JP3509911B2 - Automatic casting finishing equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention cuts a gate, a feeder, and a burr formed on a casting by a robot that holds the casting and is controlled to a taught position and orientation. The present invention relates to an automatic casting finishing apparatus for performing rough finishing of a casting by separating, cutting and removing. 2. Description of the Related Art The form of a gate and a burr will be described with reference to FIG. Since castings are generally made by pouring molten metal into a sand mold or a mold from a sprue, the sprue 5 is unnecessary for the manufactured casting.
The portion of a and the feeder 5b are also formed integrally with the casting 5, and the molten metal protrudes from the mating portion of the mold, and the protruding portion is left as being attached to the casting 5 as burrs 5c after cooling and solidification. Conventionally, a gate 5a formed in this type of casting
In general, the cutting of the hot water 5b is performed as a manual operation in which an operator holds the casting by hand and cuts and removes the casting using a band saw or the like. It was performed as a manual operation, such as holding the tool in hand and pressing it against the burr to remove it. However, manual work is not only inefficient but also dangerous. For this reason, for the cutting of the gate, there has been proposed a gate cutting device that eliminates such manual work. However, in this cutting device, the positions of the gate and the feeder are multifaceted, cross over in many directions, and the shape, Since there are various types of positions, a dedicated device corresponding to each target work is required. The cutting tool and the driving device are driven by this dedicated cutting device, the cutting position is adjusted by the position and angle indexing mechanism of the clamped product, and the gate and the feeder are cut. However, the dedicated device requires a large-scale device to move the blade, and cannot be freely set for changes in the position and angle of the gate, and chips may enter the mechanism of the device and cause equipment to stop operating. Disadvantage. As another method, as shown in FIG.
A cutting tool 9 is provided on the tip flange 1a of the robot 1 together with the motor and the bearing unit, and cuts the sprue 5a of the fixed work 5 (gap 3-4).
No. 7719). As a deburring method, as shown in FIG. 4, a deburring tool is provided on the hand flange 1a of the robot 1 to cut and remove a burr 5c of the casting work 5 along a predetermined moving path. There is an automatic deburring device (Japanese Utility Model Laid-Open No. 63-38983). All of these are dedicated to only one type of operation, that is, only the gate cutting operation or only the deburring operation, and the finishing of the casting requires both of these devices. [0006] However, in these devices, although the cutting position can be freely changed, there is a limit in weight for mounting a large blade driving device, and a gate with a small cross section is used. It is limited to work with. The attitude and direction of the high-speed rotating blade are uncertain, which is dangerous. In addition, in order to complete the casting as a product, it is necessary to cut off unnecessary gates and feeders and remove burrs, and the conventional method requires both a gate cutting robot and a deburring robot. Yes, it was not economic. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a casting finishing device which removes burrs by cutting a gate by one robot. SUMMARY OF THE INVENTION [0008] The gist of the present invention is to provide a hand capable of positioning and holding a casting product portion, and a high-rigidity robot having the hand connected to a hand flange of an articulated manipulator. And a double-axis spindle motor disposed in the operation area of the robot hand, a circular saw was attached to one end of the spindle motor, and a cutting tool such as an end mill was attached to the other end, and gripped by the hand. The automatic casting finishing apparatus is characterized in that the robot continuously moves the workpiece in accordance with a program, thereby cutting and separating a gate and a feeder and cutting and removing burrs, and automatically performing rough finishing of a casting. A work having a sprue in each mode is positioned and grasped by a work grasping hand fixedly or detachably connected to the wrist of the articulated robot, and is brought into the working space from the carry-in position. In accordance with the moving program stored in the control program, the work is changed to a direction and a posture suitable for cutting each gate, according to the form of each gate and feeder, and one end of a fixedly disposed double-axis spindle motor is provided. A linear saw in the air is linearly moved in the air to cut each gate and feeder, and after the cutting is completed, the work is further attached to the other end of the dual-axis spindle motor according to the moving program. After being moved toward the end mill that is being rotated and driven, the work is moved while maintaining the posture and trajectory suitable for removing burrs. The workpiece is cut and removed, and the work on which the gate cut and deburring is completed is carried out from the processing space. An embodiment of the present invention will be described with reference to FIG. 1 and FIG. As shown in the drawing, a robot 1, a double-axis spindle motor 6 opposed to the robot 1, a robot controller 12 provided on the back of the robot 1, and the entire casting device are controlled on a rectangular common base 7. An overall control device 13 is provided. The robot 1 is configured by attaching a workpiece gripping hand 3 to an end flange 1a of an articulated manipulator via an automatic coupling device 2 detachably coupled thereto. Has become.
Specifically, a workpiece gripping hand 3 is coupled to the separating portion 2a of the automatic coupling device 2, and a gripping claw 4 driven by an air cylinder (not shown) is pivotally supported on the hand 3 so as to be tiltable. It has a structure for positioning and holding the work 5. A double-axis spindle motor 6 arranged to face the robot 1 is mounted on a frame 8 fixed to a common base 7. A circular saw 10 for cutting a gate is mounted on a shaft 6a at one end of the double shaft spindle motor 6, and a collet chuck 6c is incorporated at the other end 6b. The collet chuck 6c is used for cutting and removing burrs. An end mill 11 is attached. The rotation speed of the double-axis spindle motor 6 is controlled by an inverter, and is driven at a rotation speed suitable for the cutting peripheral speed of each of the circular saw and the end mill. Reference numeral 16 denotes a chute for preventing chips from being scattered, and reference numeral 17 denotes a scrap conveyor for discharging cut gates and chips. Reference numeral 18 denotes a safety cabin provided as a measure for preventing chip scattering, noise, and safety. In such a casting finishing apparatus, beside the working space, a work supply device 14 for carrying in the work 5 is provided.
And an unloading device 15 for unloading the processed work are installed adjacently. Note that the same supply device and unloading device can also serve as the same device. With the above configuration, the robot 1 is operated in accordance with the program taught in advance, and the circular saw 10
Gate 5a of work 5 gripped by hand 3
The cutting of the feeder portion 5b, the removal of the burr 5c by the end mill 11, and the rough finishing of the work 5. The present invention has been configured as described above.
A single device can cut and remove the gate and feeder portions generated in various directions and multi-directions formed integrally with the casting as a series of operations, and can cut and remove burrs. Casting can be finished efficiently without the need for
Further, since the circular saw and the end mill are driven by one motor, the apparatus is simplified and the economical effect is large.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view showing an embodiment of the present invention. FIG. 2 is a front view of the same. FIG. 3 is a conventional gate cutting robot. FIG. 4 is a conventional automatic deburring device for a casting work. FIG. 5 is a side view of a work for explaining a form of a gate and a riser. [Description of Signs] 1 Robot 1a Hand end flange 2 Automatic coupling device 2a Separating part 3 Hand 4 Gripping claw 5 Work 5a Gate part 5b Feeder part 5c Burr 6 Double spindle motor 6a Double spindle motor shaft 6b Double spindle motor Shaft 6c collet chuck 7 common base 8 frame 9 cutting tool 10 of conventional method circular saw 11 end mill 12 robot control device 13 overall cutting control device 14 work supply device 15 work unloading device 16 chute 17 scrap conveyor 18 safety cabin

──────────────────────────────────────────────────続 き Continued from the front page (72) Inventor Yoshikazu Haneda 46-59 Ohara Nakahara, Tobata-ku, Kitakyushu-shi, Fukuoka Nippon Steel Corporation Machinery & Plant Business Department (56) References JP-A-1-127213 ( JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 23/02 B22D 31/00

Claims (1)

(57) [Claims] [Claim 1] A hand capable of positioning and gripping a casting product portion, and a high-rigidity robot in which the hand is fixedly or detachably coupled to a hand flange of an articulated manipulator. A double-spindle spindle motor fixedly arranged in the operation area of the robot hand is provided, a circular saw is attached to one end of the spindle motor, and a different kind of cutting tool such as an end mill is attached to the other end to rotate the spindle motor. The robot continuously changes the direction and posture of the casting gripped by the hand in accordance with the reference of the cutting surface and the shape of the casting, and moves it to cut and separate the sprue portion formed in the casting with the circular saw. Further, the remaining pouring gate and burrs after cutting are removed by a cutting tool such as an end mill which is driven to rotate at the other end of the spindle motor, and the rough finish of the casting is automatically performed. Automatic casting finishing apparatus characterized by having to perform a program.