JP2008030056A - Method and apparatus for feeding slurry - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the development of form collapsing and the breakage with slurry fed into an injection sleeve. <P>SOLUTION: A holding vessel 3 is held with a chuck 50 arranged at the tip end part of an arm in a multi-axes articulated robot, and the holding vessel 3 is approached to an injection sleeve 70 while avoiding a space receiving the limitation with a fixed platen 60, an injection frame 74 and an injection sleeve 70 with the approaching course avoiding the above devices 60, 74, 70. The bottom of the holding vessel 8 is swung up toward the front part of the injection and while approaching to the horizontal attitude, the horizontal vessel is shifted to just above a slurry feeding hole 72. The holding vessel 3 is shifted toward the front part of the injection and inclined so that the opening hole part of the holding vessel drifts downward, and the opening hole side end part So of the slurry S, is directed toward the direction faced with a plunger tip 78 and slidingly dropped by slidingly dropping the slurry S from the opening hole of the holding vessel 3 into the injection sleeve. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a charging method and a charging apparatus for slurry (semi-solid forming metal) to a molding machine.

  In recent years, a metal in a solid-liquid coexistence state, that is, a semi-solid metal (hereinafter referred to as a slurry) in a state in which a liquid phase and a solid phase coexist between a liquidus line and a solid phase line in a phase diagram is used as a material. Molding technology is drawing attention. For example, in the rheocast method, since the temperature of the slurry filled in the cavity is lower than that of the molten metal, the life of the mold is extended and the manufacturing cost is reduced. In addition, there is a low possibility that the gas in the cavity is caught in the slurry during casting, and the slurry after filling the cavity has a smaller amount of solidification shrinkage than the molten metal. A casting defect such as a shrinkage nest does not occur, and a high-quality product can be stably obtained. By the way, in the slurry processing supply apparatus described in Patent Document 1 that discloses such a technique, the molten metal pumped up from the holding furnace is made of stainless steel that is disposed in the slurry manufacturing apparatus while being electromagnetically stirred by the slurry manufacturing apparatus. After the hot water is supplied to the bottomed cylindrical holding container and further cooled and held for a certain time, a slurry is obtained. Then, the slurry generated in the holding container is supplied to the molding machine by operating the holding container with an articulated robot arm.

JP 2006-51518 A

  By the way, an injection frame for connecting an injection unit composed of an injection cylinder and an accumulator is fixed to a fixed platen that holds a fixed mold of the molding machine. It has a strong structure so that it can sufficiently withstand the impact during injection. A spherical depression is formed in a portion surrounded by the fixed platen and the injection frame to secure an injection area (slurry charging space), and a cylindrical injection sleeve projects horizontally from the depression. . Due to such an apparatus configuration, when the slurry in the holding container is charged into the slurry inlet, the space for moving the holding container is greatly limited by the fixed platen, the injection frame, and the injection sleeve itself into which the slurry is charged. It will be.

  On the other hand, when the slurry is thrown into the injection sleeve from the holding container, the opening side end of the slurry that has been oxidized by the slurry coming into contact with the air in the holding container faces the plunger tip. The oxidized portion of the slurry must be fastened to a so-called biscuit and prevented from flowing into the cavity. Also from this point, the approach path to the slurry inlet of the holding container and the approach posture are limited. In addition, when the slurry is thrown into the injection sleeve from the holding container, if the slurry is greatly deformed or broken, the air existing in the bent or broken space of the slurry flows into the cavity together with the slurry and fills the nest. It may form, or a slurry breakage part may form a discontinuous part in the product, causing a so-called hot water boundary defect. Therefore, it is necessary to skillfully manipulate the holding container to introduce the slurry so that the shape of the slurry put into the injection sleeve is maintained as much as possible by the holding container. However, it is an obstacle that the space for moving the holding container is largely limited by the fixed platen, the injection frame, and the injection sleeve.

  The present invention has been made in view of the above problems, and an object thereof is to provide an injection sleeve in an injection area of a molding machine in which a moving space of a holding container is limited by a fixed platen, an injection frame, and an injection sleeve. Thus, the slurry can be charged so that the shape of the slurry charged in the container is maintained as much as possible by the holding container, and a high-quality molded product is obtained.

In order to solve the above problems, the slurry charging method according to the present invention is a slurry that opens upward on a cylindrical wall of an injection sleeve that protrudes horizontally from a recess formed in a portion surrounded by a stationary platen and an injection frame. A charging method for charging slurry contained in a bottomed cylindrical holding container to a molding machine provided with a charging port,
Holding the holding container with a chuck provided at the tip of an arm of a multi-axis multi-joint robot with the opening of the holding container facing upward,
While holding the holding container close to the injection sleeve through an approach path that avoids the fixed platen, injection frame, and injection sleeve, the bottom of the holding container is swung up toward the front of the injection to approach a horizontal posture, Move it up,
Subsequently, the holding container is moved forward of the injection, and the holding container is inclined so that the opening of the holding container faces downward, and the slurry is slid down into the injection sleeve from the opening of the holding container. Let
Further, while avoiding contact with the fixed platen, the injection frame, and the injection sleeve, the holding container is moved obliquely upward while increasing the inclination angle at which the opening of the holding container faces downward or while maintaining the inclination angle. Then, after putting the entire slurry that slid down from the holding container into the injection sleeve and laying it forward in the injection,
The holding container is retracted from the injection sleeve by a retraction path that avoids the fixed platen, the injection frame, and the injection sleeve.

According to the present invention, the holding container is gripped by the chuck provided at the tip of the arm of the multi-axis articulated robot, and the holding container is moved by the multi-axis multi-joint robot by an approach path that avoids the fixed platen, the injection frame and the injection sleeve. By moving the holding container and the fixed platen, the injection frame, and the injection sleeve close to the injection sleeve and moving the holding container to a position immediately above the slurry inlet while swinging up the bottom of the holding container close to a horizontal posture. While preventing the interference, the opening-side end of the slurry, which has been oxidized by the contact of the slurry with the air in the holding container, can be directed toward the plunger tip.
Subsequently, the holding container is moved to the front of the injection, and the holding container is tilted so that the opening of the holding container faces downward, and the slurry is slid down from the opening of the holding container into the injection sleeve. While preventing interference between the container and the stationary platen, injection frame, and injection sleeve, the opening side end of the slurry that has been oxidized by the slurry contacting the air in the holding container is directed to face the plunger tip. Can be slid down.

Further, while avoiding contact with the fixed platen, the injection frame and the injection sleeve, increasing the inclination angle at which the opening of the holding container faces downward, or moving the holding container obliquely upward while maintaining the inclination angle. By putting the entire slurry sliding down from the holding container into the injection sleeve and putting it in front of the injection, there is a force to deform the slurry while preventing interference between the holding container, the fixed platen, the injection frame and the injection sleeve. The slurry can be charged so that it is prevented from being added to the slurry and the shape of the slurry charged in the injection sleeve is maintained as much as possible by the holding container.
Thereafter, the holding container is retracted from the injection sleeve in a retreat path that avoids the fixed platen, the injection frame, and the injection sleeve, thereby preventing the holding container from interfering with the fixed platen, the injection frame, and the injection sleeve, and the holding container to the injection sleeve. It can be made to evacuate and can shift to an injection process.

Further, in the present invention, the holding container is moved forward of the injection, and the holding container is inclined so that the opening of the holding container faces downward, and the slurry is injected into the injection sleeve from the opening of the holding container. When the sliding container is slid out, the holding container is caused to enter the inside of the injection sleeve from the slurry charging port, and the opening side peripheral portion of the holding container is brought as close as possible to the bottom surface of the inner wall of the injection sleeve. By tilting the holding container so that the opening of the holding container faces downward, it is possible to slide the slurry from the opening of the holding container and land the upper end of the slurry on the bottom of the inner wall of the injection sleeve. As long as the holding container is moved forward in the injection sleeve, it is desirable to draw the entire slurry to the bottom surface of the inner wall of the injection sleeve.
According to the present invention, the height difference between the holding container and the injection sleeve when the slurry is slid down into the injection sleeve from the opening of the holding container and the opening side end of the slurry contacts the bottom surface of the inner wall of the injection sleeve. Since it can be reduced as much as possible, the impact received by the slurry when the open end of the slurry contacts the bottom surface of the inner wall of the injection sleeve can be reduced as much as possible. Further, by moving the holding container in the injection sleeve as far as possible in the injection sleeve as much as possible, the slurry partially contacted with the bottom surface of the inner wall of the injection sleeve is moved from the holding container moving in the injection sleeve to the injection front. The entire shape of the slurry can be laid down in the injection sleeve in the injection sleeve while preventing the deformation of the slurry as much as possible while maintaining the shape molded by the holding container.

In the present invention, when holding the holding container with the chuck provided at the arm tip of the multi-axis articulated robot with the opening of the holding container facing upward, the arm tip of the multi-axis articulated robot is It is preferable that the holding container is gripped by a chuck having a chuck shape in which a central axis of the holding container is offset with respect to a rotation axis related to rotation control of the chuck provided.
According to this configuration, the holding container is moved closer to the injection sleeve, the bottom of the holding container is swung up to the front of the injection and moved to a position immediately above the slurry inlet, and further, the holding container is tilted. When the slurry is slid down into the injection sleeve from the opening of the holding container, the chuck opening / closing cylinder unit provided at the tip of the arm of the multi-axis articulated robot is located at a position offset from the axis of the injection sleeve. In other words, when the slurry is slid down by tilting the opening of the holding container downward, it is possible to approach the sleeve while avoiding interference between the chuck opening / closing cylinder unit and the injection sleeve.

  In order to solve the above problems, the slurry charging apparatus according to the present invention has an upward opening in a cylindrical wall of an injection sleeve that protrudes horizontally from a recess formed in a portion surrounded by a stationary platen and an injection frame. An input device for supplying slurry contained in a bottomed cylindrical holding container to a molding machine provided with a slurry inlet, and a multi-axis multi-joint robot provided with a chuck at an arm tip; With the opening of the holding container facing upward, the holding container is gripped by the chuck, and the holding container is brought close to the injection sleeve in an approach path that avoids the fixed platen, the injection frame, and the injection sleeve, and the holding container The bottom of the container is swung up to the front of the injection and brought close to the horizontal posture, and then moved to just above the slurry inlet, and then the holding container is moved to the front of the injection. The holding container is inclined so that the opening of the holding container faces downward, and the slurry is slid into the injection sleeve from the opening of the holding container, and further, the fixed platen, the injection frame, and the injection sleeve While avoiding the contact, increasing the inclination angle at which the opening of the holding container is directed downward, or moving the holding container obliquely upward while maintaining the inclination angle, the entire slurry slid down from the holding container, The multi-axis articulated joint including control logic for retracting the holding container from the injection sleeve in a retraction path that avoids the fixed platen, the injection frame, and the injection sleeve after being put into the injection sleeve and placed in front of the injection And a control means for the robot.

According to the present invention, the holding container is gripped by the chuck provided at the arm tip of the multi-axis articulated robot, and the space limited by the fixed platen, the injection frame and the injection sleeve is fixed by the multi-axis multi-joint robot. Move the holding container close to the injection sleeve by an approach path that avoids the platen, injection frame, and injection sleeve, and move the bottom of the holding container up to the front of the injection and move it directly above the slurry inlet while approaching the horizontal position. In this way, the opening side end of the slurry that has been oxidized by the slurry contacting the air in the holding container faces the plunger tip while preventing interference between the holding container and the stationary platen, the injection frame, and the injection sleeve. Can be directed to.
Subsequently, the holding container is moved to the front of the injection, and the holding container is tilted so that the opening of the holding container faces downward, and the slurry is slid down from the opening of the holding container into the injection sleeve. While preventing interference between the container and the stationary platen, injection frame, and injection sleeve, the opening side end of the slurry that has been oxidized by the slurry contacting the air in the holding container is directed to face the plunger tip. Can be slid down.

Further, while avoiding contact with the fixed platen, the injection frame and the injection sleeve, increasing the inclination angle at which the opening of the holding container faces downward, or moving the holding container obliquely upward while maintaining the inclination angle. By putting the entire slurry sliding down from the holding container into the injection sleeve and putting it in front of the injection, there is a force to deform the slurry while preventing interference between the holding container, the fixed platen, the injection frame and the injection sleeve. The slurry can be charged so that it is prevented from being added to the slurry and the shape of the slurry charged in the injection sleeve is maintained as much as possible by the holding container.
Thereafter, the holding container is retracted from the injection sleeve in a retreat path that avoids the fixed platen, the injection frame, and the injection sleeve, thereby preventing the holding container from interfering with the fixed platen, the injection frame, and the injection sleeve, and the holding container to the injection sleeve. It can be made to evacuate and can shift to an injection process.

Further, in the present invention, the control means of the multi-axis articulated robot moves the holding container forward of the injection, and tilts the holding container so that the opening of the holding container faces downward, and When sliding the slurry into the injection sleeve from the opening of the holding container, the holding container is caused to enter the inside of the injection sleeve from the slurry inlet, and the opening side peripheral portion of the holding container is as far as possible. After approaching the bottom surface of the inner wall of the injection sleeve, the holding container is tilted so that the opening of the holding container faces downward, so that the slurry slides down from the opening of the holding container, and the upper end of the slurry is injected. The holding container is moved forward in the injection sleeve as much as possible while landing on the bottom surface of the inner wall of the sleeve, and the entire slurry is moved to the injection sleeve. It is desirable to include a control logic to draw to the wall bottom.
According to the present invention, the slurry can be slid down from the opening of the holding container into the injection sleeve, and the height difference between the holding container and the injection sleeve when the opening side end of the slurry contacts the inner wall of the injection sleeve is possible. Since it can be reduced as much as possible, the impact received by the slurry when the open end of the slurry contacts the inner wall of the injection sleeve can be reduced as much as possible. In addition, by moving the holding container in the injection sleeve as far as possible in the injection sleeve as much as possible, the slurry partially touching the inner wall of the injection sleeve is held from the holding container that moves in the injection sleeve forward in the injection The entire shape of the slurry can be laid in the injection sleeve forward of the injection while preventing the deformation of the slurry as much as possible while maintaining the shape molded by the container.

In the present invention, the chuck may be a central axis of the holding container in a state in which the holding container is gripped with respect to a rotation axis related to rotation control of the chuck provided at an arm tip of the multi-axis articulated robot. It is desirable to have a chuck shape that offsets.
According to this configuration, the holding container is moved closer to the injection sleeve, the bottom of the holding container is swung up to the front of the injection and moved to a position immediately above the slurry inlet, and further, the holding container is tilted. When the slurry is slid down into the injection sleeve from the opening of the holding container, the chuck opening / closing cylinder unit provided at the tip of the arm of the multi-axis articulated robot is located at a position offset from the axis of the injection sleeve. Thus, when the slurry is slid down by tilting the opening of the holding container downward, the holding container can be moved while avoiding interference between the chuck opening / closing cylinder unit and the injection sleeve.

  Since the present invention is configured as described above, in the injection area of the molding machine in which the movement space of the holding container is limited by the fixed platen, the injection frame, and the injection sleeve, the shape of the slurry charged into the injection sleeve is as much as possible. The slurry can be charged so as to maintain the shape molded by the holding container. Therefore, a high quality molded product can be obtained.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. The slurry charging apparatus 1 according to the embodiment of the present invention can be used in the slurry manufacturing apparatus shown in FIG. The slurry manufacturing apparatus includes a hot water supply device 4 for supplying molten metal held at a predetermined temperature by a holding furnace 2 to a stainless steel bottomed cylindrical holding container 3 by a ladle 11, and a molten metal supplied to the holding container 3. A slurry generator 5 that generates metal into a solid-liquid coexisting slurry, a multi-axis articulated robot 6 that operates (handles) the holding container 3, and a holding container 3 that is emptied after the slurry is discharged into a water tank. A holding container cooling device 9 that is immersed in water stored in the container and cooled, and an inner surface of the holding container 3 cooled by the holding container cooling device 9 is washed and released to the inner surface of the washed holding container 3. Holding container cleaning spray device 10 for applying the agent, main control means 19 of the slurry production apparatus, holding container buffer 32, and control robot for instructing the multi-axis articulated robot 6 to perform predetermined handling. In which and a control unit 56 including a click. And the slurry injection | throwing-in apparatus 1 which concerns on embodiment of this invention is comprised by the multi-axis multi-joint robot 6 and the control means 56 which comprise a part of slurry manufacturing apparatus shown by FIG.
In addition, although the holding furnace 2 takes various forms according to a use condition, although it shows by FIG. 1, it is not contained in a slurry manufacturing apparatus. Further, the molding machine 7 and its control panel and operation panel are not included in the slurry manufacturing apparatus for the same reason.

The multi-axis multi-joint robot 6 is provided with a plurality of movable axes having six or more axes as shown in FIG. 2 in order to smoothly perform the slurry charging operation from the holding container 3 to be described later to the injection sleeve 70 of the molding machine 7. A joint robot is desirable. A chuck 50 for holding the holding container 3 is provided at the arm tip of the multi-axis multi-joint robot 6. As shown in FIG. 3, the chuck 50 is attached to the tip of the arm of the multi-axis multi-joint robot 6 via a rotation shaft 52 related to rotation control of the chuck 50. The chuck 50 is driven to open and close by a chuck opening / closing cylinder unit 54. Further, the chuck 50 is a chuck in which the central axis C ₃ of the holding container 3 in the state of holding the holding container 3 is offset without being aligned with the axis C ₅₂ of the rotating shaft 52 for the reason described later. It has a shape. This, the central axis C ₃ of the holding vessel 3, the offset amount of the axis C ₅₂ of the rotary shaft 52, a stationary platen 60 of the molding machine 7, the injection frame 74, in the injection area restricted to the space by the injection sleeve 70 In particular, the offset amount is set such that the holding container 3 can be handled appropriately while avoiding interference between the chuck opening / closing cylinder unit 54 and the injection sleeve 72.
The slurry feeding apparatus 1 according to the embodiment of the present invention is configured together with the multi-axis multi-joint robot 6 and the control means 56 including control logic for instructing the multi-axis multi-joint robot 6 to perform predetermined handling. Yes. In the example of FIG. 1, the control device 56 is connected to the main control means 19 of the slurry production apparatus via an input / output communication (interface) cable, and can be constituted by an electronic computer such as a personal computer.

  As shown in FIG. 1, the slurry generating apparatus 5 includes a holding container storage unit 12 in which the holding container 3 is mounted with the opening facing upward by operation of the robot arm 6 a, and the holding container mounted on the holding container storage unit 12. 3, molten metal is supplied by the ladle 11. And the slurry production | generation apparatus 5 starts the electromagnetic stirring of the molten metal supplied with the molten metal to the holding | maintenance container 3 with the ladle 11 at the same time, and the electromagnetic stirring of the molten metal is stopped after the hot water supply is completed. Thereby, it has the structure where the molten metal in the holding | maintenance container 3 is produced | generated by the slurry of a solid-liquid coexistence state. In this slurry manufacturing apparatus, the holding container 3 is taken out from the slurry generating apparatus 5 by the operation of the robot arm 6a, and the slurry is directly supplied (supplied) from the holding container 3 to the injection sleeve of the molding machine 7. Yes. In addition, the code | symbol 23 shown by FIG. 1 is a discharge bucket for discarding the slurry manufactured sequentially, while the molding machine 7 has stopped by trouble etc.

  As shown in FIG. 1, the holding container cleaning spray device 10 includes a cleaning position P1 (cleaning means), a heating position P2, and a spray position P3 (application means). Further, the holding container cleaning spray device 10 includes a turning table 24 that is formed in a disk shape and is turned and positioned around an axis. The turning table 24 includes three holding container bases that are formed in a cylindrical shape and are equally arranged around the axis (swivel axis) at an angle phase of 120 °. In the holding container cleaning spray device 10, the holding container 3 cooled by the holding container cooling device 9 is attached to the holding container base positioned at the cleaning position P1 with the opening facing downward by the operation of the robot arm 6a. In this state, the holding table 3 located at the cleaning position P1 is sequentially positioned at the heating position P2 and the spray position P3 by turning the turning table 24 around the axis by an angle of 120 °. .

  In the holding container cleaning spray device 10, first, after holding the air blow for a predetermined time, the holding container 3 is cleaned for a predetermined time by water spray and air blow. After the cleaning, the holding container 3 is monitored while monitoring the temperature of the holding container 3. The holding container 3 is cooled by air blowing until the temperature reaches a predetermined temperature. Accordingly, the temperature of the holding container 3 that has been processed (cleaning and cooling) at the cleaning position P1, that is, the holding container 3 heated (preheated) by the heating position P2, can be stabilized. In the heating position P2, the holding container 3 cleaned and cooled in the cleaning position P1 is heated (preheated) by a heater for a predetermined time so that the release agent is easily fixed toward the next spray position P3. . In the spray position P3, a release agent such as BN (boron nitride) sprayed from the nozzle is applied to the inner surface of the holding container 3 preheated by the heating position P2. Here, at the spray position P3, the temperature of the holding container 3 is monitored by the temperature sensor, and the main controller 19 determines that the temperature of the holding container 3 (measured value of the temperature sensor) is outside the set temperature range. In addition, an alarm is generated by the main controller 19.

  In addition, the code | symbol 32 shown by FIG. 1 is a holding container buffer apparatus with which the empty holding container 3 is mounted | worn, Comprising: The holding container 3 mounted in the holding container buffer apparatus 32 is sequentially carried out by the robot arm 6a. The slurry is sequentially supplied to the slurry manufacturing apparatus 1. P0 is a holding station in which the holding container 3 in which the slurry is generated in the slurry generating device 5 is transferred by the robot arm 6a and attached to the holder. In the holding station P0, the slurry in the holding container 3 is cooled and held by holding the holding container 3 for a predetermined time, whereby the solid phase ratio of the slurry generated by the slurry generating device 5 is further increased. Whether or not the holding station PO is used is selected depending on the type of molten metal, the size of the slurry, the operation cycle, and the like. In addition, the holding container 3 (holding container) is formed in a cylindrical shape having a concave bottom portion, and the plate thickness of the opening peripheral edge portion and the bottom portion is formed thinner than the plate thickness of other portions. As a result, the heat capacity of the opening periphery and bottom of the holding container 3 having a relatively high cooling rate is reduced, and the entire holding container 3 is cooled at a uniform cooling rate during cooling, and the temperature of the holding container 3 is made uniform. It has a structure.

  Next, a slurry manufacturing method will be described. Here, an example in which a 3 kg slurry holding container made of AC4C alloy is operated in a cycle of 50 seconds will be described. First, the holding container 3 having a release agent such as BN (boron nitride) applied to the inner surface at the spray position P3 is taken out of the holding container cleaning spray device 10 by the operation of the robot arm 6a so that the opening faces upward. It is attached to the holding container housing part 12 of the slurry generator 5. Next, a predetermined amount of molten metal in the holding furnace 2 is pumped up by the ladle 11 of the hot water supply device 4 to supply hot water to the holding container 3 (hot water supply step). And in the slurry production | generation apparatus 5, the molten metal of the holding | maintenance container 3 is electromagnetically stirred simultaneously with hot_water | molten_metal supply, and the slurry of a solid-liquid coexistence state is produced | generated in the holding | maintenance container 3 by the cooling holding | maintenance after hot-water supply completion (slurry production | generation process). . Next, the holding container 3 is moved from the slurry generator 5 to the slurry holding station P0 by the operation of the robot arm 6a, and the solid phase ratio of the slurry in the holding container 3 is increased at the slurry holding station P0.

  During the cooling and holding at the slurry holding station P0, the holding container 3 that has been cooled in the holding container cooling device 9 by the operation of the robot arm 6a is moved to the cleaning position P1 (cleaning means) of the holding container cleaning spray device 10. The holding container 3 which is placed with the opening facing downward on the positioned holding container base and further has a release agent applied to the inner surface at the spray position P3 by the operation of the robot arm 6a is removed from the holding container cleaning spray device 10. It is taken out and attached to the holding container accommodating portion 12 of the slurry generating apparatus 5 with the opening facing upward. Next, the slurry cooled and held in the slurry holding station P0 is supplied from the holding container 3 to the injection sleeve of the molding machine 7 by the operation of the robot arm 6a (slurry supply process). The holding container 3 emptied by discharging the slurry is mounted with the opening upward in the holding container holder 18 of the holding container cooling device 9 (cooling means) by operating the robot arm 6a.

  And the holding container 3 with which the holding container holder 18 was mounted | worn is cooled from 570-590 degreeC to 100-120 degreeC with the holding container cooling device 9 (cooling process). Next, the holding container 3 that has been cooled in the holding container cooling device 9 has its opening facing downward in the holding container table positioned at the cleaning position P1 (cleaning means) of the holding container cleaning spray device 10 by operating the robot arm 6a. Placed on.

  When the processing at the cleaning position P1 is completed, the turning table 24 is turned by 120 ° in a predetermined direction (clockwise direction in FIG. 1), and the holding container 3 is moved from the cleaning position P1 to the heating position P2. In the heating position P2, the holding container 3 is heated (preheated) by the heater for a predetermined time so that the release agent is easily fixed on the inner peripheral surface of the holding container in the next spray position P3 (coating means). .

  When the preheating of the holding container 3 is completed (the processing of the next holding container 3 at the cleaning position P1 is completed), the turning table 24 is turned by 120 ° in a predetermined direction (clockwise direction in FIG. 1), and the first holding is performed. The container 3 is moved from the heating position P2 to the spray position P3. In the spray position P3, the release agent sprayed from the nozzle is applied to the inner surface of the preheated holding container 3 (application process). Then, the holding container 3 to which the release agent is applied is taken out of the holding container cleaning spray device 10 by the operation of the robot arm 6a and is mounted on the holding container accommodating portion 12 of the slurry generating device 5 with the opening facing upward. The

Next, a procedure for charging the slurry into the injection sleeve 70 of the molding machine 7 in the slurry manufacturing apparatus including the slurry charging apparatus 1 according to the embodiment of the present invention will be described.
An injection frame 74 for connecting an injection unit composed of an injection cylinder and an accumulator is fixed to the fixed platen 60 that holds the fixed mold 58 of the molding machine 7 shown in FIG. Has a strong structure so as to sufficiently withstand the load at the time of mold clamping. A spherical recess 68 is formed in a portion surrounded by the fixed platen and the injection frame 74 in order to secure an injection area (a space for introducing a material such as slurry or molten metal). A cylindrical injection sleeve 70 projects. A slurry inlet 72 that opens upward is provided on the cylindrical wall of the injection sleeve 70. Due to the structure of the injection area, when the slurry in the holding container 3 is thrown into the slurry inlet 72, the space for moving the holding container 3 is the recess 68 of the fixed platen 60, the fixed platen 60, the injection frame 74, and the slurry. Is greatly limited by the injection sleeve 70 itself. In FIG. 2, the positions of the fixed platen 60, the injection frame 74, and the injection sleeve 70 that cause the movement space of the robot chuck 50, the chuck opening / closing cylinder unit 54, and the holding container 3 to be limited are shown as follows. The state seen from the horizontal direction with respect to the injection direction is shown.

The slurry manufacturing apparatus including the slurry charging apparatus 1 according to the embodiment of the present invention controls the multi-axis articulated robot 6 by the control means 56 when charging the slurry into the injection sleeve 70, and holds the holding container 3 as follows. Can be handled as follows.
First, in the slurry holding station P0 of FIG. 1, the holding container 3 in which the internal slurry has been cooled to an appropriate temperature is placed on the tip of the arm of the multi-axis articulated robot 6 with its opening facing upward. Grip with At this time, the chuck 50 may hold the opening side peripheral end of the holding container 3, and in this way, the robot arm 6 a and the stationary platen 60 move in the operation of moving the holding container as far forward as possible. The holding container 3 can be made to enter the recess 68 formed in the stationary platen 60 as much as possible within a range that does not interfere.

  Subsequently, as shown in FIG. 5A, the holding container 3 is injected while passing through an approach path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70 with the opening of the holding container 3 facing upward. Approach the sleeve 70. Then, as shown in FIGS. 5B and 5C, the bottom of the holding container 3 is swung up to the front of the injection, and as shown in FIG. 6D, the holding container 3 is brought close to the horizontal posture. Then, the holding container 3 is moved directly above the slurry inlet 72.

Subsequently, as shown in FIG. 6 (e), the holding container 3 is moved forward of the injection, and the holding container 3 is inclined so that the opening of the holding container 3 faces downward. The slurry S is slid down into the injection sleeve 70 from the opening. At this time, if necessary, as shown in FIG. 6 (e), the open end S _O of the slurry S, in a state of abutting on the surface of the plunger tip 78, as shown in FIG. 6 (f) In addition, by retracting the holding container 3 with respect to the slurry S (raising forward and obliquely forward), the sliding of the slurry S from the holding container 3 can be promoted while maintaining the inclined posture of the slurry S. is there. In this way, after the entire slurry S is discharged from the holding container 3, the slurry S falls down in front of the injection due to its own weight, and the slurry S can be laid in the injection sleeve 70.

  Furthermore, as shown in FIGS. 7G and 7H, while avoiding contact between the fixed platen 60, the injection frame 74 and the injection sleeve 70 with the holding container 3 and the arm 6a of the multi-axis multi-joint robot 6, While increasing the inclination angle at which the opening of the holding container 3 is directed downward, or while maintaining the inclination angle, the holding container 3 is moved obliquely upward, and the entire slurry S is slid down from the holding container 3, FIG. As shown in (i), the entire slurry S sliding down from the holding container 3 is put into the injection sleeve 70 while being laid in the injection front F (the axial front of the sleeve 70).

Thereafter, the holding container 3 is retracted 70 from the injection sleeve while passing through a retract path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70. Then, the plunger tip 78 is advanced, and the slurry S is filled into the mold cavity.
5 to 7, a point indicated by reference numeral 76 indicates a virtual rotation center axis of the chuck 50 of the multi-axis multi-joint robot 6 as a reference, but the robot arm in the above-described series of operations. The operation control of the tilt angle of the chuck 50 of 6a does not depend only on the virtual rotation center axis 76 but is realized by appropriately combining the rotation operations of all axes or at least some axes. The movement of the holding container 3 during the tilting operation of the holding container 3 and the discharging operation of the slurry S is controlled around the edge 3a of the cup, for example, the bottom position facing the sleeve 70 of the holding container circumference in FIG. The The reason is that the locus of the position of the holding container 3 is the most important in grasping the point of the discharge operation of the slurry S. When a rotation control program centered on the virtual rotation center axis 76 is constructed, This is because teaching work (programming) becomes difficult because the distance gap with the edge of a certain cup 3 is large. Therefore, normally, the operation control of FIGS. 5 to 7 is performed by converting into a coordinate system (tool system coordinates) with the edge 3a of the cup 3 as the center.

According to the embodiment of the present invention having the above configuration, the following operational effects can be obtained. In other words, the holding container 3 is gripped by the chuck 50 provided at the arm tip of the multi-axis multi-joint robot 6, and the space limited by the fixed platen 60, the injection frame 74 and the injection sleeve 70 by the multi-axis multi-joint robot 6. The holding container 3 is brought close to the injection sleeve 70 by an approach path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70 (FIG. 5A), and the bottom of the holding container 3 is swung up forward of the injection to take a horizontal posture. (FIG. 5 (b) to FIG. 6 (d)), the holding container 3 is interfered with the fixed platen 60, the injection frame 74, and the injection sleeve 70. while preventing the slurry S in the holding vessel 3 is an open end S _O slurry advanced oxidation in contact with air, who faces the plunger tip 78 You can turn in the direction.

Subsequently, the holding container 3 is moved forward of the injection, and the holding container is inclined so that the opening of the holding container faces downward (FIGS. 6 (e) and 6 (f)). by sliding the slurry S into the injection sleeve, the holding vessel 3, a stationary platen 60, while preventing the interference between the injection frame 74 and the injection sleeve 70, the open end S _O of the slurry S, the plunger tip 78 It can be slid down in the direction facing.

  Further, while avoiding contact with the fixed platen 60, the injection frame 74, and the injection sleeve 70, while increasing the inclination angle at which the opening of the holding container faces downward, or while maintaining the inclination angle, the holding container is inclined upward. By moving (FIGS. 7 (g) and (h)), the entire slurry S sliding down from the holding container 3 is put into the injection sleeve 3 and put in the injection front F (FIG. 7 (i)). The slurry S introduced into the injection sleeve 70 is prevented from applying a force to deform the slurry S while preventing interference between the holding container 3 and the stationary platen 60, the injection frame 74 and the injection sleeve 70. The slurry S can be charged so that the shape of the shape is maintained by the holding container 3 as much as possible.

  Thereafter, the holding container 3 is retracted from the injection sleeve 70 in a retreat path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70, whereby the holding container 3, the fixed platen 60, the injection frame 74, and the injection sleeve 70 are retreated. While preventing interference, the holding container 3 can be retracted from the injection sleeve 70 and the process can proceed to the injection process. Therefore, according to the embodiment of the present invention, the slurry S is greatly deformed, bent, or broken, so that the air existing in the bent portion or the damaged portion space of the slurry S flows into the cavity together with the slurry and fills the nest. It is possible to prevent formation of a discontinuous portion in the product due to the formation of a slurry breakage portion, which may cause a so-called hot water boundary defect, and a high-quality molded product can be obtained.

  In the embodiment of the present invention, when holding the holding container 3 with the chuck 50 provided at the tip of the arm of the multi-axis articulated robot 6 with the opening of the holding container 3 facing upward, By holding the opening side peripheral end, the holding container 3 is brought close to the injection sleeve 70 in an approach path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70 (FIG. 5A). While moving the bottom up to the front of the injection and moving it to just above the slurry charging port while approaching the horizontal position (FIGS. 5 (b) to 6 (d)), the holding container 3 is moved as far forward as possible. In the movement operation, the holding container 3 can be allowed to enter the recess 68 formed in the fixed platen 60 to the maximum extent within a range where the robot arm 6a and the fixed platen 60 do not interfere with each other. Therefore, the distance for moving the holding container 3 deeper in the depression of the fixed platen 60 can be earned sufficiently.

  In the embodiment of the present invention, when holding the holding container 3 with the chuck 50 provided at the arm tip of the multi-axis multi-joint robot 6 with the opening of the holding container 3 facing upward, the multi-axis multi-joint The central axis of the holding container 3 in a state where the holding container 3 is gripped with respect to a rotation axis (rotation axis of the chuck 50) 52 (FIG. 3) provided on the arm tip of the robot 6 and related to the rotation control of the chuck 50. The holding container 3 is held by a chuck 50 having a chuck shape to be offset. Therefore, the holding container 3 is moved closer to the injection sleeve 70 (FIG. 5A), and the bottom of the holding container of the injection sleeve 70 is swung up to the front of the injection and moved to a position just above the slurry inlet while moving close to the horizontal posture. (FIG. 5 (b) to FIG. 6 (d)), and when the holding container 3 is further inclined to slide the slurry into the injection sleeve from the opening of the holding container (FIG. 7 (g), (h) )), The chuck opening / closing cylinder unit 54 provided at the tip of the arm 6a of the multi-axis articulated robot 6 is located at a position offset from the axis of the injection sleeve 70, and the opening of the holding container 3 is inclined downward. Thus, when the slurry S is caused to slide down, it is possible to approach the sleeve 70 while avoiding interference between the chuck opening / closing cylinder unit 54 and the injection sleeve 70.

8 and 9 show a charging procedure suitable for charging a slurry S having a higher liquid phase ratio in the slurry charging apparatus 1 according to the embodiment of the present invention. For convenience of explanation, FIGS. 8 and 9 show the emission area more simplified than FIGS.
In this charging procedure, the holding station P0 of FIG. 1 is not used, and the holding container 3 is gripped by the chuck 50 provided at the tip of the arm of the multi-axis multi-joint robot 6 directly from the holding container receiving portion 12. Start the input work. Then, the holding container 3 is moved through the space restricted by the fixed platen 60, the injection frame 74, and the injection sleeve 70 by the multi-axis multi-joint robot 6 through the approach path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70. The procedure for approaching the injection sleeve 70 (FIG. 5A), and the procedure for moving the bottom of the holding container of the injection sleeve 70 forward to the injection and moving it directly above the slurry inlet while approaching the horizontal posture (FIG. 5 (b) to FIG. 6 (d)) is the same as the above-described procedure.

  Thereafter, the holding container 3 is moved to the front of the injection, and the holding container 3 is inclined so that the opening of the holding container 3 faces downward as close as possible to the extent that the slurry S can slide down, When the slurry S is slid out of the opening of the holding container 3 into the injection sleeve 70, the holding container 3 is slurried as shown by reference numerals (i), (ii), and (iii) in FIG. After entering the inside of the injection sleeve from the input port 72 and bringing the opening side peripheral portion of the holding container 3 as close as possible to the inner wall bottom surface 70a of the injection sleeve 70, reference numerals (iv), (v) in FIG. ), The holding container 3 is moved forward in the injection sleeve 70 as much as possible (that is, within a range in which the holding container 3 and the chuck 50 do not interfere with the inner wall of the injection sleeve 70 and the slurry inlet 72). Move and hold 3 openings by inclining the holding vessel 3 so as to face downward, the slurry S from the opening of the holding vessel 3 to be sliding into the injection sleeve 70 within.

  Then, as indicated by reference numeral (vi) in FIG. 9C, after the entire slurry S slides down from the holding container 3, it is held while avoiding contact with the fixed platen 60, the injection frame 74, and the injection sleeve 70. The holding container is moved obliquely upward while increasing the inclination angle at which the opening of the container 3 faces downward, or while maintaining the inclination angle, and is indicated by reference numerals (vii) and (viii) in FIG. The holding container 3 is raised from the injection sleeve 70 so that the Thereafter, the holding container 3, the fixed platen 60, the injection frame 74, and the injection sleeve 70 are retracted from the injection sleeve 70 by a retreat path that avoids the fixed platen 60, the injection frame 74, and the injection sleeve 70. The holding container 3 is retracted from the injection sleeve 70 while preventing the interference, and the process proceeds to the injection process.

According to this procedure, from the opening of the holding vessel 3 the slurry S by sliding into the injection sleeve 70 within, when the opening-side end S _O of the slurry S comes into contact with the inner wall bottom surface 70a of the injection sleeve 70, the holding container 3 and it is possible to reduce as much as possible height difference between the injection sleeve 70, possible when the opening-side end S _O of the slurry S comes into contact with the inner wall bottom surface 70a of the injection sleeve 70, the shock slurry is subjected Can be reduced as much as possible.
Further, by moving the holding container 3 forward in the injection sleeve 70 as much as possible, the slurry S partially contacting the inner wall of the injection sleeve 70 is moved forward in the injection sleeve 70. Pulling out from the holding container 3 so as to maintain the shape molded by the holding container 3, and laying the entire slurry S in the injection sleeve 70 toward the injection front F while preventing the deformation of the slurry S as much as possible. it can. Therefore, even in the case of a soft slurry rich in a liquid layer, the slurry S is greatly deformed, bent, or damaged, so that air existing in the bent portion or the damaged portion space of the slurry S flows into the cavity together with the slurry S. Forming a nest or forming a discontinuous part in the product and causing a slurry breakage, which can cause a so-called hot water boundary defect, and a high-quality molded product can be obtained. .

  As described above, the multi-axis articulated robot 6 for realizing the handling procedure of the holding container 3 when the slurry S is introduced into the injection sleeve 70 described with reference to FIGS. 5 to 7, 8 and 9. The control logic is stored in the control means 56. In addition, the control logic is such that the holding container 3 does not interfere with the fixed platen 60, the injection frame 74, and the injection sleeve 70, and the slurry S does not lose its shape and is moved from the holding container 3 into the injection sleeve 70. It is possible for the operator to program the operation process while appropriately operating the manual operation button of the multi-axis multi-joint robot 6 so as to be inserted.

It is a model top view of a slurry manufacturing apparatus provided with the slurry injection apparatus which concerns on embodiment of this invention, a molding machine, and a melting furnace. In the molding machine of FIG. 1, the positions of the fixed platen, injection frame, and injection sleeve that cause the movement space of the robot chuck, the cylinder unit for opening and closing the chuck, and the holding container of the slurry charging device are set in the injection direction. It is the schematic diagram which showed the state seen from the horizontal direction. FIG. 3 is a schematic diagram showing a chuck provided at an arm tip of the multi-axis multi-joint robot shown in FIG. 2. It is the plane schematic diagram which extracted and showed the slurry injection | throwing-in apparatus shown in FIG. 1, and the stationary platen vicinity part of a molding machine. It is explanatory drawing which shows the procedure which throws a slurry into the injection sleeve of a molding machine by the slurry throwing apparatus which concerns on embodiment of this invention. FIG. 6 is an explanatory diagram showing a procedure for introducing slurry into the injection sleeve of the molding machine, following FIG. 5. FIG. 7 is an explanatory diagram illustrating a procedure for introducing slurry into the injection sleeve of the molding machine, following FIG. 6. In the slurry injection apparatus which concerns on embodiment of this invention, it is explanatory drawing which shows the injection | throwing-in procedure suitable for inject | pouring the slurry with a high liquid phase ratio into the injection sleeve of a molding machine. FIG. 9 is an explanatory diagram showing a charging procedure suitable for charging a slurry having a high liquid phase ratio into the injection sleeve of the molding machine following FIG. 8.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1: Slurry injection apparatus, 3: Holding container, 6: Multi-axis articulated robot, 7: Molding machine, 19: Main control apparatus, 50: Chuck, 52: Rotating shaft, 56: Control means, 60: Fixed platen, 68 : Depression, 70: injection sleeve, 72: slurry inlet, 74: injection frame, 78: plunger tip, S: slurry

Claims (6)

Holds a cylindrical shape with a bottom against a molding machine provided with a slurry inlet opening upward on the cylindrical wall of the injection sleeve that protrudes horizontally from the recess formed in the part surrounded by the fixed platen and injection frame A charging method for charging slurry contained in a container,
Holding the holding container with a chuck provided at the tip of an arm of a multi-axis multi-joint robot with the opening of the holding container facing upward,
While holding the holding container close to the injection sleeve through an approach path that avoids the fixed platen, injection frame, and injection sleeve, the bottom of the holding container is swung up toward the front of the injection to approach a horizontal posture, Move it up,
Subsequently, the holding container is moved forward of the injection, and the holding container is inclined so that the opening of the holding container faces downward, and the slurry is slid down into the injection sleeve from the opening of the holding container. Let
Further, while avoiding contact with the fixed platen, the injection frame, and the injection sleeve, the holding container is moved obliquely upward while increasing the inclination angle at which the opening of the holding container faces downward or while maintaining the inclination angle. Then, after putting the entire slurry that slid down from the holding container into the injection sleeve and laying it forward in the injection,
A slurry charging method, wherein the holding container is retracted from the injection sleeve through a retreat path that avoids the fixed platen, the injection frame, and the injection sleeve. When the holding container is moved forward and the holding container is tilted so that the opening of the holding container faces downward, and the slurry is slid out of the opening of the holding container into the injection sleeve. In addition,
After allowing the holding container to enter the inside of the injection sleeve from the slurry charging port, and making the opening side peripheral portion of the holding container as close to the inner wall bottom surface of the injection sleeve as possible,
By tilting the holding container so that the opening of the holding container faces downward, it is possible to slide the slurry from the opening of the holding container and land the upper end of the slurry on the bottom of the inner wall of the injection sleeve. 2. The slurry charging method according to claim 1, wherein the holding container is moved forward in the injection sleeve as much as possible to draw the entire slurry to the bottom surface of the inner wall of the injection sleeve. When holding the holding container with the chuck provided at the arm tip of the multi-axis articulated robot with the opening of the holding container facing upward, the chuck of the chuck provided at the arm tip of the multi-axis articulated robot 3. The holding container is gripped by a chuck having a chuck shape in which a central axis of the holding container is offset with respect to a rotation axis related to rotation control. The slurry charging method described. Holds a cylindrical shape with a bottom against a molding machine provided with a slurry inlet opening upward on the cylindrical wall of the injection sleeve that protrudes horizontally from the recess formed in the part surrounded by the fixed platen and injection frame A charging device for charging slurry contained in a container,
A multi-axis multi-joint robot with a chuck at the arm tip;
With the opening of the holding container facing upward, the holding container is gripped by the chuck, and the holding container is brought close to the injection sleeve in an approach path that avoids the fixed platen, the injection frame, and the injection sleeve, and the holding container The bottom of the container is swung up to the front of the injection and moved close to a horizontal posture, and then moved to the position immediately above the slurry inlet, and then the holding container is moved to the front of the injection, and the opening of the holding container is downward The holding container is inclined so as to face the slurry, and the slurry is slid down into the injection sleeve from the opening of the holding container, and further, while avoiding contact with the fixed platen, the injection frame and the injection sleeve, the holding container The holding container is moved obliquely upward while increasing the inclination angle at which the opening of the opening faces downward or while maintaining the inclination angle, and slides down from the holding container. And a control logic for retracting the holding container from the injection sleeve in a retreat path that avoids the fixed platen, the injection frame, and the injection sleeve after the entire slurry is put into the injection sleeve and placed in front of the injection. And a slurry injection device comprising a control means for the multi-axis multi-joint robot. The control means of the multi-axis multi-joint robot moves the holding container forward of injection, and inclines the holding container so that the opening of the holding container faces downward, and slurry from the opening of the holding container When sliding into the injection sleeve,
After allowing the holding container to enter the inside of the injection sleeve from the slurry charging port, and making the opening side peripheral portion of the holding container as close to the inner wall bottom surface of the injection sleeve as possible,
By tilting the holding container so that the opening of the holding container faces downward, it is possible to slide the slurry from the opening of the holding container and land the upper end of the slurry on the bottom of the inner wall of the injection sleeve. 5. The slurry charging apparatus according to claim 4, further comprising control logic that moves the holding container forward in the injection sleeve to draw the entire slurry to the bottom surface of the inner wall of the injection sleeve. The chuck has a chuck shape in which a central axis of the holding container is offset with respect to a rotation axis related to rotation control of the chuck provided at an arm tip of the multi-axis articulated robot. 6. The slurry charging device according to claim 4, wherein the slurry charging device is provided.

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