JP2000052013A - Spraying method and equipment of die spray borot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide die-cast spraying method and equipment to spray to entire cavity surface efficiently and in a short time without producing variance in casting quality due to change in adjustment condition when the spraying angle of the spray nozzle is adjusted each time the dies are changed or due to variance in adjustment condition of the spraying angle due to difference in skillfulness among operators. SOLUTION: This spray equipment 260 is composed of fixed spray nozzle 266 and a movable spray nozzle 268 whose spray angle can be controlled with a nozzle position control mechanism 264, and the entire cavity surface of the dies is sprayed with the fixed spray nozzles 266 while the spray equipment 260 is moved in accordance with the preset operating program, and a hid portion where the spraying agent cannot be sufficiently reached by the fixed spray nozzles 266 and the portion to be carefully sprayed are sprayed with the movable spray nozzle 268.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mold spray robot for spraying a spray agent such as a release agent or a lubricant onto a mold cavity surface of a die casting machine. The present invention relates to a method and an apparatus for spraying a mold spray robot, which efficiently sprays the entire sprayed surface of a mold cavity by using a spray device having a spray nozzle (also referred to as a spray gun) attached to a robot wrist tip. is there.

[0002]

2. Description of the Related Art Conventionally, a method of spray-coating a spray agent such as a release agent or a lubricant onto a mold cavity surface of a die-casting machine is performed by spraying a plurality of spray agents provided on a spray head 262 as shown in FIG. The so-called angle-fixed nozzle type spray method and apparatus in which a spray agent is sprayed together with spray air from a fixed spray nozzle 266 having a fixed spray angle has been the mainstream. In FIG. 7, a spray device 26 is provided from a spray head 262 and a plurality of fixed spray nozzles 266.
0, the spray device 2 is placed between the two opened molds.
The hydraulic cylinder 9 is employed as a moving means for taking in and out the 60. In a state where the spray device 260 is moved between the two molds and the spray device 260 is stopped at this position, the spray agent is sprayed together with the spraying air from the plurality of fixed spray nozzles 266 arranged on the spray head 262. This is a spray method that sprays all over the mold cavity all at once.

[0003]

SUMMARY OF THE INVENTION In the fixed angle nozzle type spraying method and apparatus, an operator is required to change the mold every time the mold is changed in order to spray and apply the spray agent evenly over the entire sprayed surface of the mold cavity. However, it is necessary to adjust the mounting directions of the plurality of fixed spray nozzles so that each spray direction matches the form of the sprayed surface.
The adjustment work at that time is an operation in a limited narrow space between the opened molds, and it takes a long time to adjust the spray direction, and a desired angle due to interference with the mold, tie bar, etc. Could not be set. In addition, even in the case of die casting using the same mold, the state of adjustment of the spray direction is not the same as the previous time, and the casting quality varies. Further, since the spray direction adjustment of the spray nozzle largely depends on the know-how of the operator, the casting quality varies depending on the skill of the operator. For this reason, spraying is not always appropriate for the sprayed surface of each mold cavity.For example, excessive spraying agent is consumed, or quality of a cast product is deteriorated due to excessive or insufficient spraying agent spraying amount. In addition, the occurrence and repetition of large thermal stress due to excessive cooling often lead to a reduction in the mold life.

As an improvement over the above-mentioned drawbacks of the fixed angle nozzle type spray method and apparatus, a spray nozzle attitude control mechanism is interposed between a spray robot wrist tip and the spray nozzle as shown in FIG. A so-called angle-variable nozzle type spraying method for adjusting the angle of the spray nozzle is disclosed in Japanese Patent Application Laid-Open No. 9-314305. However, since the attitude control mechanism occupies a large space, the number of spray nozzles to be installed is limited to substantially one by being restricted by the space of the entire spray device, and as a result, the entire surface of the mold cavity to be sprayed is sprayed. There is a problem that it takes a long time to spray the spray agent, and the casting cycle becomes longer, which hinders productivity. The present invention solves the problem of the spray device and the method using such a mold spray robot, sprays an appropriate amount of a spray agent in an appropriate distribution, and efficiently and quickly sprays the entire sprayed surface of the mold cavity. It is an object of the present invention to provide a spray method and a device capable of spraying a spray.

[0005]

According to a first aspect of the present invention, there is provided a spray apparatus having a spray nozzle at a tip end of a robot wrist of an articulated robot or an orthogonal three-axis mechanism robot. A spraying method of a mold spraying robot for mounting and spraying a spraying agent supplied to the spraying device by a spraying agent supply device onto a mold cavity surface of a die casting machine, wherein one or more spray angles are fixed. A spray device comprising a fixed spray nozzle, at least one set of spray nozzle attitude control mechanism, and a movable spray nozzle whose spray angle can be controlled by the spray nozzle attitude control mechanism, the multi-joint according to a preset operation program. Move the entire mold cavity surface while moving with a robot or an orthogonal 3-axis mechanism robot. With spraying with fixed spray nozzles, the spray agent spray with fixed spray nozzles to the part and careful portion to be spray shade spray agent level is insufficient to spraying with movable spray nozzle.

According to a second aspect of the present invention, there is provided a spray head which is attached to the tip of a robot wrist of an articulated robot or an orthogonal three-axis mechanism robot and sprays a spray agent onto a mold cavity surface of a die casting machine. A spray device for a mold spray robot equipped with a fixed spray nozzle having one or more spray angles fixed, a spray nozzle attitude control mechanism of at least one set, and a spray angle controllable by the spray nozzle attitude control mechanism. Movable spray nozzle, a robot controller for controlling the articulated robot or the orthogonal three-axis mechanism robot, a nozzle attitude control mechanism controller for controlling the attitude of the movable spray nozzle, the fixed spray nozzle and the movable spray nozzle And a spray agent supply device for controlling the spray agent supply to the Was Unishi.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 6 relate to an embodiment of the present invention, FIG. 1 is an overall configuration diagram of a die casting machine, FIG. 2 is a schematic side view of a mold spray robot, FIG. 3 is a perspective view of a spray device, and FIG. Front view of control mechanism, FIG.
FIG. 6 is a side view of the nozzle attitude control mechanism, and FIG. 6 is an explanatory view showing an operation sequence of the mold spray robot.

FIG. 1 is an overall configuration diagram of a die casting machine 100 showing an embodiment of the present invention.
00 is equipped with a multi-joint type mold spray robot 200 and a control device 300 for controlling the mold spray robot 200 as auxiliary devices. The die spray robot 200 is a fixed platen 11 of the die casting machine 100.
A, and a first arm 220 which is pinned to the rotating seat 210 by a horizontal axis, and a first arm 220,
Arm 230 which is pin-engaged with a horizontal axis
A motor 240 pin-engaged with the lower end of the arm 230,
A vertical shaft 2 connected to the motor 240 and capable of turning around the vertical axis.
50 and a spray device 260 connected to the lower end of the vertical shaft 250.

Further, as shown in FIG. 3, the spray device 260 includes a spray head 262 and a fixed spray nozzle 266 fixed directly to the spray surface 262 at an arbitrary spray angle by being fixed directly on the vertical surface of the spray head 262 in the longitudinal direction. A nozzle attitude control mechanism 264 disposed on a vertical plane in the longitudinal direction of the spray head 262, and a movable spray nozzle 268 mounted on a driven surface of the nozzle attitude control mechanism 264 and capable of controlling a spray angle. ing. Then, a spray agent is supplied to each of the fixed spray nozzle 266 and the movable spray nozzle 268 from the spray agent supply device 340 at a required spray flow rate through a spray pipe (not shown), and sprayed toward the sprayed surface of the mold cavity. The agent is configured to be spray applied.

In FIG. 3, two fixed spray nozzles 26
6 and one movable spray nozzle 268 have been shown, but this is not a limitation, but is limited to a fixed spray nozzle depending on the size and form of the sprayed surface of the mold cavity. The number and arrangement of the 266 and the movable spray nozzle 268 can be changed as appropriate. Further, as shown in FIG. 2, a fixed spray nozzle 266 and a movable spray nozzle 268 are provided on both front and back surfaces of the spray head 262, and are simultaneously provided on the sprayed surface of the fixed mold 12A and the sprayed surface of the movable mold 12B. By spraying, the spray time can be reduced.

FIG. 3 is an explanatory diagram merely showing an outline of the configuration of the spray device 260, and shows the nozzle attitude control mechanism 26.
Although the fourth embodiment is simplified, FIGS. 4 and 5 show the actual actuator embodiments employed as the nozzle attitude control mechanism 264 in this embodiment. In the present embodiment, the nozzle attitude control mechanism 26 which is an angle adjusting means of the movable spray nozzle 268
The actual actuator adopted as the No. 4 is a 2-axis geared actuator manufactured by OMRON Corporation (prototype model:
R2DG-M01) with a rated torque of 720 gf
cm, rated rotation speed: 15 rpm (90 degrees / s), position resolution: 0.7 degrees, and a total of two degrees of freedom: a 360-degree axis rotation angle range and a 180-degree tilt angle range. It has a degree and uses a speed control by position feedback as a control method. In this embodiment, the two-axis geared actuator is mounted in a direction in which the drive shaft of the two-axis geared actuator having a shaft rotation angle range of 360 degrees is perpendicular to the longitudinal vertical plane of the spray head 262.

The size of this two-axis geared actuator is 60 mm in diameter and 70 mm in height, which is larger than the size (diameter: 230 mm, height: 70 mm) of the nozzle attitude control device of the conventional spray device shown in FIG. The space is greatly reduced. What is particularly important is that the space between the adjacent spray nozzles (nozzle pitch) is set to a value that is practically required (a general nozzle pitch: 80 to 100 mm) due to the space saving of the nozzle attitude control device. A nozzle can be provided. As a result, a multi-spray nozzle system in which a plurality of fixed spray nozzles 266 and a plurality of movable spray nozzles 268 are arranged has become possible. In the conventional spray device shown in FIG. 8, since the size of the nozzle attitude control device is large, the space for the entire spray device is limited, and the number of movable spray nozzles to be installed is substantially limited to one. Although this is an example of a mold having the above, the spray time required 12 to 14 seconds, but the spray device according to the present invention reduced the time to 6 to 8 seconds. Further, the large space saving of the entire spray device 260 enables the spray device 260 to be controlled to an arbitrary angle without interfering with a tie bar or the like even in a small die casting machine. Instead of simultaneously spraying the entire sprayed surface of the mold as in the above, spraying can be performed while moving the spray device 260 between the two dies by controlling the spray device 260 at an angle suitable for the shape of the sprayed surface of the mold cavity. Now you can.

Next, the configuration of the control device 300 for controlling the operation of the mold spray robot 200, the attitude of the movable spray nozzle 268, the operation of the spray agent supply device 340, and the like will be described. As shown in FIG. 1, the control device 300 includes:
A robot controller 310 for controlling the operation of the mold spray robot 200 and an offline programming device (personal computer) 320 for inputting a program for operation control of the mold spray robot 200 prepared in advance to the robot controller 310 offline. A nozzle attitude control mechanism control device 330 that receives a program for attitude control of the movable spray nozzle 268 prepared in advance off-line from the offline programming device (personal computer) 320 and outputs an operation signal to the nozzle attitude control mechanism 264; Receiving the spray condition control program prepared in advance offline from the offline programming device (personal computer) 320, and controlling the communication of the spray agent flow rate, the spray agent and the compressed air, etc. Splay agent supply device 340, the die casting machine 1 an operation of die spray robot 200
00, the robot controller 31
0 and a die-casting machine control panel 350 for transmitting and receiving a timing signal.
30 and the spray agent supply device 340 exchange timing signals with the robot controller 310 to synchronize their operations.

The program setting method of the control device 300 includes an operation control program for specifying an operation trajectory and an operation speed of the mold spray robot 200 and an attitude control program for specifying the operation content of the nozzle attitude control mechanism 264. And a spray condition control program for specifying a set flow rate of the spray agent to be supplied to each fixed spray nozzle 266 and each movable spray nozzle 268, and the like.
20 and a robot controller 31 for controlling the operation of the mold spray robot 200.
0, a nozzle attitude control mechanism control device 330 that controls the attitude (spray angle) of the movable spray nozzle 268, and a spray agent supply device 340 that controls the communication and shutoff of the spray agent flow rate, the spray agent, and the compressed air. A method of inputting an operation program created in advance is adopted. By doing so, the robot controller 31
From 0, an operation command is transmitted to the mold spray robot 200 to move the spray device 260 in accordance with a previously specified operation path and operation sequence, and to configure the spray device 260 from the nozzle attitude control mechanism control device 330. A command signal is transmitted to the nozzle attitude control mechanism 264, and the movable spray nozzle 268 is adjusted so that the center axis of the spray flow and the mold cavity surface to be sprayed are as orthogonal as possible according to the unevenness or the curved surface of the mold cavity surface. Of the spray agent supplied to the fixed spray nozzle 266 and the movable spray nozzle 268, and the spray agent supply device 340 controls the flow of the piping circuit so that the spray agent is spray-coated at a required spray flow rate. Is done.

Next, the operation of the mold spray robot 200 will be described. FIG. 6 is an explanatory view showing an example of the operation sequence of the mold spray robot 200. FIG.
The spray work is sequentially performed in the order up to (i). FIG.
As shown in (a), in the spray standby state, the spray device 260 connected to the lower end of the vertical axis 250 of the mold spray robot 200 moves the open mold between the fixed mold 12A and the movable mold 12B. Stopped in the upper position. At the start of spraying, first, the vertical axis 250 of the mold spray robot 200 is lowered, the spray device 260 is lowered to the height of the upper end of the surface to be sprayed with the mold cavity, and then the spray agent is sprayed from the fixed spray nozzle 266. The whole spray is started (FIG. 6B). While lowering the spray device 260 continuously at a predetermined speed, the entire spray on the sprayed surface of the fixed mold 12A and the movable mold 12B is continued, and the spray device 260 is lowered to the lower end height of the mold cavity sprayed surface. After that, the spray device 260 is moved in a horizontal direction (in FIG. 6, a direction perpendicular to the paper surface) parallel to the mold mounting surface.
Continue spraying while raising 60 (Fig. 6
(C)).

After raising the spray device 260 to the height of the upper end of the surface to be sprayed with the mold cavity, the spray device 260 is moved in a direction parallel to the mold mounting surface and in a horizontal direction (a direction perpendicular to the paper surface in FIG. 6). Further, the entire spray is continued while lowering the spray device 260 again (FIG. 6).
(D)). When the spray device 260 is lowered to the lower end height of the surface to be sprayed, the entire spray is completed (FIG. 6E), and the local spray for spraying the spray agent from the movable spray nozzle 268 to the core 12C is started. (FIG. 6F). The spray device 260 is raised while driving the nozzle attitude control mechanism 264 in accordance with the attitude control program created in advance by the offline programming device (personal computer) 320, and the local spray is smoothly performed in a spray attitude suitable for the form of the core 12C. (FIGS. 6 (g) and 6 (h)).
When the spray device 260 is raised to the standby position after the completion of the local spray, the entire spray process is completed (FIG. 6 (i)).

In the above description of the operation, an example has been described in which, after performing the entire spray for spraying the spray agent from the fixed spray nozzle 266, the local spray for spraying the spray agent from the movable spray nozzle 268 is performed. Instead, the entire spray may be performed after the local spray is performed, or an arbitrary order in which the entire spray and the local spray are appropriately combined may be used. In addition, the spray device 2 is used during the entire spray.
An example of lowering, rising, re-falling and re-raising at the time of local spraying has been described above, but is not limited thereto.
The number of vertical movements of the spray device 260 may be changed. When casting a relatively simple casting,
The number of vertical movements of the spray device 260 can be reduced to shorten the casting cycle. For convenience, the movable spray nozzle 268 has been described as being used only for spraying during local spraying, but it is needless to say that the movable spray nozzle 268 can also be used for spraying during general spraying.

Also, an example has been described in which only the core 12C on the movable mold 12B side is subjected to local spraying and local spraying is not performed on the fixed mold 12A side. However, the present invention is not limited to this. Local spray can be performed on the cavity surfaces of the mold 12A and the movable mold 12B. Further, in the local spray of this embodiment, 18
The movable spray nozzle 268 is tilted up and down by a two-axis geared actuator having a tilt angle range of 0 degrees so that the direction of the spray axis matches the form of the sprayed surface of the mold cavity. In addition, the drive shaft, which is the other degree of freedom of the two-axis geared actuator mounted in a direction perpendicular to the longitudinal vertical plane of the spray head 262, is not limited to 360.
The spray direction of the movable spray nozzle 268 is controlled by combining the rotation of the vertical axis 250 of the mold spray robot 200 and the center axis of the spray agent spray flow with the rotation of the vertical axis 250 of the mold spray robot 200. The angle can be controlled to match the spray surface shape.

In the above description of the operation, the simple mold spray robot 200 merely moves the spray device 260 up and down during the entire spray and the local spray.
However, the present invention is not limited to this, and the spray device 260 is moved in the mold opening / closing direction and in the horizontal direction perpendicular to the mold opening / closing direction (in FIG. 6, the direction perpendicular to the plane of FIG. 6). The spray device 260 can be moved up and down while rotating the vertical axis 250 of the mold spray robot 200 to continuously control the spraying agent spraying to each part of the mold cavity sprayed surface so as to always have the optimum direction. it can.

Next, the procedure for setting spray conditions in the spray method of the mold spray robot according to the present invention will be described. The surface temperature of the spray surface of the mold cavity to be sprayed has a close influence on the spray condition. If the surface temperature is too high, the spray agent sprayed will be in a boiling state on the surface of the spray surface, so that the adhesion of the spray agent is hindered,
Conversely, if the temperature of the mold cavity surface is too low, the rate of evaporation of the spray agent will be low, thus preventing the spray agent from adhering. Since the surface temperature condition of the spray surface of the mold cavity to which the spray agent sprayed in aluminum die casting is efficiently attached is generally 200 to 250 ° C.,
At the beginning of the spraying, the set flow rate of the spraying agent and the mold spray robot 20 are set mainly to bring the surface temperature of the sprayed surface of the mold cavity to 200 to 250 ° C.
It is desirable to set an operation trajectory and an operation speed of 0,
In many cases, it is set so that the entire spray is performed at the beginning of the spray. After the surface temperature of the spray surface of the mold cavity is in the range of 200 to 250 ° C., the set flow rate of the spray agent and the mold spray robot are adjusted so that the spray agent adheres to the spray surface in a desired thickness. 200 operating speeds are set.

[0021]

As described above, the following excellent effects can be obtained by implementing the spray method of the mold spray robot of the present invention. The downsized nozzle attitude control mechanism makes it possible to arrange the fixed spray nozzle and the movable spray nozzle on the spray head, and to transfer the spray agent from the fixed spray nozzle while moving the spray device between both molds. Since the entire spray to be sprayed and the local spray to spray the spray agent from the movable spray nozzle can be appropriately combined and sprayed, it is possible to set optimal spray conditions for each mold, and Instead of spraying all over the sprayed surface of the mold simultaneously as in the conventional angle-fixed nozzle spraying method, spraying can be performed while moving the spraying device according to the operation program, so know-how in setting the installation angle of the spray nozzle. Is not required, and spraying of spray agent is not In the shadow area and especially the area where the spray agent is to be sprayed carefully, the spray agent is intensively sprayed by local spray, so that the appropriate amount of spray agent is always sprayed on the entire mold cavity surface in an appropriate distribution. And efficient spraying can be performed in a short time. In addition, for each casting, an operation control program for specifying an operation trajectory and an operation speed of the mold spray robot, an attitude control program for specifying the operation content of the nozzle attitude control mechanism, and a spray to be supplied to each spray nozzle. By preparing a spray condition control program that specifies the set flow rate of the agent, etc., without adjusting the nozzle angle every time the mold is replaced as in the conventional fixed angle nozzle spray method, by preparing By simply switching the control program, the optimum spray condition can be easily reproduced, and the quality of the die-cast product becomes stable. In addition, since the amount of the spray agent used is reduced to a necessary minimum and the scattering amount is reduced, the working environment is improved, and the life of the mold is prolonged by reducing the thermal stress due to the overcooling of the mold.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a die casting machine according to an embodiment of the present invention.

FIG. 2 is a schematic side view of the mold spray robot according to the embodiment of the present invention.

FIG. 3 is a perspective view of a spray device according to the embodiment of the present invention.

FIG. 4 is a front view of a nozzle attitude control mechanism according to the embodiment of the present invention.

FIG. 5 is a side view of the nozzle attitude control mechanism according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram showing an operation sequence of the mold spray robot according to the embodiment of the present invention.

FIG. 7 is a schematic side view of a conventional fixed nozzle type mold spray robot.

FIG. 8 is a schematic side view of a conventional movable nozzle type mold spray robot.

[Explanation of symbols]

11A Fixed platen 11B Movable platen 12A Fixed mold 12B Movable mold 12C Core 100 Die casting machine 200 Mold spray robot 210 Rotary seat 210a Motor 220 First arm 230 Second arm 232 Robot wrist tip 240 Motor 250 Vertical axis 260 Spray Device 262 Spray head 264 Nozzle attitude control mechanism 266 Fixed spray nozzle 268 Movable spray nozzle 300 Control device 310 Robot controller 320 Offline programming device (personal computer) 330 Nozzle attitude control mechanism control device 340 Spray agent supply device 350 Die casting machine control panel

Claims (2)

[Claims] 1. A spray device having a spray nozzle is mounted on the tip of a robot wrist of an articulated robot or an orthogonal three-axis mechanism robot, and a spray agent supplied to the spray device by a spray agent supply device is supplied to a die casting machine. A method of spraying a mold spraying robot for spraying on a mold cavity surface, comprising: a fixed spray nozzle having one or more spray angles fixed, at least one set of spray nozzle attitude control mechanism, and spraying by the spray nozzle attitude control mechanism. A spray device composed of a movable spray nozzle whose angle can be controlled,
While moving by the articulated robot or the orthogonal three-axis mechanism robot in accordance with a preset operation program, the entire mold cavity surface is sprayed by the fixed spray nozzle, and the spray agent is sufficiently sprayed by the spray spray by the fixed spray nozzle. A spraying method for a mold spraying robot, wherein said movable spray nozzle sprays a shadowed portion that cannot be reached and a portion to be sprayed carefully. 2. A spray apparatus for a mold spray robot having a spray head attached to a tip end of a robot wrist of an articulated robot or an orthogonal three-axis mechanism robot and spraying a spray agent onto a mold cavity surface of a die casting machine. A fixed spray nozzle having at least one spray angle fixed thereto, at least one set of spray nozzle attitude control mechanism, a movable spray nozzle capable of controlling the spray angle by the spray nozzle attitude control mechanism, and the articulated robot. Or, a robot controller for controlling an orthogonal three-axis mechanism robot, a nozzle attitude control mechanism controller for controlling the attitude of the movable spray nozzle, and a spray agent for controlling supply of the spray agent to the fixed spray nozzle and the movable spray nozzle And a supply device. Spray apparatus of Lee robot.