JP2018079477A - Core conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a core conveyance device capable of conveying a core at high precision.SOLUTION: A core conveyance device 1 comprises: pickers 11_1 to 11_4 respectively provided with holding parts 12_1 to 12_4 capable of expanding and shrinking with a fluid; and positioning members 14_1 to 14_9 brought into contact with a core 20 when the holding parts 12_1 to 12_4 are expanded and positioning the core 20. When the holding parts 12_1 to 12_4 are expanded to displace the core 20 in an xy plane, the positioning members 14_1, 14_2, 14_4 and 14_5 are brought into contact with the core 20 in an x axis direction and decide the position of the core 20 in the x axis direction, and the positioning members 14_3, 14_6 and 14_9 are brought into contact with the core 20 in a y axis direction and decide the position of the core 20 in the y axis direction.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a core transfer 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 by using a plurality of pickers each having a grip portion that can expand and contract at the tip portion. In this method, the core is gripped by expanding the gripping portion and bringing the gripping portion into contact with the core.

  However, when the core is gripped using a picker provided with a gripping portion, the relative position between the core and the gripping portion may shift. If the position where the core is gripped deviates from the original gripping position as described above, there is a problem that the core deviates from a predetermined position when the core is transported and placed in the mold.

  The present invention provides a core transport device capable of transporting a core with high accuracy.

  The core transfer device according to the present invention includes a first picker and a second picker each having first and second gripping portions that can be expanded and contracted by a fluid, and when the first and second gripping portions are expanded. First and second positioning members that contact the core to position the core, and support portions that support the first and second pickers and the first and second positioning members; Moving means for moving the support part. The first gripping part is configured to be able to displace the core in the x-axis direction when expanded, and the second gripping part is capable of displacing the core in the y-axis direction when expanded. The first positioning member is in contact with the core in the x-axis direction when the first and second gripping portions are expanded to displace the core in the xy plane. The position of the core in the x-axis direction is determined, and the second positioning member contacts the core in the y-axis direction to determine the position of the core in the y-axis direction.

  The core conveying apparatus according to the present invention includes first and second positioning members that contact the core and position the core when the first and second gripping portions expand. When the first and second gripping portions are expanded and the core is displaced in the xy plane, the first positioning member comes into contact with the core in the x-axis direction, and the position of the core in the x-axis direction is determined. The second positioning member contacts the core in the y-axis direction to determine the position of the core in the y-axis direction. Therefore, it is possible to prevent the relative position between the core and the gripping portion from shifting, so that when the core is transported and placed in the mold, the core is prevented from shifting from the specified position. can do. Therefore, it is possible to provide a core transport device that can transport the core with high accuracy.

  According to the present invention, it is possible to provide a core transfer device that can accurately transfer a core.

It is a front view which shows the core conveying apparatus concerning embodiment. It is a front view which shows the state which the core conveying apparatus concerning embodiment holds the core. It is a top view which shows the state which the core conveying apparatus concerning embodiment hold | maintains a core. It is a top view for demonstrating operation | movement at the time of the core conveying apparatus concerning embodiment holding a core (before positioning). It is a top view for demonstrating operation | movement at the time of the core conveying apparatus concerning embodiment holding a core (after positioning). It is a top view for demonstrating the other aspect of the core conveying apparatus concerning embodiment. It is a top view for demonstrating the other aspect of the core conveying apparatus concerning embodiment. It is sectional drawing for demonstrating the other aspect of the core conveying apparatus concerning embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a front view illustrating a core transfer device according to an embodiment. As shown in FIG. 1, the core conveyance device 1 includes a support unit 10, a plurality of pickers 11_1 to 11_4, a plurality of positioning members 14_1 to 14_9 (see also FIG. 3), and a moving unit 15.

  The plurality of pickers 11 </ b> _ <b> 1 to 11 </ b> _ <b> 4 are arranged to extend downward from the lower surface of the support unit 10 (z-axis minus direction) and are fixed to the support unit 10. Grip portions 12_1 to 12_4 are provided at the tips of the plurality of pickers 11_1 to 11_4. The gripping portions 12_1 to 12_4 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 12_1 to 12_4 can be configured using rubber balloons. Gas (compressed air) is supplied to each holding part 12_1-12_4 via piping (not shown).

  Specifically, the grip portions 12_1 to 12_4 can be expanded by supplying compressed air having a predetermined pressure to the grip portions 12_1 to 12_4. The compressed air is supplied from a compressor or the like (not shown) to the grip portions 12_1 to 12_4 via a pipe (not shown). Further, when the gripping portions 12_1 to 12_4 are in an expanded state, the pressure in the gripping portions 12_1 to 12_4 is reduced by opening an exhaust valve (not shown) of a pipe connected to the gripping portions 12_1 to 12_4. The gripping portions 12_1 to 12_4 can be contracted.

  The plurality of positioning members 14_1 to 14_9 (see also FIG. 3) contact the core 20 to position the core 20 when the gripping portions 12_1 to 12_4 are expanded. The plurality of positioning members 14_1 to 14_9 are fixed to the support portion 10 via the support members 13_1 to 13_9. That is, each of the positioning members 14_1 to 14_9 is attached to the tip of the support members 13_1 to 13_9 extending from the lower surface of the support portion 10, respectively.

  The support unit 10, the pickers 11_1 to 11_4, and the support members 13_1 to 13_9 need to hold and support the core, and therefore need a certain degree of strength. For example, the support part 10, the pickers 11_1 to 11_4, and the support members 13_1 to 13_9 can be configured using a metal material.

  2 and 3 are a front view and a top view, respectively, showing a state in which the core transport device according to the present embodiment is holding the core. In FIG. 3, the components other than the core 20, the gripping portions 12_1 to 12_4, and the positioning members 14_1 to 14_9 are not illustrated in order to simplify the drawing.

  As shown in FIGS. 2 and 3, in the core transport device 1 according to the present embodiment, when gripping the core 20, the gripping portions 12 </ b> _ <b> 1 to 12 </ b> _ <b> 4 are inflated and the gripping portions 12 </ b> _ <b> 1 to 12_ <b> 4 are expanded. And the respective positioning members 14_1 to 14_9 hold the core 20 so that the core 20 is gripped.

  In the example shown in FIGS. 2 and 3, the core 20 includes a first portion 21, a second portion 22, and a third portion 23. The first portion 21 is gripped using the grip portions 12_1 and 12_2 and the positioning members 14_1 to 14_3. The third portion 23 is gripped using the gripping portions 12_3 and 12_4 and the positioning members 14_7 to 14_9.

  Moreover, in the core conveyance apparatus 1 concerning this Embodiment, when the holding parts 12_1 to 12_4 expand | swell, the position in the xy plane of the core 20 is determined because the core 20 contacts the positioning members 14_1 to 14_9. Is done.

  That is, as shown in FIG. 3, the grip portion 12_2 is disposed on the side surface 31 side of the first portion 21 of the core 20, and when the grip portion 12_2 expands, the grip portion 12_2 becomes the side surface of the first portion 21. 31, a negative force in the x-axis direction is applied to the first portion 21. Similarly, the grip portion 12_4 is disposed on the side surface 36 side of the third portion 23 of the core 20, and when the grip portion 12_4 expands, the grip portion 12_4 contacts the side surface 36 of the third portion 23, and A force on the minus side in the x-axis direction is applied to the third portion 23. As described above, the gripping portions 12_2 and 12_4 (first gripping portions) expand, and thus a force on the minus side in the x-axis direction acts on the core 20.

  The positioning members 14_1 and 14_2 are arranged on the side surface 32 side of the first portion 21 of the core 20, and the positioning members 14_7 and 14_8 are arranged on the side surface 37 side of the third portion 23 of the core 20. Yes. In other words, the positioning members 14_1 and 14_2 are disposed on the opposite side of the grip portion 12_2 with the first portion 21 of the core 20 interposed therebetween, and the positioning members 14_7 and 14_8 are the third portion 23 of the core 20. It is arrange | positioned on the opposite side of the holding part 12_4 on both sides. The positioning members 14_4 and 14_5 are disposed on the side surfaces 41 and 42 side of the second portion 22 of the core 20, respectively.

  Therefore, when the gripping portions (first gripping portions) 12_2 and 12_4 expand and a force on the negative side in the x-axis direction acts on the core 20, the positioning members 14_1 and 14_2 become the side surfaces of the first portion 21 of the core 20. 32, the positioning members 14_4 and 14_5 are in contact with the side surfaces 41 and 42 of the second portion 22 of the core 20, and the positioning members 14_7 and 14_8 are in contact with the side surface 37 of the third portion 23 of the core 20. Thus, the position of the core 20 in the x-axis direction is determined. That is, the positioning members (first positioning members) 14_1, 14_2, 14_4, 14_5, 14_7, and 14_8 function as positioning members in the x-axis direction.

  Further, as shown in FIG. 3, the gripping portion 12_1 is disposed on the side surface 33 side of the first portion 21 of the core 20, and when the gripping portion 12_1 expands, the gripping portion 12_1 becomes the side surface of the first portion 21. 33 abuts on the first portion 21 and applies a positive force in the y-axis direction. Similarly, the grip portion 12_3 is disposed on the side surface 38 side of the third portion 23 of the core 20, and when the grip portion 12_3 expands, the grip portion 12_3 contacts the side surface 38 of the third portion 23, and A force on the positive side in the y-axis direction is applied to the third portion 23. As the gripping portions 12_1 and 12_3 expand in this manner, a positive force in the y-axis direction acts on the core 20.

  The positioning member 14_3 is disposed on the side surface 34 side of the first portion 21 of the core 20, and the positioning member 14_9 is disposed on the side surface 39 side of the third portion 23 of the core 20. In other words, the positioning member 14_3 is disposed on the opposite side of the grip portion 12_1 with the first portion 21 of the core 20 interposed therebetween, and the positioning member 14_9 is gripped with the third portion 23 of the core 20 interposed therebetween. Arranged on the opposite side of the portion 12_3. The positioning member 14_6 is disposed on the side surface 43 side of the second portion 22 of the core 20.

  Accordingly, when the gripping portions (second gripping portions) 12_1 and 12_3 expand and a positive force in the y-axis direction acts on the core 20, the positioning member 14_3 is placed on the side surface 34 of the first portion 21 of the core 20. The positioning member 14_6 contacts the side surface of the second portion 22 of the core 20, the positioning member 14_9 contacts the side surface 39 of the third portion 23 of the core 20, and the y-axis direction of the core 20 The position at is determined. That is, the positioning members (second positioning members) 14_3, 14_6, and 14_9 function as positioning members in the y-axis direction.

  The moving means 15 shown in FIGS. 1 and 2 is configured to be able to move the support portion 10. That is, as illustrated in FIG. 2, the core 20 is transported to a predetermined position by moving the support unit 10 using the moving unit 15 in a state where the core transport device 1 holds the core 20. Can do. The moving means 15 can be configured using, for example, a robot arm or the like, and in this case, the robot arm is connected to the support unit 10.

  Next, an operation (core transport method) when the core transport device according to the present embodiment grips the core will be described with reference to FIGS. 4A and 4B. FIG. 4A shows a state before positioning of the core transport device, and FIG. 4B shows a state after positioning of the core transport device. 4A and 4B, illustration of components other than the core 20, the grip portions 12_1 to 12_4, and the positioning members 14_1 to 14_9 is omitted to simplify the drawings.

  In the initial state, the gripping portions 12_1 to 12_4 of the core transfer device 1 are in a contracted state. When transporting the core 20, first, the core transport device 1 is moved to a place where the core 20 is placed. Specifically, the core transport device 1 is moved onto the core 20 by moving the support unit 10 of the core transport device 1 using the moving unit 15 and aligning the coordinates on the xy plane of the core transport device 1. To be placed.

  Next, the support unit 10 of the core transport device 1 is moved downward (z-axis minus direction) using the moving unit 15. As a result, as shown in FIG. 4A, the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9 are arranged around the core 20. At this time, gaps are formed between the gripping portions 12_1 to 12_4 and the core 20. In addition, a gap is also formed between each positioning member 14_1 to 14_9 and the core 20.

  For example, a gap d <b> 1 is formed between the grip portion 12 </ b> _ <b> 1 and the side surface 33 of the core 20. Further, a gap d <b> 2 is formed between the grip portion 12 </ b> _ <b> 2 and the side surface 31 of the core 20. Further, a gap d3 is formed between the positioning member 14_2 and the side surface 32 of the core 20. Further, a gap d4 is formed between the positioning member 14_3 and the side surface 34 of the core 20. Similarly, gaps are formed between the other gripping portions 12_3 and 12_4 and the other positioning members 14_4 to 14_9.

  As described above, by forming gaps between the gripping portions 12_1 to 12_4 and the core 20 and between the positioning members 14_1 to 14_9 and the core 20, the core 20 When the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9 are disposed around, the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9 can be prevented from coming into contact with the core 20.

  Thereafter, as shown in FIG. 4B, each of the gripping portions 12_1 to 12_4 is expanded. As a result, the core 20 is displaced in the xy plane (see the arrow in FIG. 4B). At this time, the positioning members 14_1, 14_2, 14_4, 14_5, 14_7, and 14_8 come into contact with the core 20 in the x-axis direction to determine the position of the core 20 in the x-axis direction. Further, the positioning members 14_3, 14_6, and 14_9 are in contact with the core 20 in the y-axis direction to determine the position of the core 20 in the y-axis direction.

  By such an operation, the position of the core 20 is determined. That is, the core 20 is disposed at a position defined by the positioning members 14_1 to 14_9 of the core transport device 1. Further, by inflating each of the gripping portions 12_1 to 12_4, the core 20 is held between the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9, and the core 20 is gripped.

  Thereafter, in a state where the core conveyance device 1 is holding the core 20, the core conveyance device 1 is moved to a place where the mold is disposed. And the support part 10 of the core conveying apparatus 1 is moved to the downward direction (z-axis minus direction) using the moving means 15. Thereby, the core 20 is arrange | positioned in the predetermined place of a metal mold | die (not shown).

  As described above, the core conveyance device 1 according to the present embodiment has the positioning members 14_1 to 14 that contact the core 20 and position the core 20 when the gripping portions 12_1 to 12_4 expand. 14_9. When the gripping portions 12_1 to 12_4 are expanded to displace the core 20 in the xy plane, the positioning members 14_1, 14_2, 14_4, 14_5, 14_7, and 14_8 come into contact with the core 20 in the x-axis direction. 20 is determined in the x-axis direction, and the positioning members 14_3, 14_6, and 14_9 are in contact with the core 20 in the y-axis direction to determine the position of the core 20 in the y-axis direction. Therefore, it is possible to prevent the relative position between the core and the gripping portion from shifting, so that when the core is transported and placed in the mold, the core is prevented from shifting from the specified position. can do. Therefore, by the invention according to the present embodiment, it is possible to provide a core transport device that can transport the core with high accuracy.

  In the above description, a case has been described in which the gripping portions 12_1 to 12_4 are simultaneously inflated to displace the core 20 in the oblique direction on the xy plane, thereby positioning the core 20 (the arrow in FIG. 4B). reference). However, in the core conveying apparatus 1 according to the present embodiment, the gripping portions 12_2 and 12_4 are first expanded, and the core 20 is brought into contact with the positioning members 14_1, 14_2, 14_4, 14_5, 14_7, and 14_8. 20 is positioned in the x-axis direction, and then the gripping portions 12_1 and 12_3 are expanded so that the core 20 is brought into contact with the positioning members 14_3, 14_6, and 14_9 to position the core 20 in the y-axis direction. Good.

  Further, the gripping portions 12_1 and 12_3 are first expanded, the core 20 is brought into contact with the positioning members 14_3, 14_6, and 14_9 to position the core 20 in the y-axis direction, and then the gripping portions 12_2 and 12_4 are moved. The core 20 may be expanded and brought into contact with the positioning members 14_1, 14_2, 14_4, 14_5, 14_7, and 14_8 to position the core 20 in the x-axis direction.

  5A and 5B are top views for explaining another aspect of the core conveyance device according to the present embodiment. In FIG. 5A and FIG. 5B, illustration of components other than the core 20, the gripping portions 12_1 to 12_6, and the positioning members 14_1 to 14_9 is omitted to simplify the drawings.

  In this embodiment, as shown in FIGS. 5A and 5B, the core 20 is provided with gripping holes 51 and 52, and the gripping parts 12_5 and 12_6 are inserted into these holes 51 and 52, respectively. 20 may be gripped. That is, as shown in FIG. 5A, gripping holes 51 and 52 are formed in the core 20. And the holding parts 12_5 and 12_6 are inserted into these holes 51 and 52. At this time, the gripping portions 12_5 and 12_6 are in a contracted state. Then, as described above, after the gripping portions 12_1 to 12_4 are expanded and the core 20 is positioned (FIG. 5A shows a state after the core 20 is positioned), the gripping is performed as shown in FIG. 5B. The parts 12_5 and 12_6 are inflated. Thereby, the core 20 can be gripped using the gripping portions 12_5 and 12_6.

  That is, as shown in the left diagram of FIG. 6, the grip portion 12_5 of the picker 11_5 is inserted into the hole 51 formed in the core 20, and thereafter, as shown in the right diagram of FIG. Inflate. Thereby, the inner peripheral surface of the hole 51 of the core 20 and the gripping part 12_5 come into contact with each other, and a frictional force is generated between the hole 51 of the core 20 and the gripping part 12_5. Therefore, the core 20 can be firmly held using the holding part 12_5. The same applies to the case where the gripper 12_6 is inserted into the hole 52 and the core 20 is gripped.

  In the core conveyance device 1 shown in FIG. 3, the gripping portions 12_1 to 12_4 are expanded, and the core 20 is held between the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9. The child 20 was gripped. However, when the weight of the core 20 is heavy, the core 20 can be stably gripped only by holding the core 20 between the gripping portions 12_1 to 12_4 and the positioning members 14_1 to 14_9. There are cases where it is not possible. In such a case, as shown in FIG. 5A and FIG. 5B, gripping holes 51 and 52 are provided in the core 20, and the gripping parts 12_5 and 12_6 are inserted into these holes 51 and 52. By holding the child 20, the core 20 can be stably held.

  In addition, although the above demonstrated the case where the core 20 was positioned using the four holding parts 12_1 to 12_4 and the nine positioning members 14_1 to 14_9, in the core conveying apparatus 1 according to the present embodiment, The number of grips and positioning members can be arbitrarily determined. That is, at least one grip part and a positioning member for positioning in the x-axis direction may be provided, and at least one grip part and positioning member for positioning in the y-axis direction may be provided.

  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 conveying apparatus 10 Support part 11_1-11_6 Picker 12_1-12_6 Grip part 13_1-13_9 Support member 14_1-14_9 Positioning member 15 Moving means 20 Core 21 1st part 22 2nd part 23 3rd part 51, 52 holes

Claims (1)

First and second pickers each including first and second gripping portions that can be expanded and contracted by a fluid;
First and second positioning members that contact the core when the first and second gripping portions expand to position the core;
A support portion for supporting the first and second pickers and the first and second positioning members;
Moving means for moving the support part,
The first grip portion is configured to be capable of displacing the core in the x-axis direction when expanded.
The second grip portion is configured to be able to displace the core in the y-axis direction when expanded.
When the first and second gripping portions are expanded to displace the core in the xy plane, the first positioning member comes into contact with the core in the x-axis direction and the x-axis of the core A position in the direction is determined, and the second positioning member is in contact with the core in the y-axis direction to determine the position of the core in the y-axis direction;
Core transport device.

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