper arm.
4 presses the loaded paint cartridge 2 from above and holds it in the storage frame 27. With this configuration, the paint cartridge 2 can be easily inserted.

The control device of the paint cartridge 2 operates the drive mechanism of the endless chain conveyor device 29 by an appropriate amount, thereby controlling the turning of the required paint cartridge 2 to the take-out position 19 based on the address information of the paint cartridge 2. It is a device that performs based on. That is, this control device is a device that can calculate the position of the loaded paint cartridge 2 in the endless conveyor path based on the drive amount of the endless chain conveyor device 29 (the travel amount of the chain conveyor 32). Based on the address information input by automatic reading or manual input at the time of loading of the cartridge 2, it is calculated in what address order the paint cartridges 2 circulating on the endless conveyor path are arranged based on the original position. Then, based on this, the driving amount required to turn the paint cartridge 2 of the paint color to be taken out to the take-out position 19 is calculated, and the endless chain conveyor device 29 is moved by the necessary amount of turning. By driving
Control is performed such that the paint cartridge 2 of the paint color to be removed is turned to the take-out position 19. In the figure,
44 is an original position confirmation sensor (proximity switch) used for calculating the amount of turning and carrying, and 45 is an extraction position 1
Reference numeral 9 denotes a stop confirmation sensor (proximity switch) for detecting a stop after the paint cartridge 2 is carried around. Further, reference numeral 46 denotes an optical reading sensor provided near and above the take-out position 19, which is used to identify a paint color type of the paint cartridge 2 arriving at the take-out position 19, thereby obtaining a required paint cartridge. 2 may be controlled to stop at the take-out position 19. Also, the collection mechanism 3
1, as shown in FIG. 3, a substantially U-shaped receiving bar 47...
Are formed up and down with a passage 48 which slides down zigzag, and a passage 49 extending horizontally is formed following the passage 48 together with an outlet 50 on the side of the stock apparatus 3.
Therefore, the used paint cartridge 2 is removed from the collection port 20.
When they are further fed, they pass through these passages 48 and 49 and are finally recovered from the outlet 50.

Thus, in the above-mentioned stock apparatus 3, it is possible to store paints of about 30 different colors in the stock apparatus 3 and to set the paint colors to be painted in the stock apparatus 3.
In accordance with the control, the endless chain conveyor 29 first starts its operation, and the paint cartridge 2 of the paint color is turned to the take-out position 19 and carried. On the other hand, the transfer device 4 is a stock device 3
The following series of operations are performed in cooperation with the operation of (1). First, as shown in FIG. 10, the moving body 10 stops above the collection port 20, then the chucking means 11 a descends and approaches the collection port 20, and then, the used chucked chuck 11 a is used. Release the paint cartridge 2 and set the collection port 20
To After the loading, the chuck means 11a rises and returns to the original position. On the other hand, the used paint cartridge 2 inserted into the collection port 20 is
It is collected from the outlet 50 through 49. Next, FIG.
As shown in the figure, the moving body 10 moves toward the stock apparatus 3 and stops above the take-out position 19, then the chucking means 11b descends and approaches the take-out position 19, and subsequently, the chucking means 11b However, the desired paint cartridge 2 of the paint color to be painted is grasped and taken out of the stock apparatus 3, and then the chucking means 11b is raised and returns to the original position. Then, subsequently, the moving body 10 horizontally moves toward the painting robot 1. Next, as shown in FIG. 12, the moving body 10 moves until the chucking means 11a reaches above the mounting space 5 of the coating robot 1,
And stop there. Next, the chucking means 11a descends and approaches the space 5, and subsequently, the chucking means 11a grasps the used paint cartridge 2 (the paint cartridge 2 previously mounted on the space 5 and used for painting). And then take it out of the painting robot 1 and then ascend to return to the original position. Next, as shown in FIG. 13, the moving body 10 further moves toward the coating robot 1 and stops at a point where the chucking means 11b reaches above the mounting space 5 of the coating robot 1. Next, the chucking means 11b descends and approaches the space 5, and then releases the paint cartridge 2 of the required paint color and mounts it on the painting robot 1. Then, the chuck means 11b
Rises and returns to its original position. And finally, mobile 1
0 moves horizontally toward the stock apparatus 3 and returns to the position shown in FIG.

As described above, in the system using the transfer device of the present embodiment, the paint of the required color is selectively supplied to the painting robot 1 in a small unit (in the form of the paint cartridge 2). Can be. In addition, the use of the transfer device 4 allows a single reciprocating operation accompanied by two chuck means to load the paint cartridge of the paint color to be painted from the stock device into the painting robot and to use the used paint cartridge. The collection of the paint cartridge from the painting robot to the stock device can be performed at the same time.

[0021]

As described above, the transfer device according to the present invention can reciprocate the paint cartridge between the stock device and the painting robot. Therefore, according to the present invention, the effect is obtained that the paint can be supplied from the stock apparatus to the painting robot in smaller units. In addition, the transfer apparatus of the present invention can reciprocate two chuck means capable of holding and releasing the paint cartridge between the stock apparatus and the painting robot together. Therefore, according to the present invention, 2
With one reciprocating operation accompanied by two chucking means, loading the paint cartridge of the paint color to be painted from the stock device to the painting robot, and collecting used paint cartridge from the painting robot to the stock device. To
At the same time, the effect that the paint cartridge can be mounted on the painting robot and collected in the stock device can be performed very efficiently. Further, in the present invention, while the coating is being performed by the coating robot, the used paint cartridge is collected in the stock device, and then, the paint cartridge of the paint color to be next coated is transferred from the stock device to the coating robot. It can be transported and ready for installation. Therefore, according to the present invention, the effect that the efficiency of the entire painting operation is further improved can be obtained. Furthermore, the transfer device of the present invention requires only a relatively small device, which is advantageous in terms of installation space. Therefore, according to the present invention, there is also obtained an effect that it is possible to contribute to downsizing of the entire coating facility.

[Brief description of the drawings]

FIG. 1 is a diagram showing an entire small-quantity paint supply system including a transfer device according to an embodiment of the present invention.

FIG. 2 is a top view of the small paint supply system shown in FIG. 1;

FIG. 3 is a front view showing the entire transfer device of the embodiment.

FIG. 4 is an enlarged front view showing a moving body and chuck means of the transfer device shown in FIG. 3;

5 is an enlarged side view showing chuck means of the transfer device shown in FIG. 3;

FIG. 6 is a front view schematically showing the inside of a stock apparatus of the small-quantity paint supply system shown in FIG. 1;

7 is a side view of the stock apparatus shown in FIG. 6 as viewed from the side.

FIG. 8 is a view showing a lower portion of a holding means used in the stock apparatus shown in FIG. 6 and a chuck means of the transfer apparatus.

FIG. 9 is a diagram showing a state of holding (left half view) and taking out (right half view) the paint cartridge.

FIG. 10 is a diagram showing one mode of operation of the transfer device shown in FIG. 3;

FIG. 11 is a diagram showing one mode of operation of the transfer device shown in FIG. 3;

FIG. 12 is a diagram showing one mode of operation of the transfer device shown in FIG. 3;

FIG. 13 is a diagram showing one mode of operation of the transfer device shown in FIG. 3;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 coating robot 2 paint cartridge 3 stock device 4 transfer device 5 space unit 7 coating machine 9 device main body 10 moving body 11a, 11b two chuck means 12 drive device 13 guide rail 14 conveyor mechanism 15a, 15b two chuck pairs 17 cylinder Device 18 Servo motor 19 Extraction position 20 Collection port 21 Push-out member

 ──────────────────────────────────────────────────続 き Continuing from 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 Shinji Tomitsu 1-9-9 Kakimotocho, Toyota City, Aichi Prefecture Trinity Industry Co., Ltd.

Claims (1)

[Claims] 1. A transfer device for taking out a paint cartridge from its stock device and mounting it on a painting robot or automatic painting device, and taking out a used paint cartridge from the painting robot or automatic painting device and collecting it in said stock device. An apparatus body, a moving body supported reciprocally over a stock apparatus and a painting robot or an automatic painting apparatus with respect to the apparatus body, and access to a paint cartridge attached to the moving body together. -Two chuck means capable of gripping and releasing the paint cartridge by the operation of separating and opening and closing the chuck member, respectively; a reciprocating motion of the moving body and a driving device for operating the chuck means; and the moving body. Is located on the stocking device side, one of the chuck means is When the cartridge is put into the collection port of the stock apparatus, the other chuck means takes out the required paint cartridge from the stock apparatus, and when the moving body is located on the side of the painting robot or the automatic painting apparatus, one of the chuck means is used. The used paint cartridge mounted on the painting robot or the automatic painting apparatus is taken out of the painting robot, and subsequently, the other chuck means controls a series of operations of mounting the required paint cartridge on the painting robot or the automatic painting apparatus. A transfer device used in a small-quantity paint supply system, comprising a control device.