JP2813166B2 - Hot-dip galvanizing apparatus and its robot apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a hot dip galvanizing apparatus and a robot apparatus therefor.

[0002]

2. Description of the Related Art In hot-dip galvanizing, an excess hot-dip galvanizing solution is separated from a work immersed in a hot-dip galvanizing solution by a dripping device such as a centrifugal separator, and then the work is separated into a predetermined shape. The post-treatment is performed by dipping in a post-treatment liquid. In particular, when the work has an uneven portion such as a screw portion such as a bolt or a nut, extra hot-dip galvanizing solution adheres into a concave portion such as a screw groove or a protrusion on a convex portion such as a screw thread. For removal, ammonia water is used as a post-treatment liquid, and post-treatment with cooling water is often performed after the post-treatment with the ammonia water.

[0003]

In the above-mentioned post-treatment liquid, the work in a storage container such as a basket or a zigzag with excellent liquid permeability is stored so that the work is sufficiently in contact with the post-treatment liquid. The operation of shaking the storage container up and down several times is performed, and such an operation is performed manually by an operator.

[0004] The manual shaking operation of the storage container in the post-treatment liquid not only imposes a heavy burden on the operator, but also causes a difference in the quality of the hot-dip galvanized due to the difference in the shaking degree. The problem has arisen.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a hot-dip galvanizing apparatus and a hot-dip galvanizing apparatus capable of reducing the burden of post-processing work and achieving uniform post-processing. It is to provide a robot device.

[0006]

According to the present invention, there is provided a robot apparatus according to the present invention.
Is configured as follows. That is, the robot apparatus is used when post-treating a work to which a hot-dip galvanizing solution is attached with a post-processing liquid, and vibrates the work vertically in the post-processing liquid. A container for holding a work to which a hot-dip galvanizing solution is attached is held movably up and down, and driving means for vertically moving the storage container to apply vertical vibration to the storage container to the robot hand; Is provided as such a claim. Preferred embodiments based on the above configuration are described in claims 2 to 5 in the claims.
It is as described in claim 12.

In order to achieve the above object, the robot apparatus according to the present invention has the following second configuration. That is, the robot apparatus is used when post-treating a work to which a hot-dip galvanizing solution is attached with a post-processing liquid, and vibrates the work vertically in the post-processing liquid. A mounting substrate is fixed, a cylinder of an air cylinder device is fixed to one plate surface side of the mounting substrate, and a storage container for storing a work is fixed to a tip end of a piston rod of the cylinder device. A pair of guide rods extending in parallel with the cylinder is provided, the housing container is provided with a fitting member slidably fitted to the guide rod, and on the other plate surface side of the mounting board, It is configured such that a switching valve that changes the manner in which air is supplied to the air cylinder device to switch the expansion and contraction direction of the air cylinder device is attached. A preferable mode based on the above configuration is described in claim 14 of the appended claims.
It is as described in.

In order to achieve the above object, the hot-dip galvanizing apparatus of the present invention has the following configuration. That is, the robot apparatus includes a centrifugal separator for a hot-dip galvanizing solution, a first post-treatment liquid tank containing ammonia water, and a second post-treatment liquid tank containing cooling water within the movement trajectory of the robot hand tip. Is disposed so as to be positioned, and at the tip of the robot hand, a storage container in which the work after the hot-dip galvanizing solution is centrifuged by the centrifugal separator is held as being vertically movable,
The robot hand is provided with a drive unit for vertically driving the storage container to apply vertical vibration to the storage container. A preferable mode based on the above configuration is described in claim 16 of the appended claims.
It is as described below.

[0009]

According to the first aspect of the present invention, the driving means attached to the robot hand applies vertical vibrations to the storage container, that is, the work stored in the storage container, so that the operator's operation is performed. The burden is reduced. In addition, it becomes possible to always perform vertical vibration in a desired constant mode,
This is also preferable in terms of making the quality of hot-dip galvanizing uniform.

[0010] With the configuration as described in claim 2, vertical vibrations can be applied to the storage container by using expansion and contraction of a general cylinder device as a driving means. Further, the heavy and strong cylinder of the cylinder device is attached to the robot hand side, which is preferable in terms of reducing the inertial weight of the vertically vibrated portion.

According to the structure described in claim 3, the cylinder device can be made inexpensive, and even if air for operating the cylinder device leaks, the cylinder device is not affected by the post-treatment liquid or the surrounding environment. And have no adverse effect.

[0012] The configuration as described in claim 4 is preferable in securing smooth vertical vibration of the storage container and in improving the durability of the cylinder device.

According to the structure described in claim 5, a specific structure of the guide mechanism can be provided.

[0014] With the configuration as described in claim 6, the distance between the air cylinder device and the switching valve is shortened to prevent a situation in which the air piping becomes long near the distal end of the robot hand. It will be preferable.

By adopting the structure as described in claim 7, it is possible to obtain a preferable one for preventing the storage container from being unnecessarily vertically vibrated when the storage container is not in the post-treatment liquid. .

According to the structure described in claim 8, in order to smoothly infiltrate the storage container into the post-treatment liquid and draw out the post-treatment liquid without greatly scattering the post-treatment liquid, Further, this is preferable for preventing or reducing a large load from being applied to the robot hand.

[0017] With the configuration as described in the ninth aspect, the robot device can be used effectively, and the steps after the dripping of the hot-dip galvanizing solution can be automated and performed by the robot device. it can.

[0018] By adopting the configuration as described in claim 10, the subsequent steps including the transfer of the work from the centrifugal separator to the storage container attached to the robot hand can be automated.

By adopting the structure as described in claim 11, a general post-treatment using at least one of ammonia water and cooling water as the post-treatment liquid can be performed.

With the configuration as described in claim 12, both the post-treatment with the ammonia water and the post-treatment with the cooling water can be performed uniformly while reducing the work load.

According to the thirteenth aspect, the same effects as those according to the first to sixth aspects can be obtained. In addition, the air cylinder device and the switching valve, which are large members, are located on opposite sides of the mounting substrate, so that the entire structure can be compact.

With the configuration as described in claim 14, the effect corresponding to claim 7 can be obtained.

According to the fifteenth aspect, it is possible to automate the steps after centrifugation of the hot-dip galvanizing solution by effectively utilizing the robot device while obtaining the effects corresponding to the twelfth aspect. it can.

[0024] With the configuration as described in claim 16, the subsequent steps including the transfer of the work from the centrifugal separator to the storage container attached to the robot hand can be automated. In particular, the posture of the separation container is changed to the take-out position by being lifted upward from the centrifugal separation position, so that it is possible to prevent a situation in which the work is accidentally dropped on the way. In addition, it is necessary to secure the take-out position at a side position away from the separation container at the centrifugal separation position, that is, to provide a space for disposing the storage container attached to the robot hand for receiving the work from the separation container. This is also preferable for ensuring sufficient.

According to the configuration of the seventeenth aspect, it is preferable to prevent a situation in which the work is accidentally released from the separation container when the storage container is not at the work receiving position. Become.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In FIG. 1, a robot apparatus R has a total of six rotating shafts, and a distal end member 2 located at the distal end of the robot hand 1 has a drive set S to be described later.
, The storage container 3 is attached. The storage container 3
Work (eg bolts,
Nuts) are immersed in a post-treatment liquid described later. Although the storage container 3 is formed in a shallow bottomed cylindrical shape as a whole, it is made of a material having excellent heat resistance, for example, an iron-based metal basket or zigzag so as to ensure sufficient liquid permeability. . The work stored in the storage container 3 is a work after being immersed in a hot-dip galvanizing solution and then having a surplus hot-dip galvanizing solution separated by a centrifugal separator or the like.

FIGS. 2 and 3 show the drive set S.
2 and FIG. 3, the storage container 3 will be described.
2 shows a state (corresponding to the state shown in FIG. 1) in which the bottom wall is substantially horizontal and the work entrance is facing upward. The drive set S has a mounting board 11 made of an iron plate or the like.
One end, that is, the upper end, of the mounting board 11 is fixed to the distal end member 2 of the robot hand 1 by a bolt.

A cylinder 12a of an air cylinder device 12 is fixed to one side plate surface of the mounting board 11 so as to extend in the vertical direction. The piston rod 12b of the air cylinder device 12 extends downward, and its tip end is directly connected to a connector 13 fixed to the outer wall of the storage container 3 by welding or the like.

The cylinder device 12 has a pair of flange members 12c so as to sandwich the cylinder 12a from the axial direction, and the pair of flange members 12c are respectively connected to a total of four connecting rods 12 extending in parallel with the cylinder 12a.
are connected by d. The connecting rods 12d are arranged so as to surround the cylinder 12a and at equal intervals in the circumferential direction of the cylinder 12a (90-degree intervals in the embodiment).

Of the four connecting rods 12d, the two front connecting rods 12d far from the mounting board 11 constitute guide rods, and are fitted to the front connecting rods 12d as the guide rods. The member 14 is fitted slidably in the vertical direction (see also FIG. 4). The length of the fitting member 14 in the vertical direction is shorter than the distance between the upper and lower flange portions 12c, and is displaceable in the vertical direction between the upper and lower flange portions 12c by a predetermined stroke. A virtual plane obtained by connecting the two front connection rods 12d is parallel to the mounting board 11.

The fitting member 14 is integrally connected to an outer wall of the storage container 3 via a rod-shaped connecting member 15 extending in the vertical direction. The connecting member 15, the fitting member 14, and the front connecting rod 12d constitute a guide mechanism G for smoothly guiding the storage container 3 in the vertical direction. That is, when the cylinder device 12 is expanded and contracted, the storage container 3 is driven up and down, but the vertical movement of the storage container 3 is smoothly performed by the guide mechanism G.

A liquid detecting sensor 1 as liquid detecting means is provided on the upper end side of the mounting board 11 via a bracket 16.
7 is fixed. The liquid detection sensor 17 has a detection unit 17a that extends long downward, and the tip of the detection unit 17a is located substantially near the bottom wall of the storage container 3. Such a liquid detection sensor 17 outputs a predetermined signal by detecting the liquid when a specific range including the front end of the detection unit 17a and a predetermined distance from the front end to an upper position is immersed in the liquid. is there.

A switching valve 18 is fixed to the mounting substrate 11 on the side opposite to the cylinder device 12. This switching valve 1
Numeral 8 is for changing the manner of supplying air to the cylinder device 12 so that the cylinder device 12 is alternately expanded and contracted.

FIG. 5 shows a connection system between the cylinder device 12 and the switching valve 18. In FIG. 5, two chambers in the cylinder 12a defined by the pistons are denoted by reference numerals 21 and 2,
Indicated by 2. The switching valve 18 is of a 4-port / 2-position electromagnetic type, and the chamber 21 is connected to the switching valve 18 via a system path 21A, and the chamber 22 is connected to the switching valve 18 via a system path 22A.

When the switching valve 18 is in the switching state shown in FIG. 5, air from a compressor (not shown) is supplied to the system passage 22A.
Is supplied to the chamber 22 via the switching valve 18.
, And the cylinder device 12 is contracted. When the switching valve 18 is switched from the state shown in FIG.
1 is supplied with air while the chamber 22 is released to the atmosphere, and the cylinder device 12 is extended.

By switching the switching valve 18 at a high speed, the expansion and contraction of the cylinder device 12 is performed at a high speed, and the storage container 3 is vibrated up and down (for example, several times a second). The speed and amplitude of the vertical vibration of the storage container 3 and the operating time of the vertical vibration are determined by the timer device 23 that controls the switching valve 18. The timer device 23 detects the liquid by the liquid detection sensor 17 and the predetermined position of the storage container 3 from the robot control system in the post-processing liquid 31 (the position where the storage container 3 shown by the dashed line in FIG. 6 is substantially horizontal). It is activated on condition that both of the position signals indicating that the state has been received.

FIG. 6 shows a state in which the storage container 3 is penetrated, vertically vibrated, and pulled out of the post-treatment liquid 31 (ammonia water or cooling water) using the robot apparatus R. That is, the infiltration of the storage container 3 into the post-treatment liquid 31 is performed obliquely so as to have a shallow angle from the liquid surface. In a state where the storage container 3 is completely immersed in the post-treatment liquid 31, the switching valve 18 is switched at a high speed, the cylinder device 12 is extended and contracted at a high speed, and the storage container 3 is vertically vibrated. After the vertical vibration of the storage container 3 is performed for a predetermined time (several seconds), the vertical vibration is stopped.

After the vertical vibration of the storage container 3 is stopped, the storage container 3 is drawn out of the post-processing liquid at a shallow angle with respect to the level of the post-processing liquid. The storage container 3
When infiltration into the post-treatment liquid 31 and withdrawal, the storage container 3
May move linearly, or may move while drawing a substantially circular locus.

FIG. 7 shows a preferred example when the process is automated using the robot apparatus R as described above. In FIG. 7, 41 is a hot-dip galvanizing solution tank, 42 is a galvanizing solution dripping device using vertical vibration,
43 is a dripping (centrifugal separation) device for hot-dip galvanizing solution using centrifugal force, 44 is a first post-treatment liquid tank (flux treatment tank) storing ammonia water as a first post-treatment liquid,
Reference numeral 45 denotes a second post-treatment liquid tank that stores cooling water as a second post-treatment liquid.

The robot apparatus R is mounted on the robot hand 1, that is, the tip member 2, of the centrifugal separator 43 and the first and second post-treatment liquid tanks 44 and 45 among the constituent elements 41 to 45. The provided storage container 3 is arranged so as to be accessible.

According to the layout of FIG. 7, for example, a work such as a bolt and a nut is soaked in the hot-dip galvanizing solution tank 41. Next, the excess hot-dip galvanizing solution adhering to the work is roughly removed by shaking the work in the vertical direction by the dripping device 42. Thereafter, the work is supplied to the centrifugal separator 43, and an extra hot-dip galvanizing solution is removed from the work.

The work is transferred from the centrifugal separator 43 to the storage container 3 holding the robot device R, passes through the first post-treatment liquid tank 44 and the second post-treatment liquid tank 45, and then passes through the second post-treatment liquid tank. The work in the storage container 3 is discharged to the discharge position near 45. Of course, in the first post-processing liquid tank 44 and the second post-processing liquid tank 45, post-processing of the work is performed in the manner as described above with reference to FIG. 6 and the description thereof.

FIG. 8 shows an example suitable for automatically moving the work from the centrifugal separator 43 to the storage container 3 held by the robot device R. In FIG. 8, reference numeral 51 denotes a frame, 52 denotes a pair of columns provided on the frame 51 in a direction perpendicular to the plane of FIG. 8, and a rotating shaft 53 is rotatably held across the pair of columns 52. One end of a substantially L-shaped holding member 54 is integrated with the rotating shaft 53. The rotary shaft 53 is connected to a hydraulic rotary actuator 55.

A cylindrical outer cylinder 56 is integrated with the holding member 54, and a bottomed cylindrical separating container 57 is provided in the outer cylinder 56. A hydraulic rotary actuator 58 is fixed to the holding member 54.
8a is fixed to the center of the bottom wall of the separation container 57. Thus, the separation container 57 is rotatably held by the holding member 54 via the actuator 58.

The separation container 57 has, for example, a side wall and a bottom wall formed of a perforated metal plate (punched metal), for example, and has a large number of openings through which a hot-dip galvanizing solution passes.

The separation container 57 includes the holding member 54 and the outer cylinder 5.
6. Along with the actuator 58, it can swing around the rotation shaft 53. By this swing, the posture of the separation container 57 can be changed between the separation position indicated by the solid line in FIG. 8 and the removal position indicated by the dashed line in FIG. At the separation position, the work entrance 57a of the separation container 57 faces upward and its bottom wall is substantially horizontal. In this separation position, by rotating the separation container 57 by the actuator 58, excess hot-dip galvanizing solution is scattered from the work in the separation container 57 toward the outer cylinder 56 by centrifugal force, and The hot-dip galvanizing solution having collided with 56 falls down through the radial gap 59 between the outer cylinder 56 and the separation vessel 57 and is collected.

The state where the rotary shaft 53 is rotated approximately 145 degrees clockwise in FIG. 8 from the separation position is the take-out position. At this take-out position, the work entrance 57a of the separation container 57 is directed obliquely downward, and the work inside the work is dropped by gravity. The movement of the separation container 57 from the separation position to the take-out position is performed in such a manner that the separation container 57 is lifted upward, so that the work may be inadvertently dropped from the separation container 57 on the way. There is no. In addition, since the rotating shaft 53 is located outside the separation container 57, a fall space where the work falls from the separation container 57 at the take-out position, that is, a space where the storage container 3 is located is sufficiently large. It can be.

Before the separation container 57 is rotated by the actuator 58 at the separation position, the cover member 6 is closed.
By 0, the work entrance 57a of the separation container 57 is closed. Then, after the centrifugal separation is completed, before the separation container 57 swings toward the removal position, the lid member 60 is retracted toward the side opposite to the rotation shaft 53 with the separation container 57 interposed therebetween. You.

The storage container 3 held by the robot device is located at a position where the work falls from the separation container 57 at the unloading position. Thereby, the separation container 5
After the work is stored in the storage container 7, the work in the separation container 57 can be automatically transferred to the storage container 3. In order to confirm that the storage container 3 has arrived at the position for receiving the work from the separation container 57 (confirmation that the storage container 3 has come to the position shown by the dashed line in FIG. 8), for example, a switch pressed by a part of the robot apparatus R (Sensor) 61 may be provided so that the separation container 57 starts to swing from the separation position to the removal position on condition that it is confirmed that the switch 61 has been operated.

Although the embodiment has been described above, the present invention is not limited to this, and includes, for example, the following case. As a driving unit for vertically driving the storage container 3, for example, an appropriate device such as a hydraulic cylinder device or an electric motor can be used. The post-treatment with the post-treatment liquid can be performed after performing only one of the sagging devices 42 and 43, or the post-processing can be immediately performed without performing the sagging (depending on the type of workpiece). different).

The liquid detection sensor 17 may be of an appropriate type, or may not have such a sensor separately.

The object of the present invention is not limited to the specified contents, but also implicitly includes providing what is substantially preferable or corresponding to the contents described as advantages.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a robot device according to the present invention.

FIG. 2 is a side view showing details of a part for vertically driving the storage container.

FIG. 3 is a diagram when FIG. 2 is viewed from an arrow X direction.

FIG. 4 is a sectional view taken along line X4-X4 in FIG. 3;

FIG. 5 is a system diagram of an air cylinder device.

FIG. 6 is a simplified explanatory view showing a state in which a posture of a storage container with respect to a post-treatment liquid is changed.

FIG. 7 is a plan view showing a preferred arrangement example of the robot device.

FIG. 8 is a side sectional view of a main part showing a preferred example of a centrifugal separator.

[Explanation of symbols]

 1: Robot hand 2: Tip member of robot hand 3: Storage container 11: Mounting board 12: Cylinder device 12a: Cylinder 12b: Piston rod 12d: Connecting rod (guide rod) 15: Fitting member 17: Liquid detection sensor 18: Switching valve 31: Post-treatment liquid 41: Hot-dip galvanizing liquid tank 42: Dripping device 43: Centrifugal separator 44: First post-treatment liquid tank (ammonia water) 45: Second post-treatment liquid tank (cooling water) 53: Rotating shaft 54: Holding member 57: Separation container 55: Actuator (for changing posture) 58: Actuator (for centrifugal separation) 61: Switch (for confirming storage container) R: Robot device G: Guide mechanism S : Drive set body

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) C23C 2/00-2/40

Claims (17)

(57) [Claims] 1. A robot apparatus which is used when post-treating a work to which a hot-dip galvanizing solution is adhered with a post-treatment liquid, wherein the work is vertically vibrated in the post-treatment liquid. A storage container for storing the work to which the hot-dip galvanizing solution is attached is held at the tip end so as to be vertically movable. The robot hand is configured to drive the storage container up and down to apply vertical vibration to the storage container. A robot apparatus in a hot-dip galvanizing process, comprising: 2. The apparatus according to claim 1, wherein the driving means is a cylinder device, a cylinder of the cylinder device is fixed to a robot hand, and a piston rod of the cylinder device is fixed to the storage container. A robot device for hot dip galvanizing. 3. The air cylinder device according to claim 2, wherein the cylinder device is an air cylinder device.
A robot apparatus in a hot-dip galvanizing process. 4. The molten zinc according to claim 2, wherein a guide mechanism for smoothly guiding the storage container in a direction parallel to the cylinder is provided between the robot hand and the storage container. Robotic equipment for plating. 5. The pair of guide rods according to claim 4, wherein the guide mechanism is provided on the robot hand and extends in parallel with the cylinder, and is integrated with the storage container and slides on the pair of guide rods. A robot device in a hot-dip galvanizing process, comprising: a fitting member freely fitted. 6. The switching valve according to claim 3, wherein a switching mode for changing an air supply mode to the air cylinder device to switch a direction of expansion and contraction of the air cylinder device includes:
A robot apparatus in a hot-dip galvanizing process, wherein the robot apparatus is attached to a robot hand in the immediate vicinity of the air cylinder apparatus. 7. The robot hand according to claim 1, wherein the robot hand is provided with liquid detection means for detecting that the storage container is in the liquid, and the storage container is in the liquid by the liquid detection means. A robot apparatus in a hot-dip galvanizing process, wherein the driving means is set to operate under the following conditions. 8. The storage device according to claim 1, wherein the storage device is obliquely penetrated into the post-processing liquid by the robot device, and the driving unit is operated while the storage container is in the post-processing liquid. A robot apparatus in a hot-dip galvanizing process, wherein the storage container is vertically vibrated for a predetermined time, and after the vertical vibration is stopped, the storage device is drawn out of the post-processing liquid by the robot device obliquely. . 9. The method according to claim 1, wherein the robot device receives the workpiece from the hot-dip galvanizing solution dripping device into the storage container, transfers the workpiece into the post-processing solution, and after the post-processing is completed. A robot apparatus in a hot-dip galvanizing process, wherein the work is set so as to discharge a work from a storage container to a predetermined discharge position. 10. The method according to claim 9, wherein the dripping device is a centrifugal separator, and the centrifugal separator automatically discharges the workpiece to a predetermined take-out position after centrifuging the hot-dip galvanizing solution. A robot apparatus in a hot-dip galvanizing process, wherein the robot apparatus is set to: 11. The method according to claim 1, wherein
In the paragraph, the post-treatment liquid is at least one of ammonia water and cooling water, wherein the robot apparatus in the hot-dip galvanizing treatment is provided. 12. The hot-dip galvanizing process according to claim 11, wherein the post-treatment liquid is ammonia water and cooling water, and the storage container is vertically vibrated in both the ammonia water and the cooling water. Robotic device in. 13. A robot apparatus which is used when post-treating a work to which a hot-dip galvanizing solution is adhered with a post-treatment liquid, wherein the work is vertically vibrated in the post-treatment liquid. A mounting substrate is fixed to a tip portion, a cylinder of an air cylinder device is fixed to one plate surface side of the mounting substrate, and a storage container for storing a work is fixed to a piston rod tip portion of the cylinder device. A pair of guide rods extending in parallel with the cylinder are provided on the mounting board; a fitting member slidably fitted on the guide rod is provided on the storage container; and the other plate surface of the mounting board is provided. A switching valve for changing the air supply mode to the air cylinder device to switch the expansion / contraction direction of the air cylinder device is attached to the side. Robot device in molten zinc plating treatment. 14. The storage board according to claim 13, wherein the mounting substrate is provided with liquid detecting means for detecting that the storage container is in the liquid, and the storage container is in the liquid by the liquid detecting means. A robot apparatus in a hot-dip galvanizing process, wherein the driving means is set to operate under the following conditions. 15. A robot apparatus comprising: a centrifugal separator for a hot-dip galvanizing solution, a first post-treatment liquid tank containing ammonia water, and a second post-treatment containing cooling water within a movement locus range of the robot hand tip. A liquid container is disposed so as to be positioned, and at the tip end of the robot hand, a storage container for storing a work after the hot-dip galvanizing solution is centrifuged by the centrifugal separator is vertically movably held. A robot apparatus for hot-dip galvanizing processing, wherein the robot hand is provided with a drive unit for vertically driving the storage container to apply vertical vibration to the storage container. 16. The centrifugal separator according to claim 15, wherein a separation container of the centrifugal separator is swingable about a predetermined rotation axis provided outside the separation container. The centrifugal separation device is configured to be able to take an upwardly-facing centrifugal separation position, and a take-out position where the work is rotated upward in a direction lifted from the centrifugal separation position and the work is dropped from the work entrance by gravity. And a posture changing drive means for changing the posture of the separation container between the centrifugal separation position and the take-out position, wherein the robot device is configured such that the storage container attached to the robot hand is the take-out position. A hot-dip galvanizing apparatus is set so as to be able to take a position for receiving a work dropped from the apparatus. 17. A storage container detecting means according to claim 16, wherein said storage container attached to said robot hand is located at a receiving position for receiving a work dropped from a take-out position of said separation container. Wherein, on condition that the storage container is detected by the storage container detection means to be at the receiving position, the separation container is changed in attitude from the centrifugal separation position to the removal position. Hot dip galvanizing equipment.