JP2001287009A - Spraying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency of a die casting by surely applying releasing agent, etc., on the forming surface to be applied in a die and shortening a casting cycle. SOLUTION: The spraying device is provided with robot hands 10 as a toggle mechanism, provided with projected claws 14 for holding a work 70 at the tip part and plural spraying nozzles 17 locally possible to atomize the releasing agent, etc., and a control shaft 30 connected with the robot hands 10 for controlling the robot hands 10. Further, this spraying device has the mechanism, with which the control shaft 30 is controlled with a first piston 32 and a second piston 34, and a first arm 11 and a second arm 13 constituted of the robot hands 10, are bent by advancing/retreating the control shaft 30 to decide the spouting direction of the spraying nozzles 17 matched to the shape of the forming surface to be applied in the die, and the releasing agent is applied and also, the work 70 is held with the projected claws 14 at the tip part of the second arm 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spray apparatus capable of taking out and holding a formed work, changing the spray direction of a spray nozzle to a mold forming surface as appropriate, and improving the efficiency of a die casting operation process.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 7, injection (spraying) of a release agent 107 or the like to a mold has been performed by a spray nozzle 103 having a fixed injection direction. The application of the release agent 107 will be described. A fixed mold 101 and a movable mold 102 constituting a mold are arranged with the mold opened. An arm 108 is attached to the control device 110, and a spray body 104 is attached to the tip of the arm 108, and the spray body 104 has mold forming surfaces 105 and 106.
A number of spray nozzles 103 are attached to both sides according to the shape of. Here, the control device 110 is the arm 1
The control of the forward / backward movement of 08 and the injection of the release agent 107 are performed. To actually apply the release agent 107 or the like, first, the spray main body 104 is moved to the opened fixed mold 101 and the movable mold 10.
Between the two. Then, fixed mold 101 and movable mold 1
The release agent 107 and the like 107 are simultaneously sprayed from all the spray nozzles 103 toward the respective mold forming surfaces 105 and 106 of No. 02. At this time, the drive unit 110 moves the spray main body 104 to necessary portions of the molding surfaces 105 and 106 to inject the release agent 107 and the like.
08 is applied to the entirety of the mold forming surfaces 105 and 106 with the release agent 107 or the like. Further, the completed work is taken out of the mold by a work holding device (not shown) attached to the arm 108, and the work is transported to another place (a temporary mounting table or the like). Then arm 108
The work gripping device attached to the mold is removed, and the spray body 104 is attached to the arm 108 again, and the mold forming surface 10 is
A release agent 107 was sprayed on 5,106.

[0003]

SUMMARY OF THE INVENTION As described above, the release agent 1 and the like 1
07 is sprayed for a predetermined time and a number of spray nozzles 10
The mold release agent 107 and the like 107 were simultaneously ejected from No. 3. For this reason, the release agents 107 and the like cause mutual interference, and the mold molding surfaces 105 and 10 on which most of the release agents 107 are to be applied.
There was a case where it scattered without arriving at 6. This not only wastes the release agent 107 and the like, but also uniformly releases the release agent 1 and the like evenly over the entire surfaces of the mold forming surfaces 105 and 106.
07 cannot be applied. Conversely, if it is desired to apply the coating evenly and sufficiently, the release agent 107 or the like must be sprayed more than necessary, which further wastes the release agent 107 or the like. Further, a large amount of the mold release agent 107 is applied to the mold molding surfaces 105 and 106 that are not desired to be applied, thereby disturbing the balance of the mold temperature and deteriorating the working environment. As a result, the casting cycle was delayed due to excessive cooling of the mold in association with the extension of the spray time. In particular, it is difficult to incline to an optimum angle at which the mold release agent 107 can be applied to the mold forming surfaces 105 and 106 on which the spray main body 104 is to be applied in a narrow mold opening size.

Further, a large number of spray nozzles 103 are used for a spray body 104, and these spray nozzles 103 are used.
Are arranged at optimal positions according to the shapes of the mold forming surfaces 105 and 106. Therefore, mold forming surface 1
If the shapes of the nozzles 05 and 106 change, the number and arrangement of the spray nozzles 103 to be used must be rearranged in an optimum state. However, there are many spray nozzles 103,
Since the arrangement has to be set while conducting experiments many times, the setting operation is very complicated. Conventionally,
A step of exchanging the work holding device and the spray main body 104 and the like are required, and the efficiency of die casting has been reduced.

Accordingly, the present invention has been made in view of the above-described various existing circumstances, and changes the injection direction of a spray nozzle in accordance with the shape of a mold forming surface to form a mold to be applied. A mold release agent, etc. can be applied to the surface without fail, and the completed work is removed from the mold, eliminating the process of exchanging the work holding device and spray body when applying the mold release agent, etc. to the mold molding surface. The aim is to improve the work efficiency of die casting by shortening the work time.

[0006]

According to the present invention, there is provided a robot hand having a plurality of spray nozzles capable of locally spraying a release agent or the like, and a robot hand having a plurality of spray nozzles. The configuration includes a work holding mechanism provided at the tip, a control member arranged in a straight line for controlling the robot hand, and an outer frame for storing the control member. The robot hand includes a pair of first arms connected to the tip of the control member, a pair of second arms connected to the first arms, respectively, and swinging at the tip of the outer frame. The control member comprises a spray nozzle provided at the end of the second arm and a projection claw provided at the end of the second arm. The control member includes a first piston connected to a cylinder connected to a robot arm at the end, and a first piston for controlling the first piston. It can be configured to include two pistons. Further, the work holding mechanism comprises a projection claw provided at the tip of each of the opposed second arms.

[0007] In the spray device according to the present invention configured as described above, the operation of the robot hand is controlled by the control member. Robot hand (toggle mechanism)
Is used, the spray direction of the release agent or the like of the plurality of spray nozzles provided in the robot hand is changed. By changing the spray direction of the spray nozzle in this way, the spray direction of the spray nozzle changes according to the shape of the mold forming surface to be applied, and the release agent or the like sprayed from the spray nozzle is reliably applied to the mold forming surface. Can be applied. The tip of the robot arm has a work holding function for taking out and holding the work formed by the mold. The robot arm has a pair of protruding claws for holding the work at the paired ends, and when the robot arm holds the work, the protruding claws grip the work. The control members for controlling the robot arm are all in the outer frame, and the outer frame itself is connected to a so-called robot for die-casting work. , A first piston, a second piston, and the like are operated, thereby controlling the robot arm.

The cylinder, the first piston and the second piston of the control member for controlling the robot arm are arranged in a straight line. The cylinder is connected to a connection part (A) which is the base of the robot arm. The cylinder is the first
The cylinder is connected to a first piston that reciprocates in the compartment, and the cylinder also reciprocates following the reciprocation of the first piston. The spray direction of the spray nozzle provided on the robot arm changes due to the reciprocating motion of the cylinder. Second
There is a second piston in the compartment, responsible for controlling the first piston. Specifically, the second piston has a mechanism for finely adjusting the movement of the first piston. The second piston is not connected to the first piston and is shorter than the first piston.

In the robot arm of the present invention, a toggle mechanism is constituted by the first arm and the second arm which are paired. That is, A, B, and C shown in FIG. 1 are fulcrums of the configuration of the robot arm. A is a joint (connection) point between the cylinder and the first arm, and is a fulcrum where the pair of first arms is opened. B is a connection point (arm connection portion) between the first arm and the second arm, and is a fulcrum at which the first arm and the second arm open. C is a fulcrum of the second arm, and the second arm itself swings around C as a fulcrum. As a result, the forward / backward movement of the fulcrum A is doubled the opening / closing force of the tip of the second arm as compared with the forward / backward force of the cylinder for moving the fulcrum A back and forth, and the work is strongly and securely gripped. Further, the spray direction of the spray nozzle provided on the second arm also changes. That is, by changing the bending angle of the second arm of the robot arm in accordance with the shape of the mold forming surface, the optimal spray direction along the front and rear of the spray nozzle, and the holding interval, angle, and the like for the work are determined.

[0010] Further, the projection claw, which is a work holding mechanism, is attached to the robot by an outer frame so that the work can be easily gripped. It is configured to rotate and bend at a predetermined angle. That is, the outer frame that stores the robot arm and the control member is attached to a robot that is disposed on the side of the mold and moves forward and backward with respect to the mold. As the robot moves forward and backward, and bends at a predetermined angle, it adjusts the movement of the injection direction,
It is possible to adjust the grip angle when taking out the work. With such a configuration, the work formed by the mold can be gripped, and the release agent or the like can be immediately applied to the mold forming surface from the spray nozzle.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the present invention will be described below. As shown in FIG. 1, a spray device 1 comprises a control chamber 2 and a piston compartment 3. Are connected to a robot 75 for die-casting work by an outer frame 4 storing these. On the control room 2 side, a robot arm 10 and a control shaft 30 which is a cylinder
A support member 19 that slides and supports the guide member 19 is disposed. The robot arm 10 includes a pair of a first arm 11 and a second arm 13. One ends of the two first arms 11 are connected to each other at a connecting portion 12 (fulcrum A) to form a pair, and the connecting portion 12 is pushed or pulled by the control shaft 30 to form a pair. The first arm 11 can be opened and closed. The other end of the first arm 11 is connected to the second arm 13 at an arm connecting portion 16 (fulcrum B). The second arm 13 is swingably supported at a fulcrum 15 (fulcrum C) of the second arm 13 itself by a support base 20 provided at the tip of the outer frame 4. Outside the second arm 13, there is provided an injection port 18 to which a spray nozzle 17 and a supply pipe for supplying a release agent 83 to the spray nozzle 17 are connected. Accordingly, the release agent 83 or the like 83 sent to the injection port 18 is ejected from the spray nozzle 17 through the connection portion. Further, in the present embodiment, the spray nozzle 17 and the supply port 18 are constituted by two sets, that is, four in total, but the present invention is not limited to this constitution.

A second arm 13 is provided at the tip of the second arm 13.
A projection claw 14 protruding to the side of itself is attached. The projection claw 14 is a work holding mechanism for taking out and carrying the work 70 completed by the mold. More specifically, the mechanism is such that the work 70 is carried by being sandwiched between the projection claws 14 of the paired second arms 13 (see FIGS. 2, 4, and 5). At that time, the robot 7
The rotation of the predetermined angle 5 rotates the robot arm 10, the work holding mechanism itself, and the like by a predetermined angle, so that the gripping posture can be controlled.

The piston compartment 3 in the outer frame 4 is separated from the control chamber 2 by a partition member 60. The partition member 60 has the shape of a hollow member, and is provided with a hollow hole 61 through which the control shaft 30 and the first piston 32 move back and forth. The control shaft 30 and the first piston 32 are
It is connected at a connection point 31 to control 0. The first compartment 36 is provided adjacent to the partition member 60. The first piston 32 is in the first compartment 36 and will reciprocate therein. A first supply port 40 and a second supply port 41 are provided near the ends of the first compartment 36 respectively. The first supply port 40 and the second supply port 41
, A working fluid such as compressed air for driving the first piston 32 is injected from the robot 75 side, for example. Although air is used in the present embodiment, the present invention is not particularly limited to this.

A second compartment 38 is provided adjacent to the first compartment 36. The second piston 34 is in the second compartment 38 and reciprocates therein. A third supply port 42 is provided near the end of the second compartment 38, and a medium that is a working fluid such as compressed air for driving the second piston 34 is injected from the robot 75 side. Although air is used in the present embodiment, the present invention is not particularly limited to this.

A control shaft 30, which is a cylinder, is supported by a support member 19 formed by a support rod connected between opposing side walls in the outer frame 4 having a substantially rectangular cylindrical cross section. It is slidably supported along the line.

Next, the operation of the spray device 1 according to the present embodiment will be described. The outer frame 4 is connected to, connected to, and attached to the tip of a robot 75 that moves forward and backward to take out the work 70 from the mold. As the robot 75 advances and retreats, the robot arm 10 is transported to the vicinity of the mold party surface (the joint surface between the fixed mold and the movable mold) 85 of the mold (see FIG. 5). The surplus portion 71 of the cast work 70 protrudes from the mold party surface 85 in a biscuit-like shape, and is gripped by the projection claw 14 (work holding mechanism) at the tip of the second arm 13 of the robot arm 10. . That is, as shown in FIG. 4, the projection claw 14 at the tip of the robot arm 10 grips the biscuit-shaped surplus portion 71. At the time of gripping, the control for the robot arm 10 also differs depending on the size of the surplus portion 71. When the surplus portion 71 is large as in the present embodiment, the control shaft 30 is set to the retreat position by supplying air to the second supply port 41 and the third supply port 42, and the projection claws 14 are separated from each other. So that it is greatly expanded. When the surplus portion 71 is small, the first piston 32 is pushed toward the partition member 60 in the first compartment 36 by supplying air to the second supply port 41. Then, the control shaft 30 is also pushed and the
The arms 11 are opened, and the arm connecting portion 16 moves to the front end side of the outer frame 4. At this time, the second arms 13 of the robot arm 10 are in a horizontal state in which the respective second arms 13 are parallel to the control axis 30, as shown in FIG. When the control shaft 30 is further advanced, as a result, the first arm 11 and the second
The arm 13 forms an acute angle, and as the paired second arms 13 approach each other, the projection claws 14 incline and approach each other. As shown in FIG. 3, a small work can be gripped if the distance between the projection claws 14 is maintained. At this time, when the second arm 13 is brought close to each other by the advancement of the control shaft 30, a strong clamping force is generated by the boosting action of the toggle mechanism, and the excessive portion 71 is sandwiched by the strong force, and the robot 75 is held while holding the excess portion 71. The work 70 is transported to the temporary storage place.

Next, the change of the injection direction of the release agent 83 will be described with reference to FIG. As the robot 75 advances and retreats, the spray device 1 enters and is arranged in the opened gap between the movable mold 81 and the fixed mold 82 of the mold. The movable mold (side) 81 has a convex shape and the fixed mold (side) 82 has a concave shape.
5 shows a situation in which a release agent or the like 83 is applied to an inclined portion that goes up a convex portion of the movable mold 81. In this case, air is supplied to the first supply port 40 to push the first piston 34 back toward the second compartment 38. As a result, the control shaft 30 is pushed back together with the first piston 34. Then, the connecting part 12 (fulcrum A), which is the base of the robot arm 10 itself, is pushed back, and the second arm 13 is pulled in the direction of the coupling part 12 from the fulcrum C of the second arm. 1st arm 1
The first arm 13 and the second arm 13 are substantially in a straight line, and the second arms 13 are at an acute angle and expand outward (see FIG. 1). Thus, the spray direction of the spray nozzle 17 is determined. In order to inject the release agent 83 or the like to the inclined portion in this manner, the supply direction of the air to the first supply port 40 is adjusted according to the inclination of the inclined portion, and the ejection direction of the spray nozzle 17 is determined. become. Further, in FIG. 6A, the spraying of the release agent 83 from the spray nozzle 17 is performed from only one side, but the spraying of the release agent 83 from the spray nozzles 17 on both sides can also be performed.

FIGS. 6B and 2 show a situation in which a release agent or the like 83 is applied to a flat surface (a case in which the release agent 83 is applied perpendicularly to the mold forming surface). In this case, the spray nozzle 17
Is arranged in parallel with the mold forming surface to be applied. Specifically, air is supplied to the first supply port 40 to move the first piston 32 to the second compartment 38 side. Then, air is supplied to the third supply port to push the second piston 34 into the first piston 3.
2 is brought into contact with the second piston 34. As a result, the control shaft 30 moves forward and pushes the robot arm 10 to the front side of the outer frame 4, and the angle between the first arms 11 widens. Further, the second arm 13 is in a horizontal direction with the fulcrum C as a fulcrum (see FIG. 2). As a result, the second arms 13 are parallel to each other, the spray direction of the spray nozzle 17 is determined, and the release agent 83 or the like is sprayed. The release agent 83 and the like 83 are sprayed from the spray nozzles 17 on both sides, and the entire flat surface of the mold forming surface to be applied is applied.

FIGS. 6C and 3 show a situation in which a release agent or the like 83 is applied to an inclined portion of the movable mold 81 that goes down the convex portion. In this case, the robot arm 10 may be set so that the angle between the first arm 11 and the second arm 13 in the arm connecting portion 16 is an acute angle. In particular,
By supplying air from the second supply port and moving the first piston 32 in the direction of the partition member 60 in the first compartment 36,
The control shaft 30 pushes the robot arm 10 further forward. As a result, the space between the first arms 11 expands and the legs are opened.
With this operation, the second arm 13 moves the arm connecting portion 16 (B) outward of the outer frame 4 with the fulcrum C as a fulcrum. As a result, the first arm 11 and the second arm 13 form an acute angle, and narrow the second arms 13 inward (FIG. 3).
reference). As a result, the spray direction of the spray nozzle 17 is determined in a direction beyond the front side of the outer frame 4. Thus, the spray direction of the spray nozzle 17 becomes optimal with respect to the mold forming surface of the movable side 81 of the inclined portion descending from the convex shape, and the inclined portion to be applied changes as the spray device 1 moves. , Which is adjusted by supplying air to the second supply port 41 to cope with the situation.

[0020]

According to the present invention, the spray direction of the spray nozzle can be determined according to the shape of the mold surface to be coated. Therefore, it is not necessary to apply it to the molding surface of the mold that should not be applied, and it is not necessary to uselessly spray a large amount of release agent. Further, since the work holding mechanism is provided at the tip of the robot arm having the spray nozzle, it is possible to take out the work from the mold and apply the release agent or the like to the mold forming surface without interruption. As a result, the entire casting cycle can be shortened, and the working efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a side view showing an opened state of a robot arm of a spray device according to an embodiment of the present invention.

FIG. 2 is a side view showing a horizontal state of a robot arm of the spray device according to the embodiment of the present invention and holding a workpiece.

FIG. 3 is a side view showing a closed state of a robot arm of the spray device according to the embodiment of the present invention.

FIG. 4 is a front view when the spray device according to the embodiment of the present invention is gripping a work.

FIG. 5 is a plan view of the spray device according to the present invention when a workpiece on a mold party surface is being gripped.

FIG. 6 is a side view showing the state of application of a release agent or the like to a molding surface of a spray device according to the present invention. (A) is a side view showing a situation in which a release agent or the like is applied to an inclined portion going up a convex portion. (B) is a side view showing a situation where a release agent or the like is applied to a flat surface. (C) is a side view showing a situation in which a release agent or the like is applied to the inclined portion descending the convex portion.

FIG. 7 is a sectional view of a conventional spray device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Spray apparatus 2 ... Control room 3 ... Piston compartment 4 ... Outer frame 10 ... Robot arm 11 ... 1st arm 12 ... Connection part (fulcrum A) 13 ... 2nd arm 14 ... Projection claw 15 ... 2nd arm fulcrum (C) 16 ... arm connecting part (fulcrum B) 17 ... spray nozzle 18 ... injection port 19 ... support member 20 ... support base 30 ... control shaft 31 ... connection point 32 ... first piston 34 ... second piston 36 ... first Compartment 38 ... Second compartment 40 ... First supply port 41 ... Second supply port 43 ... Third supply port 60 ... Partition member 61 ... Hole hole 70 ... Work 71 ... Biscuit-like surplus portion 81 ... Movable mold (side) ) 82: fixed mold (side) 83: mold release agent 101: fixed mold 102: movable mold 103: spray nozzle 104: spray body 105: mold molding surface 106: mold molding surface 107: mold release agent, etc. 108: A Beam 110 ... control device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B25J 15/08 B25J 15/08 E 4F202 B29C 33/58 B29C 33/58 // B05C 13/00 B05C 13 / 00 F term (reference) 3F061 AA01 BA03 BA09 BB03 BC09 BD01 BE06 DB02 DB03 DC06 4D075 AA01 AA37 CA07 DA19 DA29 4E094 CC55 4F035 AA04 BC02 4F042 AA01 AB00 DF07 DF32 EA03 4F202 AR20 CA30 CM83

Claims (4)

[Claims] 1. A robot hand having a plurality of spray nozzles capable of locally spraying a release agent or the like, a work holding mechanism provided at a tip of the robot hand, and a straight line for controlling the robot hand. A spray device comprising: a control member; and an outer frame for storing the control member. 2. A robot hand, comprising: a pair of first arms connected to a tip of a control member; a pair of second arms connected to each of the first arms and swinging at a tip of an outer frame; 2. The spray device according to claim 1, comprising a spray nozzle provided on the second arm and a projection claw provided on a tip of the second arm. 3. A control member comprising: a first piston connected to a cylinder to which a robot arm is connected at a tip;
3. The spray device according to claim 1, further comprising a second piston for controlling the first piston. 4. The spray device according to claim 1, wherein the work holding mechanism comprises a projection claw provided at a tip of each of the opposing second arms.