JP2018061990A - Core gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a core gripping device that is able to hinder damage to a core.SOLUTION: A core gripping device 1 according to the present invention comprises: pickers 13a, 13b comprising gripping parts 14a, 14b that are able to expand and contract by using a fluid, and configured to grip the core 20 by inserting and expanding, from a vertical direction, the gripping parts 14a, 14b into hole pars 26a, 26b, respectively, formed in the core 20; a drive part 12 that moves pickers 13a, 13b; a control part 11 that controls the drive part 12; and pressure sensors 17a to 17c that detect pressure acting between the core 20 and the core gripping device 1. The control part 11 controls the drive part 12 such that the pickers 13a, 13b move according to pressure detected by the pressure sensors 17a to 17c.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a core gripping device.

  The casting core is a mold used to form a hollow portion in a casting to be produced. Traditionally, the core was manually placed in the mold. However, in recent years, it has become important to arrange the core with high precision in the mold as the casting becomes highly accurate. For this reason, a technique for arranging the core with high precision in the mold has become important.

  Patent Document 1 discloses a technique related to a transport device for transporting a casting core.

Japanese Translation of National Publication No. 05-509071

  As one of the methods for gripping the core, there is a method for gripping the core using a picker provided with a gripping portion that can expand and contract at the tip portion. In this method, a picker gripping portion is inserted into a hole formed in the core, the gripping portion is expanded, and the picker is fixed to the core hole to grip the core.

  However, if the gripper insertion position deviates from the specified position when the picker gripping part is inserted into the hole formed in the core, stress is applied from the core gripping device to the core and the core is damaged. There is a fear. Also, when the core gripping device grips and transports the core, the core gripping device lifts and lowers the core while gripping the core. At this time, the core gripping device grips the core. If the position is shifted, a vertical force is applied to the core during ascent and descent, which may damage the core.

  In view of the above problems, an object of the present invention is to provide a core gripping device capable of suppressing breakage of the core.

  A core gripping device for gripping a core according to the present invention includes a gripping portion that can be expanded and contracted using a fluid, and the gripping portion is inserted into a hole formed in the core from a vertical direction. A picker that grips the core by being expanded, a drive unit that moves the picker, a control unit that controls the drive unit, and a pressure that acts between the core and the core gripping device are detected. A pressure sensor. The control unit controls the drive unit so that the picker moves according to the pressure detected by the pressure sensor.

  In the core gripping device according to the present invention, a pressure sensor for detecting a pressure acting between the core and the core gripping device is provided, and the picker is controlled according to the pressure detected by the pressure sensor. Therefore, since it can suppress that a big pressure is applied to a core from a core holding apparatus, it can suppress that a core is damaged by the pressure applied from a core holding apparatus.

  According to the present invention, it is possible to provide a core gripping device capable of suppressing breakage of the core.

It is a front view which shows the core holding | gripping apparatus concerning Embodiment 1. FIG. FIG. 3 is a plan view illustrating an example of a core that is gripped by using the core gripping device according to the first exemplary embodiment. It is sectional drawing which shows the state which the core holding | gripping apparatus concerning Embodiment 1 is holding the core. FIG. 6 is a cross-sectional view for explaining an operation when the core gripping device according to the first embodiment grips the core. FIG. 6 is a cross-sectional view for explaining an operation when the core gripping device according to the first embodiment grips the core. FIG. 6 is a cross-sectional view for explaining an operation when the core gripping device according to the first embodiment grips the core. FIG. 6 is a cross-sectional view for explaining an operation when the core gripping device according to the first embodiment grips the core. FIG. 6 is a cross-sectional view for explaining an operation when the core gripping device according to the first embodiment grips the core. It is sectional drawing for demonstrating the case where the core holding | grip apparatus concerning Embodiment 1 detects abnormality. It is a side view which shows an example of a core. It is sectional drawing which shows the state which the core holding | gripping apparatus concerning Embodiment 2 is holding the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core. FIG. 10 is a cross-sectional view for explaining an operation when the core gripping device according to the second embodiment grips the core.

<Embodiment 1>
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a front view of the core gripping device according to the first embodiment. As shown in FIG. 1, the core holding device 1 includes a support unit 10, a control unit 11, a drive unit 12, pickers 13a and 13b, and pressure sensors 17a to 17c. Each of the pickers 13a and 13b is fixed to the support portion 10 so as to extend downward from the lower surface of the support portion 10 (z-axis minus direction). Since the support part 10 and the pickers 13a and 13b need to grip and support the core, a certain degree of strength is required. For example, the support unit 10 and the pickers 13a and 13b can be configured using a metal material.

  Grip portions 14a and 14b are provided at the tips of the pickers 13a and 13b, respectively. The gripping portions 14a and 14b are configured to be able to expand and contract using a fluid such as gas or liquid (hereinafter, a case where gas is used will be described as an example), and may be configured using an elastic member such as rubber, for example. can do. For example, the gripping portions 14a and 14b can be configured using rubber balloons.

  The pressure sensors 17a to 17c are respectively attached to the tips of the columnar members 16a to 16c that extend downward from the lower surface of the support portion 10 (z-axis minus direction). The pressure sensors 17a to 17c detect pressure acting between the core holding device 1 and the core 20 (the baseboard 24) (see FIG. 3). For example, the pressure sensors 17a to 17c are configured to be able to detect pressures at a plurality of locations 24a to 24c on the horizontal plane of the core 20 (the baseboard portion 24). For example, pressure sensitive sheets can be used for the pressure sensors 17a to 17c. The pressure values detected by the pressure sensors 17 a to 17 c are supplied to the control unit 11.

  The drive unit 12 is configured to be able to move the support unit 10. Since the pickers 13a and 13b are fixed to the support portion 10, the pickers 13a and 13b fixed to the support portion 10 move when the drive portion 12 moves the support portion 10. For example, the drive unit 12 can move the support unit 10 along the x axis, the y axis, and the z axis. For example, a robot arm can be used for the drive unit 12.

  The control unit 11 controls the drive unit 12. Specifically, the control unit 11 controls the drive unit 12 so that the pickers 13a and 13b move according to the pressure detected by the pressure sensors 16a to 16c.

  FIG. 2 is a plan view showing an example of the core. As shown in FIG. 2, the core 20 includes a core main body 21 and baseboard parts 24 and 25. The core body 21 is formed with molds 22a to 22c for forming a hollow portion in the casting. Each of the molds 22a to 22c has the same shape, and by casting each mold 22a to 22c in each casting mold, a hollow portion corresponding to each mold 22a to 22c is formed in the casting. Can be formed.

  The baseboard portions 24 and 25 are portions provided so that the core 20 is stabilized when the core 20 is placed in a mold. In the example illustrated in FIG. 2, both end portions of the core body portion 21 are extended. And formed. For example, when the core 20 is placed in a mold, the baseboard parts 24 and 25 are supported by the mold. Further, holes 26a, 26b, 27a, 27b for holding the core 20 are formed in the baseboard parts 24, 25. The holes 26a, 26b, 27a, 27b are formed so as to extend in the z-axis direction. For example, the core 20 is formed using sand.

  FIG. 3 is a cross-sectional view showing a state where the core holding device according to the present embodiment is holding the core. 3 shows a state in which the core gripping device 1 is gripping one of the baseboard portions 24 of the core 20 shown in FIG. 2, but the core gripping device is the other baseboard of the core 20. The same applies to the case where the portion 25 is gripped. Similarly, when the core gripping device grips the other baseboard portion 25 of the core 20, the picker gripping portions are inserted into the holes 27 a and 27 b of the baseboard portion 25 and expanded to grip the core. .

  The cross-sectional view of the core shown in FIG. 3 shows a cross section obtained by cutting the base plate portion 24 of the core 20 shown in FIG. In the present embodiment, each picker 13a, 13b is inserted into a hole 26a, 26b formed in the base plate 24 of the core 20, and a grip 14a provided at the tip of each picker 13a, 13b. 14b is inflated to hold the baseboard 24. That is, the pickers 13a and 13b and the baseboard part 24 of the core 20 are fixed by expanding the gripping parts 14a and 14b inside the holes 26a and 26b. Similarly, by moving the support portion 10 of the core gripping device 1 using the drive unit 12 while the core gripping device 1 grips the other baseboard portion 25 (see FIG. 2) of the core 20. The core 20 can be moved.

  At this time, each of the pressure sensors 17 a to 17 c comes into contact with the upper surfaces 24 a to 24 c of the baseboard part 24 to detect pressure acting between the core gripping device 1 and the baseboard part 24. Specifically, the pressure sensor 17a detects the pressure acting between the upper surface 24a of the skirting board 24 and the core gripping device 1, that is, the pressure applied to the pressure sensor 17a from the upper surface 24a of the skirting board 24. To do. The pressure sensor 17b detects a pressure acting between the upper surface 24b of the baseboard part 24 and the core gripping device 1, that is, a pressure applied from the upper surface 24b of the baseboard part 24 to the pressure sensor 17b. The pressure sensor 17c detects the pressure acting between the upper surface 24c of the baseboard part 24 and the core gripping device 1, that is, the pressure applied to the pressure sensor 17c from the upper surface 24c of the baseboard part 24.

  Next, the operation when the core gripping device according to the present embodiment grips the core will be described with reference to cross-sectional views shown in FIGS. 4A to 4E. Below, operation | movement until it arrange | positions to the metal mold | die 32 (refer FIG. 4E) using the core holding | grip apparatus 1 is demonstrated about the core 20 (baseboard part 24) currently placed on the core mounting base 31.

  First, as shown to FIG. 4A, the core holding | gripping apparatus 1 is moved to the place where the core 20 (baseboard part 24) is set | placed. Specifically, the support unit 10 of the core gripping device 1 is moved using the drive unit 12, the coordinates on the xy plane of the core gripping device 1 are matched, and the core gripping device is placed on the baseboard unit 24. 1 is arranged. At this time, the pickers 13a and 13b are arranged on the holes 26a and 26b formed in the base plate 24, respectively.

  Next, the support unit 10 of the core holding device 1 is moved downward (z-axis minus direction) using the drive unit 12. As a result, the pickers 13a and 13b are lowered, and as shown in FIG. 4B, the gripping portions 14a and 14b of the pickers 13a and 13b are placed in the holes 26a and 26b formed in the baseboard 24. Each inserted. At this time, each of the pressure sensors 17 a to 17 c comes into contact with the upper surfaces 24 a to 24 c of the baseboard part 24 to detect pressure acting between the core gripping device 1 and the baseboard part 24.

  When the gripping portions 14a and 14b are not inserted into the predetermined positions of the holes 26a and 26b formed in the baseboard portion 24, that is, the relative position of the core gripping device 1 with respect to the baseboard portion 24 is shifted. When the pressure is detected, the pressure detected by each of the pressure sensors 17a to 17c does not indicate a normal value. In this case, the control unit 11 controls the drive unit 12 so that the position of the core holding device 1 is the correct position.

  For example, when the pressure detected by each of the pressure sensors 17a to 17c is too high, specifically, when the pressure applied to the baseboard unit 24 is equal to or higher than a predetermined specified value, the control unit 11 controls the core gripping device 1. It can be determined that the position is abnormal. When the difference between the pressures detected by the pressure sensors 17a to 17c is outside the predetermined range, that is, when the difference between the pressures detected by the pressure sensors 17a to 17c is large, the baseboard portion Since the position of the core gripping device 1 is inclined with respect to the upper surfaces 24a to 24c (xy plane) of 24, the control unit 11 can determine that the position of the core gripping device 1 is abnormal.

  On the other hand, when the pressure detected by each of the pressure sensors 17a to 17c indicates a normal value, the gripping portions 14a and 14b are inserted into the predetermined positions of the holes 26a and 26b formed in the baseboard portion 24. Yes. In this case, as shown in FIG. 4C, the gripping portions 14 a and 14 b are expanded to bring the gripping portions 14 a and 14 b into contact with the baseboard portion 24. Thereby, the pickers 13a and 13b and the baseboard part 24 are fixed.

  Thereafter, in a state where the pickers 13a and 13b grip the base plate part 24, the support part 10 of the core gripping apparatus 1 is moved upward (z-axis plus direction) using the drive part 12. Thereby, each picker 13a, 13b rises and the core 20 (baseboard part 24) is lifted. For example, the control unit 11 may control the drive unit 12 to raise the pickers 13a and 13b when the pressure detected by the pressure sensors 17a to 17c is equal to or higher than a predetermined pressure. That is, when the pressure detected by the pressure sensors 17a to 17c is equal to or higher than the predetermined pressure, it indicates that the gripping portions 14a and 14b are firmly fixed to the baseboard portion 24 by the expansion of the gripping portions 14a and 14b. Yes. Therefore, the core 20 (baseboard part 24) can be lifted stably.

  Further, for example, the control unit 11 is driven so as to raise the pickers 13a and 13b when the pressure difference between the upper surfaces 24a to 24c of the baseboard 24 detected by the pressure sensors 17a to 17c is within a predetermined range. The unit 12 may be controlled. Thereby, the core 20 (baseboard part 24) can be lifted stably.

  Thereafter, as shown in FIG. 4D, the core holding device 1 is moved to a place where the mold 32 is disposed in a state where the core holding device 1 is holding the core 20 (the baseboard portion 24). The core 20 (the baseboard 24) is transported. And the support part 10 of the core holding | gripping apparatus 1 is moved below (z-axis minus direction) using the drive part 12. FIG. Thereby, the baseboard part 24 is accommodated in the concave part 33 of the mold 32.

  As shown in FIG. 4E, when the baseboard 24 is accommodated in a normal position of the mold 32, the pressures detected by the pressure sensors 17a to 17c are normal values. On the other hand, for example, as shown in FIG. 5, when the position of the baseboard part 24 and the mold 32 in the horizontal plane (xy plane) is shifted, when the baseboard part 24 is moved downward, The lower surface of the baseboard 24 interferes with the upper surface 35 of the mold 32. In this case, since the pressure detected by each of the pressure sensors 17a to 17c does not indicate a normal value, the control unit 11 controls the drive unit 12 to stop the lowering of the pickers 13a and 13b. Then, the control part 11 controls the drive part 12 so that the position of the core holding | gripping apparatus 1 may become a correct position.

  That is, in the case shown in FIG. 5, since force is applied from the upper surface 35 of the mold 32 to the base plate 24, the pressure detected by the pressure sensor 17a is larger than the pressure detected by the pressure sensors 17b and 17c. . As described above, when the value of a specific pressure sensor among the pressure sensors 17a to 17c increases, the control unit 11 may determine that the gripping state (conveyance state) of the core gripping device 1 is abnormal. it can.

  In other words, under normal conditions, the difference in pressure detected by each of the pressure sensors 17a to 17c is within a predetermined range, but as shown in FIG. When the position of 24 is not in a normal position, the pressure difference between the plurality of locations 24a to 24c of the baseboard 24 detected by the pressure sensors 17a to 17c is outside the predetermined range. In such a case, the control unit 11 can determine that the gripping state (conveyance state) of the core gripping device 1 is abnormal.

  As shown in FIG. 4E, after the baseboard part 24 is accommodated in the normal position of the mold 32, the gripping parts 14a and 14b of the pickers 13a and 13b are contracted to raise the pickers 13a and 13b. . Thereby, each picker 13a, 13b is extracted from each hole 26a, 26b of the baseboard 24.

  As described above, in the core gripping device 1 according to the present embodiment, the pressure sensor that detects the pressure acting between the core 20 (the baseboard portion 24) and the core gripping device 1 is provided. The picker is controlled according to the pressure detected by the pressure sensor. Therefore, since it is possible to prevent a large pressure from being applied to the core from the core gripping device 1, it is possible to prevent the core from being damaged by the pressure applied from the core gripping device 1. Therefore, it is possible to provide a core gripping device capable of suppressing breakage of the core.

<Embodiment 2>
Next, a second embodiment of the present invention will be described.
6 is a side view showing an example of the core, and is a side view of the core 20 shown in FIG. 2 as viewed from the negative side in the y-axis direction. As shown in FIG. 6, when the shape of the core body 21 (die 23 a) of the core 20 is asymmetrical in the xz plane about the central axis 29 parallel to the y axis, A rotational moment M about the central axis 29 acts. For this reason, when such a core 20 is gripped by using the core gripping device 1, a rotational moment M about the central axis 29 acts on the core 20, and the gripping core 20 may rotate. There is. In the present embodiment, a core holding device that can suppress damage to the core 20 and can stably hold even the core 20 on which the rotational moment M about the central axis 29 works will be described. .

  FIG. 7 is a cross-sectional view illustrating a state in which the core holding device according to the second embodiment is holding the core. Note that the configuration of the core gripping device according to the second embodiment is the same as the configuration of the core gripping device 1 described in the first embodiment, and thus a duplicate description is omitted. In the present embodiment, as shown in FIG. 7, the cross-sectional shape in the xz plane of the holes 46a and 46b formed in the core skirting board 44 is the core skirting board described in the first embodiment. It differs from the cross-sectional shape (refer FIG. 3) in the xz plane of the hole parts 26a and 26b of the part 24. FIG.

  That is, as shown in FIG. 7, the hole 46a of the baseboard 44 has a tapered shape in which the opening diameter of the hole 46a gradually decreases toward the z-axis direction plus side (upper side). Further, the hole 46b of the baseboard 44 has a tapered shape in which the opening diameter of the hole 46b gradually increases toward the z-axis direction plus side (upper side).

  Also in the present embodiment, the pickers 13a and 13b are inserted into the holes 46a and 46b formed in the baseboard portion 44 of the core 20 and the gripping portions provided at the tips of the pickers 13a and 13b, respectively. 14a and 14b are inflated to hold the baseboard 44. That is, the pickers 13a and 13b and the baseboard portion 44 of the core 20 are fixed by expanding the gripping portions 14a and 14b inside the holes 46a and 46b.

  Here, the shape of the hole 46a of the baseboard 44 is a tapered shape in which the opening diameter of the hole 46a gradually decreases toward the z-axis direction plus side (upper side). When 14a is inserted and expanded, the upper side surface of the grip portion 14a comes into contact with the side surface of the hole portion 46a, and a positive z-axis direction (upper) force is applied from the grip portion 14a to the hole portion 46a. The shape of the hole 46b of the baseboard 44 is a tapered shape in which the opening diameter of the hole 46b gradually increases toward the z-axis direction plus side (upper side). Is inserted and expanded, the lower side surface of the gripping portion 14b comes into contact with the side surface of the hole 46b, and a negative z-axis direction (lower) force is applied from the gripping portion 14b to the hole 46b.

  Thus, the z-axis direction positive side (upper side) force is applied to the hole 46a of the baseboard portion 44, and the z-axis direction negative side (lower side) force is applied to the hole 46b of the baseboard portion 44. Since it is applied, the rotational moment M (see FIG. 6) about the rotation axis 39 (axis parallel to the y-axis) acting on the baseboard 44 can be suppressed.

  Also in the present embodiment, each of the pressure sensors 17 a to 17 c is in contact with the upper surfaces 44 a to 44 c of the baseboard part 44 to detect the pressure acting between the core holding device 1 and the baseboard part 44. . Specifically, the pressure sensor 17a detects the pressure acting between the upper surface 44a of the baseboard portion 44 and the core gripping device 1, that is, the pressure applied to the pressure sensor 17a from the upper surface 44a of the baseboard portion 44. To do. The pressure sensor 17b detects a pressure acting between the upper surface 44b of the baseboard portion 44 and the core gripping device 1, that is, a pressure applied to the pressure sensor 17b from the upper surface 44b of the baseboard portion 44. The pressure sensor 17c detects the pressure applied between the upper surface 44c of the baseboard portion 44 and the core gripping device 1, that is, the pressure applied to the pressure sensor 17c from the upper surface 44c of the baseboard portion 44.

  Next, the operation when the core gripping device according to the present embodiment grips the core will be described with reference to cross-sectional views shown in FIGS. 8A to 8F. Below, operation | movement until it arrange | positions to the metal mold | die 32 (refer FIG. 8F) using the core holding | grip apparatus 1 is demonstrated about the core 20 (baseboard part 44) currently placed on the core mounting base 31.

  First, as shown to FIG. 8A, the core holding | gripping apparatus 1 is moved to the place where the core 20 (baseboard part 44) is set | placed. Specifically, the support unit 10 of the core gripping device 1 is moved using the drive unit 12, the coordinates on the xy plane of the core gripping device 1 are matched, and the core gripping device 44 is placed on the baseboard unit 44. 1 is arranged. At this time, the pickers 13a and 13b are arranged on the holes 46a and 46b formed in the baseboard portion 44, respectively.

  Next, the support unit 10 of the core holding device 1 is moved downward (z-axis minus direction) using the drive unit 12. Thereby, each picker 13a, 13b descends, and as shown in FIG. 8B, the gripping portions 14a, 14b of the pickers 13a, 13b are placed inside the respective hole portions 46a, 46b formed in the baseboard portion 44. Each inserted. At this time, each of the pressure sensors 17 a to 17 c comes into contact with the upper surfaces 44 a to 44 c of the skirting board portion 44 to detect pressure acting between the core gripping device 1 and the skirting board portion 44.

  When the gripping portions 14a and 14b are not inserted into the predetermined positions of the holes 46a and 46b formed in the baseboard portion 44, that is, the relative position of the core gripping device 1 with respect to the baseboard portion 44 is shifted. When the pressure is detected, the pressure detected by each of the pressure sensors 17a to 17c does not indicate a normal value. In this case, the control unit 11 controls the drive unit 12 so that the position of the core holding device 1 is the correct position.

  For example, when the pressure detected by each of the pressure sensors 17a to 17c is too high, specifically, when the pressure applied to the baseboard portion 44 is equal to or higher than a predetermined specified value, the control unit 11 causes the core gripping device 1 to It can be determined that the position is abnormal. When the difference between the pressures detected by the pressure sensors 17a to 17c is outside the predetermined range, that is, when the difference between the pressures detected by the pressure sensors 17a to 17c is large, the baseboard portion Since the position of the core gripping device 1 is inclined with respect to the upper surfaces 44a to 44c (xy plane) 44, the control unit 11 can determine that the position of the core gripping device 1 is abnormal.

  On the other hand, when the pressure detected by each of the pressure sensors 17a to 17c shows a normal value, the gripping portions 14a and 14b are inserted into the predetermined positions of the holes 46a and 46b formed in the baseboard portion 44. Can be determined.

  Next, as shown in FIG. 8C, the gripping portion 14b inserted into the hole 46b of the baseboard portion 44 is expanded. As a result, the gripping portion 14 b comes into contact with the side wall of the hole 46 b of the baseboard portion 44, and the picker 13 b is fixed to the baseboard portion 44. Here, since the hole 46b has a tapered shape in which the opening diameter of the hole 46b is gradually increased toward the z-axis direction plus side (upper side), the hole 46b of the baseboard 44 is formed on the hole 46b from the grip 14b. A force on the negative side (lower side) in the z-axis direction is applied. As a result, a force that is pressed against the core placing table 31 acts in the vicinity of the hole 46 b of the baseboard 44.

  Next, as shown in FIG. 8D, the gripping portion 14a inserted into the hole 46a of the baseboard portion 44 is expanded. As a result, the gripping portion 14 a comes into contact with the side wall of the hole 46 a of the baseboard portion 44, and the picker 13 a is fixed to the baseboard portion 44. Here, since the hole 46a has a tapered shape in which the opening diameter of the hole 46a is gradually reduced toward the z-axis direction plus side (upper side), the hole 46a of the baseboard 44 is formed from the grip 14a. A force on the plus side (upper side) in the z-axis direction is applied.

  At this time, if the gripping portion 14a is excessively expanded, a large force is applied to the hole 46a of the baseboard portion 44, and the baseboard portion 44 may be damaged. Therefore, in the present embodiment, the vertical force acting on the hole 46a of the base plate 44 using the pressure sensors 17a and 17b disposed in the vicinity of the hole 46a, in other words, the upper surface of the base plate 44 The pressure acting between the pressure sensors 44a and 44b and the pressure sensors 17a and 17b is detected, and when the pressure exceeds a predetermined value, the expansion of the gripping portion 14a is stopped. Thereby, it can suppress that big force is applied to the hole 46a of the baseboard part 44, and can suppress that the baseboard part 44 is damaged.

  By such an operation, the gripping portions 14a and 14b abut against the side walls of the holes 46a and 46b of the baseboard portion 44, and the pickers 13a and 13b and the baseboard portion 24 are fixed. Thereafter, with the pickers 13a and 13b gripping the baseboard portion 44, the support portion 10 of the core gripping device 1 is moved upward (z-axis plus direction) using the drive portion 12. Thereby, each picker 13a, 13b rises and the core 20 (baseboard part 44) is lifted.

  For example, the control unit 11 may control the drive unit 12 to raise the pickers 13a and 13b when the pressure detected by the pressure sensors 17a to 17c is equal to or higher than a predetermined pressure. That is, when the pressure detected by the pressure sensors 17a to 17c is equal to or higher than a predetermined pressure, it indicates that the gripping portions 14a and 14b are firmly fixed to the baseboard portion 44 by the expansion of the gripping portions 14a and 14b. Yes. Therefore, the core 20 (baseboard portion 44) can be lifted stably. The predetermined pressure referred to here is a pressure sufficiently lower than the pressure set in order to prevent the baseboard portion 44 described above from being damaged.

  Further, for example, the control unit 11 is driven so as to raise the pickers 13a and 13b when the pressure difference between the upper surfaces 44a to 44c of the baseboard 44 detected by the pressure sensors 17a to 17c is within a predetermined range. The unit 12 may be controlled. Thereby, the core 20 (baseboard part 44) can be lifted stably.

  After that, as shown in FIG. 8E, the core holding device 1 is moved to the place where the mold 32 is disposed in a state where the core holding device 1 is holding the core 20 (the baseboard portion 44). The core 20 (baseboard 44) is transported. And the support part 10 of the core holding | gripping apparatus 1 is moved below (z-axis minus direction) using the drive part 12. FIG. Thereby, the baseboard part 44 is accommodated in the recessed part 33 of the metal mold | die 32 (refer FIG. 8F).

  As shown in FIG. 8E, in the state where the core gripping device 1 lifts the respective pickers 13a and 13b and grips the core 20 (baseboard part 44), the base shaft part 44 has a rotary shaft 39 (y A rotational moment M (refer to FIG. 6) acts around an axis parallel to the axis. However, in the present embodiment, the shape of the holes 46a and 46b of the baseboard portion 44 is tapered, so that a positive force (upper side) in the z-axis direction is applied to the hole 46a of the baseboard portion 44, A force on the minus side (lower side) in the z-axis direction is applied to the hole 46b of the baseboard 44. Therefore, it is possible to suppress the rotational moment M (see FIG. 6) about the rotation shaft 39 (axis parallel to the y-axis) that acts on the baseboard portion 44 when the core is gripped. At this time, the pressure difference detected by each of the pressure sensors 17a to 17c is within a predetermined range.

  As shown in FIG. 8F, when the baseboard portion 44 is accommodated in a normal position of the mold 32, the pressures detected by the pressure sensors 17a to 17c become normal values. On the other hand, for example, when the position of the baseboard portion 44 and the mold 32 in the horizontal plane (xy plane) is shifted, when the baseboard portion 44 is moved downward, the bottom surface of the baseboard portion 44 is It interferes with the upper surface of the mold 32 (see FIG. 5). In this case, since the pressure detected by each of the pressure sensors 17a to 17c does not indicate a normal value, the control unit 11 controls the drive unit 12 to stop the lowering of the pickers 13a and 13b. Then, the control part 11 controls the drive part 12 so that the position of the core holding | gripping apparatus 1 may become a correct position.

  That is, when the pressure difference detected by each of the pressure sensors 17a to 17c is within a predetermined range under normal conditions, the baseboard 44 is not in a normal position with respect to the mold 32. The difference in pressure at the plurality of locations 44a to 44c of the baseboard portion 44 detected by each of the pressure sensors 17a to 17c is outside the predetermined range. In such a case, the control unit 11 can determine that the gripping state (conveyance state) of the core gripping device 1 is abnormal.

  As shown in FIG. 8F, after the baseboard portion 44 is accommodated in the normal position of the mold 32, the gripping portions 14a and 14b of the respective pickers 13a and 13b are contracted to raise the respective pickers 13a and 13b. . Thereby, each picker 13a, 13b is extracted from each hole 46a, 46b of the baseboard part 44.

  As described above, in the core gripping device 1 according to the present embodiment, a pressure sensor that detects the pressure acting between the core 20 (the baseboard portion 44) and the core gripping device 1 is provided. The picker is controlled according to the pressure detected by the pressure sensor. Therefore, since it is possible to prevent a large pressure from being applied to the core from the core gripping device 1, it is possible to prevent the core from being damaged by the pressure applied from the core gripping device 1. Therefore, it is possible to provide a core gripping device capable of suppressing breakage of the core.

  Further, in the present embodiment, since the hole portions 46a and 46b of the baseboard portion 44 are tapered, a positive z-axis direction (upper) force is applied to the hole portion 46a of the baseboard portion 44. A force on the minus side (lower side) in the z-axis direction is applied to the hole 46b of the baseboard 44. Therefore, it is possible to suppress the rotational moment M (see FIG. 6) about the rotational shaft 39 that acts on the baseboard portion 44 when the core is gripped.

  Although the present invention has been described with reference to the above embodiment, the present invention is not limited only to the configuration of the above embodiment, and within the scope of the invention of the claims of the present application. It goes without saying that various modifications, corrections, and combinations that can be made by those skilled in the art are included.

DESCRIPTION OF SYMBOLS 1 Core gripping device 10 Support part 11 Control part 12 Drive part 13a, 13b Picker 14a, 14b Grasping part 16a-16c Columnar member 17a-17c Pressure sensor 20 Core 21 Core main-body part 22a-22c Type | mold 24, 25 Part 26a, 26b, 27a, 27b hole

Claims (1)

A core gripping device for gripping the core,
The core gripping device is
A picker that includes a gripping portion that can be expanded and contracted using a fluid, and that grips the core by inserting the gripping portion from a vertical direction into a hole formed in the core and expanding the gripping portion;
A drive unit for moving the picker;
A control unit for controlling the driving unit;
A pressure sensor that detects pressure acting between the core and the core gripping device;
The control unit controls the driving unit so that the picker moves according to the pressure detected by the pressure sensor.
Core gripping device.

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