JP3348382B2 - Sand mold upper mold processing equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for processing an upper mold of a sand mold, and more particularly to an apparatus for processing an upper mold of a sand mold which performs drilling of a feeder hole, gas vent hole, and the like on the upper mold. .

[0002]

2. Description of the Related Art An upper mold for a sand mold used for the production of castings encloses a product and a model that forms a part determined by a casting method such as a feeder hole and a gas vent hole with an outer frame. After processing and compressing the casting sand filled enough to cover the model, the model is extracted, and then the feeder hole and gas vent hole are drilled, and the casting sand in the gate is removed. I have.

[0003]

However, the conventional sand mold upper die is manually drilled such as a feeder hole, etc., so that the processing accuracy becomes inconsistent and the working environment is reduced. In other words, there is a problem that productivity is reduced due to the so-called 3K environment. Accordingly, an object of the present invention is to provide a sand mold upper die processing apparatus capable of accurately performing drilling of a feeder hole and improving productivity.

[0004]

In order to solve the above-mentioned problems, a first sand mold upper die processing apparatus of the present invention comprises: a transfer device for transferring a sand die upper die so that the upper die can be positioned and stopped at a predetermined position; Stores a multi-degree-of-freedom manipulator with a removable feeder hole tool for drilling a feeder hole in the upper die whose positioning has been stopped, and various feeder hole tools that match the diameter of the feeder hole. A tool exchange device that can be exchanged, a database that stores geometric data relating to the position, diameter and number of various upper mold feed holes, and a manipulator control that controls the tool exchange device and the manipulator based on the geometric data. Device and the type of upper die conveyed by the conveying device,
The number and order can be input and set, and the first computer that inputs the geometric data of the upper mold whose positioning has been stopped from the database and outputs it to the manipulator control device at the request of the manipulator control device, the transfer device and the manipulator control device in advance A second computer that is activated in a predetermined order.

[0005] A second sand mold upper mold processing apparatus includes a transfer device for transporting the upper mold of the sand mold so that the upper mold can be positioned and stopped at a predetermined position, and a stamper for forming a feeder hole in the positioned upper mold. A multi-degree-of-freedom manipulator equipped with a gas vent hole tool for drilling and venting gas vent holes, as well as various types of feed hole tools according to the diameter of the hole. A tool exchange device that can be exchanged, a database for storing geometric data on the position, diameter and number of various upper mold feed holes and the position and number of gas vent holes, and a tool exchange device and a manipulator. A manipulator control device for controlling based on the data,
The type, the number and the order of the upper dies conveyed by the transfer device can be input and set, and the geometric data of the upper dies whose positioning has been stopped is input from a database at the request of the manipulator control device and output to the manipulator control device. It is characterized by comprising a computer and a second computer that starts up the transport device and the manipulator control device in a predetermined order.

[0006] A third sand mold upper mold processing apparatus comprises a transfer device for transferring the upper mold of the sand mold to a predetermined position so that the upper mold can be positioned and stopped, and a press for punching a feeder hole in the positioned upper mold. A multi-degree-of-freedom manipulator having a vent hole tool for detachably providing a vent hole tool and a vent hole tool for drilling a vent hole, and an air blow tool for removing casting sand in the pouring gate by air blow; A tool changing device that stores and replaces various types of feeder holes according to the diameter of the feeder hole, and the position, diameter and number of various upper type feeder holes, and the position and number of gas vent holes. A database for storing geometric data relating to the position and number of gates, a manipulator control device for controlling the tool changing device and the manipulator based on the geometric data, and an upper die conveyed by the conveyance device A first computer for inputting and setting the type, number and order, and inputting the geometric data of the upper mold whose positioning has been stopped from a database upon request from the manipulator control device and outputting the data to the manipulator control device, a transfer device and a manipulator control device And a second computer that starts in a predetermined order.

Further, a fourth sand mold upper mold processing apparatus comprises:
The second or third one, further comprising an empty frame detector attached to the manipulator, detecting whether or not the outer frame is filled with molding sand, and outputting a detection signal to a second computer. I do.

It is preferable that the feeder hole tool has a substantially semi-cylindrical shape corresponding to the diameter of the feeder hole.

In the first sand mold upper mold processing apparatus, the drilling of the feeder hole is automatically performed based on the geometric data using the tool for the feeder hole. In the second sand mold upper mold processing apparatus, in addition to the same operation as the first one, the drilling of the gas vent hole is automatically performed based on the geometric data using the gas vent hole tool. In the third sand mold upper mold processing apparatus, in addition to the same operation as the first or second apparatus, the removal of the casting sand in the gate is automatically performed based on the geometric data using the air blow tool. . Also, the fourth
In the sand mold upper mold processing device, the first, second or third
In addition to the operation similar to that of the above, the detection of the empty frame is automatically performed by the empty frame detector.

As the manipulator having multiple degrees of freedom, a 6-axis vertical articulated robot or the like is used. A personal computer is used as the first computer, and is connected to the manipulator control device via an interface such as RS-232C or RS-422. A sequencer is used as the second computer.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an example of an embodiment of a sand mold upper die working apparatus according to the present invention. In the figure, 1 is an upper mold 2 of various sand molds to be manufactured.
The transfer device 1 is provided with positioning means such as positioning pins (not shown) for positioning and stopping the upper die 2 at a predetermined position. The upper die 2 is usually placed in a predetermined position in a state where a model (not shown) is extracted from the molding sand 2b which is filled in the outer frame 2a and worked and compressed, and a ceramic gate sleeve is inserted. Although it is conveyed, for the sake of convenience of the process, there is a case where it is conveyed to a predetermined position in a state where only the outer frame 2a not filled with the casting sand 2b is empty.

Reference numeral 3 denotes a multi-degree-of-freedom manipulator such as a 6-axis vertical articulated robot. The manipulator 3 is disposed on the side of the transfer device 1 so as to be close to the upper die 2 which is stopped by the positioning means. Have been. At the end of the arm of the manipulator 3, a substantially semi-cylindrical feeder hole tool 4 corresponding to the diameter of the feeder hole is formed via a tool holder 5 in order to form a feeder hole in the upper die 2. In addition to being detachably mounted, the tool holder 5 has a lot-shaped degassing hole tool 6 for forming a degassing hole in the upper die 2.
Is provided so as to be perpendicular to the feeder hole tool 4 in a plane including the tool holder and the feeder hole tool 4, and air blows the casting sand in the gate (gatehole sleeve) of the upper die 2. An air blow tool 7 provided with an air nozzle at the tip of a pipe is provided so as to be perpendicular to the feeder hole tool 4 in the above plane and to be in line with the gas vent hole tool 6. . The drilling process of the feeder hole is performed by inserting the feeder hole tool 4 into the casting sand 2b and rotating about 180 °. In addition, near the tip of the arm of the manipulator 3, an empty frame detection device such as an ultrasonic distance sensor for detecting whether or not the outer frame 2a of the upper die 2 whose positioning has been stopped by the positioning means is filled with molding sand 2b. A vessel 8 is attached. The detection signal of the empty frame detector is output to a second computer described later. 9
Is a tool changing device that stores various feeder hole tools 4 according to the diameter of the feeder hole and has an automatic changing function.
The automatic exchange function of the tool exchange device 9 is activated by a start signal from a manipulator control device described later.

Reference numeral 10 denotes the position, diameter and number of feeder holes, the position and number of gas vent holes, and the position and number of gates from a reference position (for example, the center of the upper die) defined on the various upper dies 2. This is a database for converting geometric information into data and storing it as geometric data. The input of the geometric data to the database 10 is performed via a first computer described later. 11 performs drive control of the arm of the manipulator 3, drive control of the tool holder 5, and drive control of the air blow tool 7 based on geometric data, and performs drive control of the tool changing device 9 based on geometric data, and ,
It is a manipulator control device that processes signals. Reference numeral 12 denotes a first computer such as a microcomputer.
2 is equipped with a program capable of inputting or changing the type, number and production order of various types of upper dies conveyed in a mixed manner by the conveying device 1 in advance or at any time as necessary, and stopping positioning. The geometric data of the upper mold 2
It is input from the database 10 and output to the manipulator control device 11 in response to a request from the manipulator control device 11. The first computer 12 and the manipulator control device 11 communicate with each other by RS-232.
It is connected via an interface such as C or RS-422. Reference numeral 13 denotes a second computer such as a sequencer.
The computer 13 activates the transport device 1 and the manipulator 3 in a predetermined order so that they do not operate simultaneously.

The upper die 2 is provided with a feeder hole and a gas vent hole by the above-described sand die upper die processing apparatus, and
In order to remove the casting sand in the gate, first, an operator (operator) sends a process (a type of an upper mold to be manufactured,
Number and order). Next, when the system is started, (1) the empty frame detector 8 detects whether or not the outer frame 2a is filled with the casting sand 2b, and outputs a detection signal to the second computer 13. (2) If the casting sand 2b is not filled, the second computer 1
3 instructs the positioning means of the transport device 1 to release the positioning stop, and after the positioning device releases the positioning stop by this instruction, the transport device 1 transports the next upper die 2 to a predetermined position, and Outputs an operation permission signal to the second computer 13 which may stop the positioning and operate the manipulator 3. (3) The second receiving the operation permission signal of the manipulator 3
The computer 13 activates the manipulator control device 11. (4) The manipulator control device 11 communicates with the first computer 12 and requests the type of the upper die 2 to be processed from now on.
The computer 12 informs the manipulator control device 11 of the type of the upper die 2 to be processed next. (5) If the type of the upper die 2 to be processed next is different from the previously processed type, the manipulator control device 11 communicates with the first computer 12 again, and this time, The geometric data of the mold 2 is obtained, and the geometric data of the upper mold 2 to be processed is rewritten. (6) The manipulator control device 11 calculates an appropriate type of the feeder hole tool 4 by calculating from the acquired geometric data of the upper die 2 and compares it with the feeder hole tool 4 currently held. If the required feeder hole tool 4 is different from the one being held, the programmed operation is performed to replace the feeder hole tool 4 stored in the tool changing device 9. (7) The manipulator control device 11 controls the manipulator 3 on the basis of the geometric data of the upper die 2, performs drilling of a feeder hole, drilling of a gas vent hole, and removal of casting sand in a gate. . (8) After each work on the upper mold 2 is completed, the manipulator control device 11 outputs to the second computer 13 a work end signal indicating that the work of the manipulator 3 has been completed. (9) After confirming that the operation of the manipulator 3 has been completed, the second computer 13 outputs a release permission signal to the positioning means of the transfer device 1 indicating that the positioning stop may be released. After releasing the positioning stop based on the permission signal, the transport device 1 confirms that the positioning stop releasing operation of the positioning means has been completed, and further transports the next upper die to a predetermined position. (10) When the transfer of the upper die to the predetermined position is completed, positioning of the upper die 2 is stopped by the positioning means, and after the positioning stop is confirmed, an operation permission signal which may cause the manipulator 3 to operate is transmitted. 2 Output to the computer 13. Less than,
The process returning to (1) is repeated, and the processing of the upper mold 2 is performed one after another.

In the above-described embodiment, a description has been given of the case where the upper die 2 is formed with a hole for a feeder hole, a hole for a gas vent hole, and removal of casting sand in a gate. The invention is not limited to this. Only the drilling of the feeder hole, the drilling of the feeder hole and the gas venting hole, or the drilling of the feeder hole and the removal of the casting sand in the gate are performed. May be used.

[0016]

As described above, according to the first sand mold upper die machining apparatus of the present invention, the drilling of the feeder hole is automatically performed based on the geometric data using the feeder hole tool. Since it is performed, the drilling of the feeder hole can be performed extremely accurately and with remarkably high productivity as compared with the conventional technique.
According to the second sand mold upper die machining apparatus, the same operation and effect as those of the first sand mold can be obtained, and the gas vent hole is automatically formed based on the geometric data using the gas vent hole tool. Since it is carried out, the gas vent hole can be formed very accurately and with remarkably high productivity as compared with the conventional technique. According to the third sand mold upper mold processing apparatus, the same operation and effect as those of the first or second mold can be obtained, and the removal of the casting sand in the gate is automatically performed based on the geometric data using the air blow tool. Therefore, compared with the conventional technique, the removal of the casting sand in the gate can be performed extremely accurately and with remarkably high productivity. Further, according to the fourth sand mold upper mold processing apparatus, the same operation and effect as those of the first, second or third apparatus can be obtained, and the empty frame is automatically detected by the empty frame detector. Therefore, in the case of an empty frame, the manipulator can not be operated. Further, in any of the first to fourth sand mold upper mold processing devices, a database for storing geometric data is provided separately from the manipulator control device, and the upper mold geometric data to be processed is downloaded from the database to the manipulator control device. As a result, the memory capacity of the manipulator control device can be saved.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an example of an embodiment of a sand mold upper die working apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveying apparatus 2 Upper die 2a Outer frame 2b Casting sand 3 Manipulator 4 Tool for feeder hole 5 Tool holder 6 Tool for gas vent hole 7 Tool for air blow 8 Empty frame detector 9 Tool exchange device 10 Database 11 Manipulator control device 12 First computer 13 Second computer

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-54-16327 (JP, A) JP-A-11-77243 (JP, A) JP-A 8-141700 (JP, A) JP-A 61-77 92755 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B22C 23/00

Claims (5)

(57) [Claims] 1. A transport device for transporting an upper mold of a sand mold to a predetermined position so that the upper mold can be positioned and stopped, and a feeder hole tool for drilling a feeder hole in the positioned upper mold is detachably provided. A multi-degree-of-freedom manipulator and various types of feeder hole tools according to the feeder hole diameter are stored and exchangeable. A database that stores geometric data related to the number, a manipulator control device that controls the tool changer and the manipulator based on the geometric data, and the type, number, and order of upper dies conveyed by the transfer device can be input and set, and positioning is stopped. A first computer for inputting the obtained upper mold geometric data from a database in response to a request from the manipulator control device and outputting the data to the manipulator control device; A second computer for activating the control device in a predetermined order. 2. A removably provided transport device for transporting an upper mold of a sand mold to a predetermined position so that the upper mold can be positioned and stopped, and a tool for a feeder hole for forming a feeder hole in the positioned upper mold. A multi-degree-of-freedom manipulator equipped with a gas vent hole tool for drilling a gas vent hole, and various types of feeder hole tools according to the diameter of the feeder hole are stored and exchangeable. Apparatus, database for storing geometric data on positions, diameters and numbers of various upper feed holes, and positions and numbers of gas vent holes, and a manipulator control apparatus for controlling a tool changer and a manipulator based on the geometric data In addition, the type, number and order of the upper dies conveyed by the transfer device can be input and set, and the geometric data of the upper dies whose positioning has been stopped can be decoded by a request from the manipulator control device. A first computer for inputting data from the database and outputting it to the manipulator control device, and a second computer for starting the transfer device and the manipulator control device in a predetermined order.
An upper mold processing apparatus for a sand mold, comprising a calculator. 3. A transport device for transporting an upper mold of a sand mold to a predetermined position so as to be capable of positioning and stopping, and a detachable feeder tool for punching a feeder hole in the positioned upper mold. A multi-degree-of-freedom manipulator equipped with a gas vent hole tool for drilling a gas vent hole and an air blow tool for removing the casting sand in the sprue by air blow, and various types according to the diameter of the feed hole A tool changing device that can store and replace the tool for the feeder hole, and geometric data on the position, diameter and number of various upper mold feeder holes, the position and number of gas vent holes, and the position and number of gates And a manipulator controller for controlling the tool changer and the manipulator based on the geometric data, and the type, number and order of upper dies conveyed by the conveyor. The first computer for inputting the geometric data of the upper mold whose positioning is stopped and from the database at the request of the manipulator control device and outputting the data to the manipulator control device, the transfer device and the manipulator control device in a predetermined order. And a second computer which performs the above. 4. An empty frame detector attached to the manipulator for detecting whether or not the outer frame is filled with molding sand and outputting a detection signal to a second computer. 4. The upper die working device of the sand mold according to 2 or 3. 5. The upper die machining of a sand mold according to claim 1, wherein the feeder hole tool has a substantially semi-cylindrical shape corresponding to a diameter of the feeder hole. apparatus.