JP2017159306A - Metal feeder for making machine and making machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a metal feeder for a making machine which can reduce an error of a detected pitch angle of a ladle caused by a transfer mechanism intervening between an electric motor and the ladle.SOLUTION: A metal feeder 1 of a die casting machine 101 comprises: an arm 5 holding a ladle 3 at a tip; an electric motor 21 for ladle located on the bottom side of the arm 5; a driving transfer mechanism 23 provided on the arm 5 for transmitting displacement caused by the electric motor for ladle 21 to the ladle 3 and turning the ladle 3 around a horizontal metal feeding shaft R1; and a ladle displacement detector 39 for detecting a displacement caused by transmitting of the displacement around the metal feeding shaft R1 of the ladle 3.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a hot water supply device for a molding machine and a molding machine. The molding machine is, for example, a die casting machine.

  As a hot water supply device that supplies molten metal (a molten metal material) to an injection sleeve of a molding machine, a device that pumps out molten metal from a molten metal furnace using a ladle and pours the molten metal that is pumped out into the injection sleeve is known (for example, Patent Document 1). ). The ladle is inclined at a predetermined angle when the molten metal in the molten metal furnace is pumped out, so that a sufficient amount of molten metal necessary for one shot is measured.

  Such a hot water supply device has, for example, a ladle, an arm holding the ladle at the tip, an electric motor located on the base side of the arm, and a transmission mechanism that is provided on the arm and transmits the rotation of the electric motor to the ladle. doing. That is, the ladle is tilted when the rotation of the electric motor is transmitted by the transmission mechanism. In such a hot water supply apparatus, the inclination angle of the ladle is indirectly detected by an encoder that detects the rotation of the electric motor.

JP 2003-181616 A

  In the technique as described above, the rotation of the electric motor (rotation detected by the encoder) and the rotation of the ladle may be deviated. The cause is, for example, backlash of the transmission mechanism or thermal deformation of the transmission mechanism. If the rotation of the electric motor and the rotation of the ladle are deviated, the ladle cannot be accurately positioned at a desired inclination angle, and the amount of hot water supplied to the injection sleeve varies. The variation in the amount of hot water affects, for example, the pressurization curve of the molten metal, and consequently affects the quality of the molded product.

  Accordingly, there are provided a hot water supply apparatus and a molding machine for a molding machine capable of reducing an error in a detected value of a tilt angle of the ladle (displacement around the pouring axis) caused by a transmission mechanism interposed between the electric motor and the ladle. It is preferable.

  A hot water supply apparatus according to an aspect of the present invention includes an arm that holds a ladle at the tip, a drive source that is located on the base side of the arm, and a displacement that is provided in the arm and that is generated by the drive source. A drive transmission mechanism for rotating the ladle around a horizontal pouring shaft, a displacement generated by the drive source, a displacement in the process of being transmitted by the drive transmission mechanism, and the pouring shaft of the ladle A ladle displacement detector that detects at least one of the displacements around the pouring axis of the ladle and the displacements generated by transmitting the displacement around the pouring axis among the rotational displacements. ing.

  Preferably, the hot water supply apparatus further includes a detection transmission mechanism that is provided separately from the drive transmission mechanism in the arm and transmits a displacement of the ladle around the pouring axis to the base side of the arm. The ladle displacement detector detects the displacement transmitted by the detection transmission mechanism.

  Preferably, the ladle displacement detector is located closer to the ladle than the drive source in the arm.

  Preferably, the ladle displacement detector is a rotation detector that has an input shaft and detects rotation input to the input shaft, and is arranged so that the input shaft is parallel to the pouring shaft. The detection transmission mechanism includes a ladle-side rotating body that rotates around the pouring axis together with the ladle, a detection-side rotating body that can rotate around the input shaft together with the input shaft, the ladle-side rotating body, and the And a winding member that is stretched over the detection-side rotating body.

  Preferably, the detection transmission mechanism further includes a tensioner capable of applying a tension to the winding member by pressing an outer peripheral surface or an inner peripheral surface of the winding member.

  Preferably, the ladle displacement detector is a length measuring device that measures a distance from a portion of the ladle away from the pouring axis without contact.

  Preferably, it has a pair of detection rods provided on the first side surface of the arm so that the tips are adjacent to the tips of the arms, and the tips of the pair of detection rods come into contact with the molten metal and A hot water surface detector that outputs a predetermined signal when the pair of detection rods is energized, the ladle displacement detector is disposed on the second side surface of the arm opposite to the first side surface, and It is located on the base side of the arm from the tip of the pair of detection rods.

  Preferably, the apparatus further includes a drive source displacement detector that detects a displacement generated by the drive source, and a control device that controls the drive source based on a displacement detected by the drive source displacement detector. The apparatus has a difference between a displacement of the ladle around the pouring axis based on a detection value of the drive source displacement detector and a displacement of the ladle around the pouring axis based on a detection value of the ladle displacement detector. When a predetermined allowable range is exceeded, predetermined abnormal processing is performed.

  Preferably, the drive transmission mechanism is configured to maintain an inclination angle of the ladle with respect to a horizontal direction when the arm is driven in a state where the drive source is stopped, and the ladle displacement detector includes: By being fixed to the arm, a relative displacement of the ladle around the pouring axis R1 with respect to the arm is detected.

  The molding machine which concerns on 1 aspect of this invention has said hot-water supply apparatus.

  According to said structure, the error of the detected value of the inclination angle (displacement around a pouring axis | shaft) of a ladle resulting from the transmission mechanism interposed between an electric motor and a ladle can be reduced.

The schematic diagram which shows the principal part of the die-casting machine which has the hot-water supply apparatus which concerns on 1st Embodiment of this invention. The schematic diagram which shows the ladle periphery of the hot-water supply apparatus of FIG. The block diagram which shows the structure of the principal part of the signal processing system of the hot water supply apparatus of FIG. The schematic diagram which shows the structure of the principal part of the hot water supply apparatus which concerns on 2nd Embodiment.

<First Embodiment>
(Basic configuration)
FIG. 1 is a schematic diagram illustrating a main part of a die casting machine 101 having a hot water supply apparatus 1 according to the first embodiment. In FIG. 1, the vertical direction on the paper surface is the vertical direction, and the horizontal direction on the paper surface or the through direction on the paper surface is the horizontal direction.

  The die casting machine 101 manufactures a die-cast product (molded product) by injecting a molten metal ML (an example of a molten metal material, an example of a molding material) into a mold 151 and solidifying the molten metal in the mold 151. Is. The mold 151 includes, for example, a fixed mold 153 and a moving mold 155.

  The die casting machine 101 includes a machine main body 103 that performs basic operations including injection of molten metal into a mold 151, a molten metal furnace 105 that is disposed adjacent to the machine main body 103 and stores the molten metal ML, and a molten metal in the molten metal furnace 105. It has the hot water supply apparatus 1 supplied to the machine main body 103, and the control apparatus 102 which controls each of these apparatuses. Note that a die casting machine may be defined without the molten metal furnace 105, or a hot water supply apparatus may be defined including the molten metal furnace 105.

  The configurations of the machine body 103 and the molten metal furnace 105 may be the same as various known configurations, and detailed descriptions thereof are omitted. These main parts are configured as follows, for example.

  The machine body 103 includes a mold clamping device (not shown) that opens / closes and molds the mold 151, an injection device 107 that injects molten metal into the mold 151, and a die-cast product that is a fixed mold 153 or And an unillustrated extrusion device for extruding from the moving mold 155. The injection device 107 includes, for example, an injection sleeve 109 that communicates with the mold 151, an injection plunger 111 that can slide within the injection sleeve 109, and an injection cylinder 113 that drives the injection plunger 111. The injection sleeve 109 has a hot water supply port 109a opened on the upper surface thereof.

  When the mold 151 is clamped by a mold clamping device (not shown), the molten metal is poured into the hot water supply port 109a by the hot water supply device 1. As a result, the state shown in FIG. 1 is obtained. In this state, the injection plunger 111 is driven to the mold 151 side by the injection cylinder 113, whereby the molten metal is injected into the mold 151. Such an operation is realized by the control device 102 of the die casting machine 101 controlling the machine main body 103 and the hot water supply device 1.

  The molten metal furnace 105 includes a container (reference number omitted) made of a heat-resistant material and opened upward, and stores the molten metal in this container. The molten metal furnace 105 may be one having only a heat retaining function for maintaining the molten metal at a predetermined temperature (a heat retaining furnace in a narrow sense) or one having a function for melting a metal material (also serving as a melting furnace). There may be. The height of the hot water surface may be kept constant or may not be kept.

  The hot water supply device 1 has a ladle 3 and, as indicated by an arrow Lm, draws the molten metal of the molten metal furnace 105 by the ladle 3, moves the ladle 3 onto the hot water inlet 109a, and tilts the ladle 3 to supply hot water. Pour molten metal into the mouth 109a.

  Except for the configuration related to the measurement of the inclination angle of the ladle 3, the configuration of each part of the hot water supply device 1 may be the same as various known configurations, and detailed description thereof will be omitted as appropriate. The principal part structure of the hot water supply apparatus 1 is as follows, for example.

  The hot water supply device 1 is provided, for example, on the arm 5 that holds the ladle 3 at the tip, the support portion 7 that supports the base of the arm 5, and the arm 5, in addition to the ladle 3. A drive transmission mechanism 23 that transmits a driving force to rotate around the support unit 7 to the ladle 3 is provided. The drive transmission mechanism 23 may be regarded as a part of the arm 5, but in the description of the present embodiment, for the sake of convenience, the drive transmission mechanism 23 will be described as being separate from the arm 5.

  The ladle 3 includes, for example, a container main body 3a that stores molten metal and a pouring port 3b for optimizing pouring of the injection sleeve 109. The container body 3a is open at the top, and the bottom surface and side surfaces are, for example, curved surfaces that swell outward. The pouring port 3b has, for example, a substantially semi-cylindrical shape with the upper part opened, and protrudes from the edge of the container body 3a to the outer peripheral side of the container body 3a. For example, the ladle 3 is connected to the tip of the arm 5 so as to be rotatable around a horizontal pouring axis R1 on the pouring port 3b side.

  The pouring axis R1 referred to here is a conceptual axis (having no cross-sectional area) indicating the center of rotation. Of course, there may be provided a shaft-like member that connects the arm 5 and the ladle 3 so that the pouring axis R1 coincides with the axial center and is rotatable around the pouring axis R1. The same applies to swivel axes (A1 to A6) described later. Further, the inclination angle of the ladle 3, the displacement of the ladle 3 around the pouring axis R1, and the rotational position of the ladle 3 around the pouring axis R1 are substantially the same, and are not particularly distinguished below. May be used.

  The arm 5 is configured to be able to move its tip in the vertical direction and in the horizontal direction (left and right direction in FIG. 1). That is, the arm 5 is configured to be able to move the tip of the arm 5 in a plane parallel to the paper surface of FIG. 1 (in a vertical plane). In FIG. 1, for convenience of illustration, the plane on which the arm 5 moves is parallel to the injection sleeve 109. However, in practice, the plane on which the arm 5 moves is usually inclined with respect to the injection sleeve 109. ing.

  The arm 5 includes, for example, a first arm member 9 and a second arm member 11 that are sequentially connected from the root side to the tip side. These are, for example, long rigid members. The base of the first arm member 9 is connected to the support portion 7 so as to be rotatable around a horizontal first turning axis A1. The base of the second arm member 11 is connected to the tip of the first arm member 9 so as to be rotatable around a horizontal second turning axis A2. The tip of the second arm member 11 constitutes the tip of the arm 5. With such a configuration, the tip of the arm 5 is movable in a vertical plane.

  The arm 5 may be applied with a driving force for rotation around the first turning axis A1 and rotation around the second turning axis A2, or the interlocking of both rotations may be controlled by an appropriate configuration. In the example of FIG. 1, the application of the driving force and the interlocking of both rotations are realized by a link mechanism. Specifically, the arm 5 has three link members (13, 15 and 17) connected to the arm members (9, 11). These are, for example, long rigid members.

  One end of the first link member 13 is connected to the support portion 7 and the first arm member 9 so as to be rotatable around the first turning axis A1. One end of the second link member 15 is connected to the other end of the first link member 13 (the end opposite to the first turning axis A1 side) so as to be rotatable around a horizontal third turning axis A3. At the same time, the other end of the second arm member 11 is connected to the middle part of the second arm member 11 (between the second turning axis A2 and the pouring axis R1) so as to be rotatable around a horizontal fourth turning axis A4. One end of the third link member 17 is rotatably connected to the support portion 7 around a fifth turning axis A5 that is horizontal, and the other end is a midway portion of the second link member 15 (with the third turning axis A3). And the fourth turning axis A4).

  In such a configuration, when the third link member 17 is rotated around the fifth turning axis A5 in the direction indicated by the arrow y1, as shown by the arrow Lm, the tip of the arm 5 (the pouring axis R1) It moves on the fixed path | route determined by the relative position of the turning axis (A1-A6) from the position in the molten metal 105 to the hot-water supply port 109a. When the third link member 17 is rotated about the fifth turning axis A5 in the direction opposite to the arrow y1, the tip of the arm 5 moves in the direction opposite to the above in the same path as above.

  The support portion 7 is, for example, a base body 7a, an arm electric motor 19 that is held by the base body 7a and generates a driving force that drives the arm 5 (rotates the third link member 17 around the fifth turning axis A5), and the base body 7a, and a ladle motor 21 that generates a driving force for rotating the ladle 3 about the pouring axis R1.

  The base body 7a is, for example, a case-like or frame-like member, and is appropriately installed so as not to move during the molding cycle. The arm 5 (specifically, the first arm member 9, the first link member 13, and the third link member 17) is a base 7a via an appropriate shaft support member, a damping mechanism, and / or an electric motor (19, 21). Connected to and supported by.

  The arm motor 19 and the ladle motor 21 are, for example, a rotary type, and although not particularly illustrated, a stator that configures one of the field and the armature, and a rotor that configures the other of the field and the armature have. The electric motor may be a direct current motor or an alternating current motor.

  In the arm motor 19, the motor body including the stator is fixed to the base body 7 a, and the rotation of the output shaft fixed to the rotor is transmitted to the third link member 17. This rotation may be transmitted directly by fixing the output shaft of the arm motor 19 to the third link member 17 or between the output shaft of the arm motor 19 and the third link member 17. This may be done indirectly, for example, by providing a damping mechanism. The arm motor 19 may be controlled in an open loop, or may be controlled in a closed loop as a servo motor.

  In the ladle motor 21, the motor body including the stator is fixed to the base body 7 a, and the rotation of the output shaft fixed to the rotor is transmitted to the drive transmission mechanism 23, and thus transmitted to the ladle 3. The transmission of rotation from the ladle motor 21 to the drive transmission mechanism 23 may be made directly by fixing the output shaft of the ladle motor 21 to a first pulley 25 described later, This may be done indirectly, for example, by providing a damping mechanism between the output shaft of the electric motor 21 and the first pulley 25. The ladle motor 21 is controlled in a closed loop as a servo motor, for example.

  The drive transmission mechanism 23 is constituted by, for example, a winding transmission mechanism. Specifically, for example, the drive transmission mechanism 23 is connected to the first pulley 25 connected to the arm 5 so as to be rotatable around the first turning axis A1 and to the arm 5 so as to be rotatable around the second turning axis A2. A second pulley 27, a timing belt 29 spanned between the first pulley 25 and the second pulley 27, a first sprocket (not shown) that can rotate with the second pulley 27 around the second turning axis A2, It has a second sprocket (not shown) that can rotate with the ladle 3 around the pouring axis R1, and an annular member 31 that spans the first sprocket and the second sprocket. In the annular member 31, a portion located around the sprocket is constituted by a chain, and a linear portion separated from the sprocket to some extent is constituted by a rod.

  With the above configuration, for example, when the ladle motor 21 is rotated while the arm motor 19 (arm 5) is stopped, the rotation is transmitted to the ladle 3 via the drive transmission mechanism 23, and Thereby, the ladle 3 rotates around the pouring axis R1. As a result, for example, the ladle 3 is inclined at an appropriate angle with reference to a state in which the upper edge portion is substantially horizontal (in other words, a state in which the molten metal can be accommodated most). Further, for example, when the arm motor 19 (arm 5) is driven while the ladle motor 21 is stopped, the rotation of the ladle motor 21 relative to the arm 5 is transmitted to the ladle 3 by the drive transmission mechanism 23. The As a result, the inclination of the tip of the arm 5 and the relative inclination of the ladle 3 with respect to the arm 5 are canceled out, and the inclination angle of the ladle 3 with respect to the horizontal direction is maintained before the arm motor 19 is driven.

  FIG. 2 is a schematic diagram showing details of the configuration of the distal end side of the arm 5.

  The hot water supply device 1 includes a hot water level detector 33 that detects the hot water level of the molten metal furnace 105. The hot water surface detector 33 has, for example, a pair of detection rods 35 fixed to one side surface of the second arm member 11. The pair of detection rods 35 are made of a conductive material (for example, metal), and are provided so as to be parallel to the second arm member 11 and adjacent to the tip of the second arm member 11. Therefore, when the tip of the second arm member 11 approaches or contacts the molten metal surface, the tips of the pair of detection rods 35 come into contact with the molten metal and can be energized through the molten metal. The hot water surface detector 33 outputs a predetermined detection signal when the pair of detection rods 35 can be energized.

(basic action)
The hot water supply device 1 having the above configuration operates, for example, as follows.

  First, the control device 102 controls the arm motor 19 so that the third link member 17 is rotated in the direction opposite to the arrow y1. Thereby, the tip of the arm 5 is lowered, and the ladle 3 is submerged in the molten metal in the molten metal furnace 105.

  At this time, for example, the control device 102 lowers the tip of the arm 5 until the molten metal level is detected by the molten metal level detector 33. In contrast to this, the control device 102 may lower the tip of the arm 5 to a predetermined position based on the detection value of the encoder of the arm motor 19 or the like. In the latter case, the control device 102 stops the arm 5 when the molten metal level is detected by the molten metal level detector 33 due to some abnormality, and protects the drive transmission mechanism 23 and the like from the molten metal.

  Next, the control device 102 controls the arm motor 19 so that the third link member 17 is rotated in the direction of the arrow y1. As a result, the ladle 3 that has been submerged in the molten metal in the molten metal furnace 105 is pulled up from the molten metal, and the molten metal is pumped out.

  When pumping out the molten metal, the molten metal is measured by inclining the ladle 3 at a predetermined inclination angle θ.

  For example, the control device 102 controls the ladle motor 21 so that the ladle 3 is inclined at the inclination angle θ before the ladle 3 is submerged in the molten metal. Then, the control device 102 sinks the ladle 3 in the molten metal while keeping the inclination of the ladle 3 at the inclination angle θ (with the electric motor 21 for the ladle stopped), and pulls the ladle 3 up from the molten metal. Since the ladle 3 has a smaller amount of hot water that can be pumped out as the tilt angle increases, an amount of molten metal corresponding to the tilt angle θ is pumped out.

  Further, for example, unlike the above, the control device 102 sinks the ladle 3 in the molten metal without tilting the ladle 3 and pulls the ladle 3 up from the molten metal. Next, the control device 102 controls the ladle motor 21 so that the ladle 3 is inclined at the inclination angle θ. As a result, excess molten metal is returned from the ladle 3 to the molten metal furnace 105, and an amount of molten metal corresponding to the inclination angle θ remains.

  In addition, for example, the operator inputs the inclination angle θ to the control device 102 via an input device (not shown). The control device 102 may calculate the tilt angle θ based on the amount of hot water per shot. The inclination direction (rotation direction) of the ladle 3 when the molten metal is pumped is, for example, a direction in which the container body 3a moves downward with respect to the pouring port 3b (pouring shaft R1).

  The control device 102 controls the arm motor 19 to rotate the third link member 17 in the direction of the arrow y1 when the necessary and sufficient amount of molten metal is pumped out as described above. Thereby, the ladle 3 moves to the hot water supply port 109a. At this time, the inclination of the ladle 3 may be reduced or eliminated so that the molten metal does not spill from the ladle 3.

  Next, the control device 102 controls the ladle motor 21 so that the ladle 3 is inclined in a direction in which the container body 3a moves upward with respect to the pouring port 3b (pouring shaft R1). Thereby, the molten metal is poured into the hot water supply port 109a. Thereafter, the control device 102 controls the arm motor 19 so as to move the ladle 3 onto the molten metal in the molten metal furnace 105.

(Configuration related to detection of the inclination angle of the ladle)
As described above, the molten metal is measured by inclining the ladle 3. The inclination angle of the ladle 3 is measured based on, for example, a detection value of a rotary encoder that detects the rotation of the ladle motor 21. However, the measured value and the actual inclination angle of the ladle 3 may be shifted due to thermal deformation of the drive transmission mechanism 23 or the like. Therefore, the hot water supply apparatus 1 of the present embodiment has the following configuration.

  As shown in FIG. 2, the hot water supply device 1 includes a ladle displacement detection mechanism 37 that is provided on the arm 5 and detects the displacement of the ladle 3 around the pouring axis R <b> 1. The ladle displacement detection mechanism 37 includes a ladle displacement detector 39 that detects an input rotation, and a detection transmission mechanism 41 that transmits (inputs) the rotation of the ladle 3 to the ladle displacement detector 39.

  The ladle displacement detector 39 may have the same configuration as a known resolver or rotary encoder, for example. The ladle displacement detector 39 has, for example, an input shaft 39a and a main body (reference numeral omitted) that supports the input shaft 39a and outputs a signal corresponding to the displacement of the input shaft 39a around the axis. The ladle displacement detector 39 may be an absolute type or an incremental type. The heat resistant temperature of the ladle displacement detector 39 is preferably 50 ° C. or higher, and such a rotation detector is publicly known.

  The main body of the ladle displacement detector 39 is fixed to the second arm member 11 so that the input shaft 39a is parallel to the pouring axis R1, for example. Further, the ladle displacement detector 39 is located closer to the base of the arm 5 (second arm member 11) than the tip of the pouring shaft R1 or the detection rod 35. Preferably, for example, the axis of the input shaft 39 a is separated from the tip of the pouring shaft R <b> 1 or the detection rod 35 by 30 cm or more in a direction parallel to the second arm member 11. The ladle displacement detector 39 is provided, for example, on the side surface opposite to the side surface on which the detection rod of the arm 5 is provided.

  It should be noted that the temperature on the molten metal furnace 105 decreases rapidly when it is slightly away from the molten metal surface. For example, when the molten metal is aluminum, the temperature of the molten metal in the molten metal furnace 105 is usually in the range of 700 ° C. At this time, the temperature 20 cm above the surface of the molten metal is approximately 50 ° C. or more and less than 60 ° C. The temperature is approximately 50 ° C. or lower. Therefore, for example, if the input shaft 39a of the ladle displacement detector 39 is separated from the pouring axis R1 by 30 cm or more and the heat resistant temperature of the ladle displacement detector 39 is 50 ° C. or more, the ladle displacement detector 39 operates normally. .

  The detection transmission mechanism 41 includes, for example, a ladle pulley 43 that can rotate with the ladle 3 around the pouring axis R1, and a detection side that can rotate with the input shaft 39a around the axis of the input shaft 39a of the ladle displacement detector 39. A pulley 45, a belt 47 spanned between the ladle pulley 43 and the detection pulley 45, and a tensioner 49 for adjusting the tension of the belt 47 are provided.

  The ladle side pulley 43, the detection side pulley 45, and the belt 47 may have the same configuration as that of various known pulley / belt mechanisms. The ratio of the diameters of the ladle pulley 43 and the detection pulley 45 may be set as appropriate, and is 1: 1 in the illustrated example. In order to reduce the possibility of the belt 47 coming off, these pulleys are preferably provided with hook-shaped guides protruding outward in the radial direction at both side edges in the axial direction of the outer peripheral surface. The belt 47 does not have teeth such as a flat belt or a V belt, and power is transmitted between the belt 47 and the pulley by friction. However, the belt 47 may be a timing belt (toothed belt).

  The ladle-side pulley 43 is fixed concentrically or coaxially to a shaft-like member (reference numeral omitted) to which the ladle 3 is fixed, for example, with the pouring shaft R1 as an axis. The detection pulley 45 is fixed concentrically or coaxially to the input shaft 39a of the ladle displacement detector 39, for example. The belt 47 is stretched around these pulleys and circulates in a plane orthogonal to the rotation axis of the pulley (in a plane parallel to the paper surface of FIG. 2). The rotation of the ladle 3 is sequentially transmitted to the ladle side pulley 43, the belt 47, and the detection side pulley 45 and input to the input shaft 39a.

  The tensioner 49 includes, for example, a shaft support member 51 attached to the arm 5 (second arm member 11) and a roller 53 that is rotatably supported by the shaft support member 51.

  The roller 53 is supported so as to be rotatable about a rotation axis parallel to the pouring axis R1 and the input shaft 39a, and is in contact with an inner peripheral surface or an outer peripheral surface (in this embodiment, an inner peripheral surface) of the belt 47. . The shaft support member 51 can adjust the position of the roller 53 in the direction orthogonal to the second arm member 11 with respect to the second arm member 11. By adjusting the position of the roller 53, the pressing force applied to the belt 47 by the roller 53 is adjusted, so that the tension of the belt 47 is adjusted.

  A mechanism for adjusting the position of the roller 53 by the shaft support member 51 may be appropriately configured. For example, the shaft support member 51 can be fixed by adjusting the position of the second arm member 11 in the direction orthogonal to the second arm member 11. Specifically, the shaft support member 51 has a slit 51 a extending in a direction orthogonal to the second arm member 11, and a screw (reference numeral omitted) inserted through the slit 51 a is screwed into the second arm member 11. Therefore, the position is fixed so as to be adjustable.

  Since each member which comprises the transmission mechanism 41 for a detection is located comparatively near the molten metal, it is preferable to be comprised with a material with high heat resistance.

  For example, the ladle pulley 43, the detection pulley 45, the shaft support member 51, and the roller 53 are made of metal or ceramic. Among these, especially the ladle side pulley 43 is preferably high in heat resistance because it is easily exposed to high heat, and is made of, for example, ceramic or a metal having a higher melting point than the material of the molten metal.

  For example, the belt 47 is configured by knitting aramid fibers, glass fibers, or metal fibers. The heat resistant temperature (which may be the melting point) of the belt 47 is preferably, for example, 200 ° C. or higher, or higher than the temperature of the molten metal in the molten metal furnace 105. For example, if the molten metal is aluminum, the temperature of the molten metal in the molten metal furnace 105 is usually less than 800 ° C., and therefore the heat resistant temperature of the belt 47 is preferably 800 ° C. or higher.

  Since the detection transmission mechanism 41 only transmits power necessary for detecting rotation, for example, compared to the drive transmission mechanism 23, material strength or structural strength is not required.

  The detection transmission mechanism 41 is generally provided on the side opposite to the detection rod 35 with respect to the arm 5. Specifically, the detection-side pulley 45 is positioned on the opposite side of the arm 5 from the detection rod 35, and the ladle-side pulley 43 is provided on the side where the detection rod 35 is provided and the detection-side pulley 45 is provided. The tensioner 49 protrudes to the opposite side of the detection rod 35 and presses the belt 47.

  A detection signal of the ladle displacement detector 39 is output to the control device 102. Note that the roles of the ladle displacement detector 39 and the control device 102 in the conversion of the signal generated in the ladle displacement detector 39 with the rotation of the ladle 3 into the rotation position of the ladle 3 may be set as appropriate.

  For example, when the ladle displacement detector 39 is a resolver, the resolver calculates the rotation angle based on the input voltage applied to the input side winding and the output voltage output from the output side winding, and the calculated A detection signal corresponding to the rotation angle is output to the control device 102. The control device 102 calculates the inclination angle of the ladle 3 based on the rotation angle based on the detection signal and the rotation angle of the resolver when the ladle 3 is measured in advance.

  For example, when the ladle displacement detector 39 is an incremental encoder, the encoder outputs a number of pulses corresponding to the amount of rotation to the control device 102 as a detection signal. The control device 102 adds or subtracts the rotation amount (angle) based on the number of pulses to the inclination angle of the ladle 3 held by itself, and updates the inclination angle of the ladle 3.

  Further, for example, when the ladle displacement detector 39 is an absolute encoder, the encoder outputs a detection signal corresponding to its own rotation angle as in the case of the resolver, and the control device 102 detects the encoder. The tilt angle of the ladle 3 is calculated based on the rotation angle to be measured and the rotation angle of the encoder when the ladle 3 is not tilted.

  As understood from the above, when the ladle displacement detector 39 is a resolver or an absolute encoder, the control device 102 acquires the detection signal of the ladle displacement detector 39 when the ladle 3 is not inclined. When the ladle displacement detector 39 is an incremental encoder, the rotation position of the ladle 3 held by the control device 102 when the ladle 3 is not inclined is reset, that is, the initial setting is performed. By performing the above, the detection value of the ladle displacement detector 39 can be converted into the rotational position of the ladle 3.

  However, in the ladle displacement detection mechanism 37 of the present embodiment, since the ladle displacement detector 39 is provided on the second arm member 11, the inclination angle of the ladle 3 is relative to the second arm member 11. is there. For example, even when the arm motor 19 is driven in a state where the ladle motor 21 is stopped and the arm 5 is driven in a state where the inclination angle of the ladle 3 with respect to the horizontal direction is maintained, the ladle displacement detector 39 The input shaft 39a rotates. Therefore, for example, the control device 102 measures the inclination angle of the ladle 3 based on the detection value of the ladle displacement detector 39 only at the position of the arm 5 (the rotational position of the arm motor 19) when the initial setting is performed. Do. Alternatively, for example, the control device 102 determines the inclination angle of the ladle 3 relative to the second arm member 11 associated with the rotation of the arm motor 19 from the inclination angle of the ladle 3 based on the detection value of the ladle displacement detector 39. Subtract.

  The initial setting may be performed at an appropriate time such as before the start of the trial run, after the trial run is started, before the start of the molding cycle, and / or after the molding cycle is performed to some extent. The same applies to the encoder 21a of the ladle motor 21 and the like.

  Further, the position of the arm 5 when the initial setting is performed may be performed at a position at an appropriate time in a series of operations in which the molten metal is pumped by the ladle 3 and poured into the injection sleeve 109 and returned to the initial position. For example, when the ladle 3 is set to an appropriate rotational position (for example, horizontal) at the initial position, when the ladle 3 is set to a predetermined inclination angle θ when the molten metal is pumped (when the tilt angle θ is set before the pumping) The initial setting may be performed at the position of the arm 5 (before or after the pumping) and immediately after the pouring of the injection sleeve 109 (before returning to the initial position). From the viewpoint of accurately measuring the molten metal, the position when the ladle 3 is set to a predetermined inclination angle θ when pumping the molten metal is preferable.

  FIG. 3 is a block diagram illustrating a configuration of a main part of the signal processing system of the hot water supply device 1.

  Control device 102 receives a signal from each part of hot water supply apparatus 1 and outputs a control signal based on the received signal to each part of hot water supply apparatus 1. The signal is output to the control device 102, for example, an encoder 21a (which may be a driver 67 directly) that detects the rotation of the ladle motor 21, a ladle displacement detector 39, and a user operation. Input device 69. The control device 102 outputs a control signal to the ladle motor 21 (directly the driver 67) and the display device 71, for example. Note that the input device 69 and the display device 71 may be appropriately configured. For example, both are configured by a touch panel.

  Although not particularly illustrated, the control device 102 is configured by, for example, a computer having a CPU, a ROM, a RAM, and an external storage device. The CPU reads and executes a program stored in the ROM and / or the external storage device. Thus, the angle control unit 61, the abnormality determination unit 63, and the abnormality processing unit 65 are constructed.

  The angle control unit 61 controls the ladle motor 21 via a driver 67. For example, when the melt of the melt furnace 105 is pumped out by the ladle 3, feedback control of the rotational position of the ladle motor 21 is performed so that the ladle 3 is tilted at a predetermined tilt angle θ. Further, for example, when the molten metal is poured into the injection sleeve 109 by the ladle 3, feedback control of the rotational position of the ladle motor 21 is performed so that the ladle 3 is inclined at a predetermined inclination angle. The feedback control is performed so that, for example, the tilt angle based on the detection value of the encoder 21 a of the ladle motor 21 becomes the target tilt angle held in the storage device of the control device 102. In addition, regarding the calculation of the deviation and the calculation of the operation amount based on the deviation, the division of roles between the angle control unit 61 and the driver 67 may be appropriately set.

  The abnormality determination unit 63 calculates the difference between the inclination angle of the ladle 3 based on the detection value of the ladle displacement detector 39 and the inclination angle of the ladle 3 based on the detection value of the encoder 21a. Then, the abnormality determination unit 63 determines whether or not the calculated difference is within an allowable range held in the storage device of the control device 102. When it is determined that the difference is not within the allowable range, Is output to the abnormality processing unit 65. In addition, acquisition of the inclination angle of the ladle 3 may be performed all the time, or may be performed only at a time necessary for determining this abnormality.

  The determination of abnormality (calculation of difference and determination of whether or not it is within the allowable range) may be performed at an appropriate cycle at all times, or the molten metal is pumped out by the ladle 3 and poured into the injection sleeve 109 to return to the initial position. It may be performed at a predetermined operation point in the series of operations. As an example of the determination time in the latter case, when the ladle 3 is set to an appropriate rotational position (for example, horizontal) at the initial position, the ladle 3 is set to a predetermined inclination angle θ when pumping the molten metal (pumping). In the case where the inclination angle θ is set to the front, there may be mentioned before the pumping and / or after the pumping), or immediately after the pouring of the injection sleeve 109 is completed (before returning to the initial position). In the latter case, it may be performed at one time point in the series of operations, or may be performed at a plurality of time points in the series of operations.

  However, as already described, in the ladle displacement detection mechanism 37 of the present embodiment, even if the inclination angle of the ladle 3 with respect to the horizontal direction is constant, the detection signal of the ladle displacement detector 39 is changed by driving the arm 5. . Therefore, if the abnormality is determined only at the position where the initial setting is performed, the calculation is easy. As described above, this position is preferable when the ladle 3 is set to a predetermined inclination angle θ when the molten metal is pumped.

  The allowable range may be set by the manufacturer of the hot water supply apparatus 1 or may be set by the user (operator) of the hot water supply apparatus 1. When the operator can set the allowable range, for example, the allowable range is input to the control device 102 by an operation on the input device 69.

  The allowable range may be set separately for the case where the inclination angle is positive or negative, or may be set in common. In addition, the allowable range is set separately when the ladle 3 is rotated in the positive direction (or immediately after being rotated) and when the ladle 3 is rotated in the negative direction (or immediately after being rotated). Or may be set in common. In addition, when the abnormality determination is performed at a predetermined operation time point in the series of operations of the ladle 3, the allowable range may be set separately for each time point, or may be set commonly for two or more time points or all time points. May be.

  In addition, since the angle control unit 61 performs feedback control based on the detection value of the encoder 21a, the inclination based on the detection value of the encoder 21a when there is no control delay such as when the ladle 3 is stopped. Instead of the angle, the abnormality may be determined based on the difference between the target inclination angle and the inclination angle based on the detection value of the ladle displacement detector 39.

  Note that the calculation of the difference in tilt angle based on the detected value and the determination of whether or not the difference is within the allowable range may or may not be actually performed using a numerical value with the tilt angle as a unit. Also good. For example, in the former, the rotational position of the ladle motor 21 based on the detection value of the encoder 21 a is converted into the inclination angle of the ladle 3 in consideration of the reduction ratio of the drive transmission mechanism 23, and the detection value of the ladle displacement detector 39 is obtained. Compared with the inclination angle of the base ladle 3. As an example of the latter, contrary to the former, the inclination angle of the ladle 3 based on the detection value of the ladle displacement detector 39 is converted into the rotational position of the ladle motor 21 in consideration of the reduction ratio of the drive transmission mechanism 23. The rotation position of the ladle motor 21 is compared with the detection value of the encoder 21a.

  When the abnormality processing unit 65 receives a signal indicating the occurrence of an abnormality from the abnormality determination unit 63, the abnormality processing unit 65 executes a predetermined abnormality process. This process includes, for example, a process of displaying an image indicating the occurrence of abnormality (including characters in the image) on the display device 71, a process of outputting a warning sound to a speaker (not shown), and / or a process of stopping the molding cycle. It is.

  As described above, in the present embodiment, the hot water supply device 1 of the die-casting machine 101 is provided on the arm 5 that holds the ladle 3 at the tip, the ladle motor 21 that is located on the root side of the arm 5, and the arm 5. The displacement generated by the electric motor 21 is transmitted to the ladle 3, and the drive transmission mechanism 23 that rotates the ladle 3 about the horizontal pouring axis R1 and the displacement of the ladle 3 about the pouring axis R1 are transmitted. And a ladle displacement detector 39 for detecting the displacement.

  Therefore, deformation or backlash of the drive transmission mechanism 23 does not affect the error of the inclination angle of the ladle 3 detected by the ladle displacement detector 39 (that is, the influence can be reduced). As a result, for example, compared with the drive transmission mechanism 23, the rotation transmission path from the ladle 3 to the ladle displacement detector 39 is shortened, the transmission path has less play, and / or By making the transmission path less affected by heat, the inclination angle of the ladle 3 can be detected more accurately than when the inclination angle of the ladle 3 is detected by the encoder 21a of the electric motor 21 for ladle. . As a result, for example, the ladle 3 can accurately measure the molten metal, the variation in the boosting curve is reduced, and the quality of the die-cast product is stabilized.

  In the present embodiment, the hot water supply device 1 is provided in the arm 5 separately from the drive transmission mechanism 23, and the detection transmission mechanism 41 that transmits the displacement of the ladle 3 around the pouring axis R <b> 1 to the base side of the arm 5. It has further. The ladle displacement detector 39 detects the displacement transmitted by the detection transmission mechanism 41.

  Therefore, for example, the ladle displacement detector 39 can be separated from the position (the pouring axis R <b> 1) approaching the molten metal of the molten metal furnace 105 with a simple configuration in which a transmission mechanism is provided in the arm 5. From another viewpoint, the range of selection of a detector to be adopted as the ladle displacement detector 39 is widened. And the mechanism which measures the inclination-angle of the ladle 3 at low cost as a whole is comprised.

  In the present embodiment, the ladle displacement detector 39 is provided on the side of the ladle 3 relative to the ladle motor 21 in the arm 5.

  Therefore, for example, the detection transmission mechanism 41 has a shorter transmission path than the drive transmission mechanism 23. As a result, the inclination angle of the ladle 3 can be accurately detected by the ladle displacement detector 39 as compared with the case where the inclination angle of the ladle 3 is detected by the encoder 21a of the electric motor 21 for the ladle.

  In the present embodiment, the ladle displacement detector 39 has an input shaft 39a and is a rotation detector that detects rotation input to the input shaft 39a. The input shaft 39a is parallel to the pouring axis R1. Are arranged as follows. The detection transmission mechanism 41 includes a ladle pulley 43 that rotates around the pouring axis R1 together with the ladle 3, a detection pulley 45 that can rotate around the input shaft 39a together with the input shaft 39a, a ladle pulley 43, and a detection pulley. 45, and a belt 47 laid around 45.

  Therefore, for example, the configuration of the detection transmission mechanism 41 is simple. Further, for example, since the winding member is the belt 47, the detection transmission mechanism 41 is low or not necessary to use lubricating oil or the like in order to reduce the resistance related to transmission. That is, the detection transmission mechanism 41 including a winding mechanism is suitable as a configuration on the molten metal of the molten metal furnace 105 that tends to become high temperature.

  In the present embodiment, the detection transmission mechanism 41 further includes a tensioner 49 that can apply tension to the belt 47 by pressing the outer peripheral surface or inner peripheral surface of the belt 47.

  Therefore, for example, a belt 47 that transmits the rotation to and from the pulley by frictional force such as a flat belt can be used. Further, for example, since the belt 47 having a simpler configuration than that of a toothed belt or the like can be used, formation with a heat resistant material is facilitated.

  In the present embodiment, the hot water supply device 1 further includes a hot water level detector 33, and the hot water level detector 33 has a first side surface of the arm 5 (the paper surface of FIG. 2) so that the tip is adjacent to the tip of the arm 5. It has a pair of detection rods 35 provided on the left side surface) and outputs a predetermined signal when the pair of detection rods 35 is energized with the tips of the pair of detection rods 35 coming into contact with the molten metal. The ladle displacement detector 39 is located on the second side surface (the side surface on the right side of FIG. 2) opposite to the first side surface of the arm 5 and closer to the root side of the arm 5 than the tips of the pair of detection rods 35. Is provided.

  Therefore, for example, a pair of detection rods 35 and a ladle displacement detector 39 are provided on opposite sides of the arm 5, and the layout design of the ladle displacement detector 39 (and the detection transmission mechanism 41) is designed. Easy. Further, since the arm 5 is controlled so as not to descend further based on the energization of the pair of detection rods 35, the ladle displacement detector 39 is reliably protected from the molten metal.

  In the present embodiment, the hot water supply device 1 includes an encoder 21a that detects displacement (rotation) of the ladle motor 21 and a control device 102 that controls the ladle motor 21 based on the displacement detected by the encoder 21a. In addition. The control device 102 has a predetermined difference between the displacement of the ladle 3 around the pouring axis R1 based on the detection value of the encoder 21a and the displacement of the ladle 3 around the pouring axis R1 based on the detection value of the ladle displacement detector 39. When the allowable range is exceeded, predetermined abnormal processing is performed.

  Therefore, for example, a conventional control system for the inclination angle of the ladle 3 can be used. As a result, for example, the present invention can be applied to the existing hot water supply apparatus 1 to stabilize the quality. In addition, for example, the conventional hot water supply device and the hot water supply device of the present embodiment share a basic configuration, and the ladle displacement detection mechanism 37 is an option, so that a hot water supply device can be provided at a reasonable cost according to needs.

  In the present embodiment, the drive transmission mechanism 23 is configured to maintain the inclination angle of the ladle 3 with respect to the horizontal direction when the arm 5 is driven in a state where the ladle motor 21 is stopped. Further, the ladle displacement detector 39 is fixed to the arm 5 (second arm member 11), thereby detecting a relative displacement of the ladle 3 around the pouring axis R1 with respect to the arm 5.

  Therefore, for example, when the ladle motor 21 is controlled based on the displacement detected by the encoder 21a as described above and the displacement detected by the ladle displacement detector 39 is used only in the determination of abnormality, the ladle motor 21 There is no need to consider the influence of the drive of the arm 5 for the control, and the control system is simple. Further, if the abnormality is determined only at the position where the initial setting is performed, the calculation based on the detection value of the ladle displacement detector 39 is simplified.

Second Embodiment
FIG. 4 is a schematic diagram corresponding to FIG. 2 and showing the configuration of the main part of the hot water supply apparatus 201 according to the second embodiment.

  The hot water supply apparatus 201 according to the second embodiment is different from the first embodiment in the configuration for detecting the displacement of the ladle 3 (the ladle displacement detection mechanism 37 in the first embodiment). The other configuration is the same as that of the first embodiment, and a description thereof will be omitted.

  The hot water supply apparatus 201 includes a ladle displacement detector 239 that detects the displacement (inclination angle) of the ladle 3 around the pouring axis R1 in a non-contact manner. The ladle displacement detector 239 is configured by a length measuring device that measures a distance from an object in a non-contact manner, such as a laser length measuring device. Then, the ladle displacement detector 239 is fixed at an appropriate position of the arm 5 (second arm member 11), for example, and measures a distance L1 between the ladle 3 and a portion away from the pouring axis R1. The ladle displacement detector 239 or the control device 102 converts the measured distance L1 into a displacement of the ladle 3 around the pouring axis R1. The subsequent processing is the same as when the displacement of the ladle 3 around the pouring axis R1 is detected by the ladle displacement detector 39 in the first embodiment.

  It should be noted that any part of the ladle 3 whose distance L1 is measured by the ladle displacement detector 239 may be any part as long as it is away from the pouring axis R1 and the distance L1 changes due to the inclination of the ladle 3. In FIG. 4, the case where the distance with the pouring gate 3b is measured is illustrated. The distance L1 is preferably a distance in a direction parallel to the arm 5, but may be a distance in a direction inclined to the arm 5. The conversion from the distance L1 to the inclination angle of the ladle 3 may be performed, for example, by obtaining an arctangent of the distance between the virtual straight line where the distance L1 is measured and the pouring axis R1 and the amount of change in the distance L1. .

  As described above, in the present embodiment, the ladle displacement detector 239 includes the displacement generated by the ladle motor 21, the displacement in the process of being transmitted by the drive transmission mechanism 23, and the displacement of the ladle 3 around the pouring axis R <b> 1. Among them, the displacement of the ladle 3 around the pouring axis R1 is detected. Accordingly, as in the first embodiment, the deformation or backlash of the drive transmission mechanism 23 does not affect the detected value of the inclination angle of the ladle 3 by the ladle displacement detector 239 (that is, the influence can be reduced). As a result, for example, the inclination angle of the ladle 3 can be detected with higher accuracy than when the inclination angle of the ladle 3 is detected by the encoder 21a of the electric motor 21 for ladle. As a result, for example, the ladle 3 can accurately measure the molten metal, the variation in the boosting curve is reduced, and the quality of the die-cast product is stabilized.

  Further, in the present embodiment, the ladle displacement detector 239 is a length measuring device that measures the distance from a portion of the ladle 3 away from the pouring axis R1 in a non-contact manner.

  Therefore, the ladle displacement detector 239 can be separated from the ladle 3 while the displacement itself of the ladle 3 around the pouring axis R1 is detected. As a result, the ladle displacement detector 239 is prevented from being exposed to high heat. it can.

  In the above embodiment, the ladle motor 21 is an example of a drive source, the ladle side pulley 43 is an example of a ladle side rotating body, the detection side pulley 45 is an example of a detection side rotating body, and the belt 47 Is an example of a winding member, the encoder 21a is an example of a drive source displacement detector, and the die casting machine 101 is an example of a molding machine.

  The present invention is not limited to the above embodiment, and may be implemented in various aspects.

  The basic configuration of the hot water supply device may be appropriately changed as long as the displacement of the drive source on the base side of the arm is transmitted to the ladle at the tip of the arm. For example, the drive source is not limited to a rotary electric motor, and may be a linear motor. Further, for example, the drive transmission mechanism is not limited to the winding mechanism, and may be a gear mechanism including a bevel gear and a shaft that rotates around an axis. Further, for example, the number of joints in the arm, the driving direction in each joint, and the driving method are not limited to those in the embodiment. For example, the arm may be capable of moving the tip three-dimensionally as well as moving the tip in a plane.

  In the first or second embodiment, the ladle displacement detector includes a displacement generated by the drive source (the ladle motor 21), a displacement in the process of being transmitted by the drive transmission mechanism (23), and a pouring of the ladle. Of the displacements around the axis, a displacement around the pouring axis of the ladle (second embodiment) or a displacement (first embodiment) generated by transmitting the displacement around the pouring axis was detected. However, both the ladle displacement detectors of the first and second embodiments may be provided in one hot water supply apparatus. In another aspect, the ladle displacement detector may be configured to detect both the displacement of the ladle around the pouring axis and the displacement generated by transmitting the displacement around the pouring axis.

  The detection transmission mechanism that transmits the displacement of the ladle may be a mechanism that converts the displacement of the ladle into a linear displacement and transmits it, for example, a link mechanism. In this case, the ladle displacement detector may detect a linear displacement such as a linear encoder. Further, the transmission mechanism for detection that transmits the displacement of the ladle by the rotational motion is not limited to the winding mechanism, and may be a gear mechanism including a bevel gear and a shaft that rotates about an axis, for example. The winding mechanism is not limited to the pulley / belt mechanism, and may be a roller (sprocket) / chain mechanism. The belt may be a toothed belt. The tension adjustment mechanism of the pulley / belt is not limited to the tensioner. For example, one of the ladle side pulley and the detection side pulley may be adjusted to adjust the distance between the pulleys.

  The ladle displacement detector that detects the displacement transmitted by the detection transmission mechanism is not limited to a general rotation detector such as a resolver or an encoder. For example, rotation detection is performed on a photosensor having a rotating body provided with a detected part on a part of the circumference and a detecting part that faces the circumference and outputs a signal when the detected part is detected. The detected portion may be detected when the difference between the inclination angle of the ladle and the desired inclination angle θ exceeds an allowable range.

  The ladle displacement detector may not be provided on the arm. For example, the hot water supply device may be provided at a position where it does not move by driving the arm, such as being provided at a support portion that supports the arm. In this case, even in the ladle displacement detector that transmits the displacement of the ladle by the winding mechanism as in the first embodiment, the ladle displacement detector that detects the distance from the ladle in a non-contact manner as in the second embodiment. In addition, the inclination angle relative to the horizontal direction can be measured instead of the inclination angle relative to the arm of the ladle.

  In the embodiment, feedback control of the inclination angle of the ladle is performed based on the detection value of the drive source displacement detector (encoder 21a of the ladle motor 21). Unlike this, feedback control of the inclination angle of the ladle may be performed based on the detection value of the ladle displacement detector.

  The molding machine provided with the hot water supply device is not limited to the exemplified one. For example, the molding machine is not limited to a hydraulic type (hydraulic type) driven by a hydraulic device, but may be an electric type or a hybrid type that combines an electric type and a hydraulic type. It may be. Further, for example, the molding machine is not limited to horizontal mold clamping, and may be vertical mold clamping.

DESCRIPTION OF SYMBOLS 1 ... Hot-water supply apparatus, 3 ... Ladle, 5 ... Arm, 21 ... Electric motor (drive source) for ladle, 23 ... Transmission mechanism for drive, 39 ... Ladle displacement detector.

Claims (10)

An arm holding a ladle at the tip;
A drive source located on the base side of the arm;
A drive transmission mechanism that is provided on the arm and transmits a displacement generated by the drive source to the ladle and rotates the ladle around a horizontal pouring shaft;
Of the displacement generated by the drive source, the displacement during the transmission of the drive transmission mechanism, and the displacement of the ladle around the pouring axis, the displacement of the ladle around the pouring axis, and the A ladle displacement detector for detecting at least one of displacements generated by transmitting a displacement around a pouring axis;
Hot water supply device for a molding machine having A detection transmission mechanism that is provided separately from the drive transmission mechanism in the arm, and that transmits a displacement of the ladle around the pouring axis to the base side of the arm;
The hot water supply apparatus for a molding machine according to claim 1, wherein the ladle displacement detector detects the displacement transmitted by the transmission mechanism for detection. The hot water supply apparatus for a molding machine according to claim 2, wherein the ladle displacement detector is positioned on the ladle side with respect to the drive source in the arm. The Ladle displacement detector is a rotation detector that has an input shaft and detects rotation input to the input shaft, and is arranged so that the input shaft is parallel to the pouring shaft.
The transmission mechanism for detection is
A ladle-side rotating body that rotates around the pouring axis together with the ladle;
A detection-side rotating body capable of rotating around the input shaft together with the input shaft;
The hot water supply apparatus for a molding machine according to claim 2 or 3, further comprising: a winding member that spans between the ladle side rotating body and the detection side rotating body. The hot water supply device for a molding machine according to claim 4, wherein the transmission mechanism for detection further includes a tensioner capable of pressing the outer peripheral surface or the inner peripheral surface of the winding member to apply tension to the winding member. The hot water supply apparatus for a molding machine according to claim 1, wherein the ladle displacement detector is a length measuring device that measures a distance from a portion of the ladle away from the pouring shaft in a non-contact manner. A pair of detection rods provided on the first side surface of the arm so that the tip is adjacent to the tip of the arm, the tip of the pair of detection rods contacting the molten metal, and the pair of detection rods And a hot water level detector that outputs a predetermined signal when energized.
The ladle displacement detector is positioned on a second side surface opposite to the first side surface of the arm and on a base side of the arm with respect to a tip end of the pair of detection rods. The hot water supply apparatus for a molding machine according to any one of 6. A drive source displacement detector for detecting displacement generated by the drive source;
A control device for controlling the drive source based on the displacement detected by the drive source displacement detector;
Further comprising
The controller includes a displacement of the ladle around the pouring axis based on a detection value of the drive source displacement detector, and a displacement of the ladle around the pouring axis based on a detection value of the ladle displacement detector. The hot water supply apparatus for a molding machine according to any one of claims 1 to 7, wherein a predetermined abnormality process is performed when the difference exceeds a predetermined allowable range. The drive transmission mechanism is configured to maintain an inclination angle of the ladle with respect to a horizontal direction when the arm is driven in a state where the drive source is stopped.
The hot water supply device for a molding machine according to claim 8, wherein the ladle displacement detector detects a relative displacement of the ladle around the pouring axis R1 with respect to the arm by being fixed to the arm.   A molding machine having the hot water supply device according to any one of claims 1 to 9.

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