JP5650439B2 - Control method and control device for hanger conveyor for precision casting - Google Patents

Description

  The present invention relates to a control method and a control device for a precision casting hanger conveyor, and more particularly to a control method and a control device for a hanger conveyor used in a lost wax casting method.

  In the lost wax casting method, a wax tree with a product model made of wax and a gate is created. The wax tree is dipped into a slurry, drained, and then sprinkled with a refractory and dried to form one refractory layer having a predetermined thickness.

  Such a refractory layer is usually formed from about the seventh layer to the twelfth layer according to the product shape and required product accuracy, and from dipping in the slurry corresponding to the number of layers to be formed. The process until drying is repeated a plurality of times, and a mold having a fireproof layer with a predetermined thickness is manufactured.

  The mold produced in this way is then transferred to a de-rolling process (wax melting, outflow) and then fired to form a mold (sand mold). In such a casting method, a hanger conveyor that is circulated in an endless manner is used for drying the refractory, and a plurality of wax trees are suspended on the conveyor, and are dried in a room controlled at constant temperature and humidity. Forced drying is performed.

Patent Document 1 proposes a lost wax mold manufacturing method in which unattended operation is possible after startup and work for ensuring mold quality is performed unattended. In the manufacturing method of Patent Document 1, a robot handling a wax tree, two or more slurry liquid immersion tanks arranged between the robot, a fluidized bed tank for sanding, and the wax tree are suspended and conveyed for a predetermined time or more. The manufacturing method includes at least two or more hanger conveyors and includes the following steps.
(1) A step of removing the wax tree suspended and transported by the robot from the conveyor.
(2) A step of transporting and immersing the wax tree taken out by the robot into the slurry liquid immersion tank by the robot.
(3) A step of transporting the immersed wax tree to a sanding fluidized bed tank by a robot and coating sand.
(4) A step of returning the wax-coated sand tree to the hanger conveyor by a robot.
(5) A step of repeating the above steps a plurality of times.

  However, the conventional manufacturing methods including the manufacturing method disclosed in this patent document have the following technical problems.

JP-A-7-60397

  That is, the hanger conveyor used in the manufacturing method disclosed in Patent Document 1 includes a mixture of two or more types, one that dries the wax tree after coating and one that continues the wax tree coating operation. There are multiple hangers that suspend the wax tree at a predetermined interval, but the hanger conveyor can only move in one direction. There was a problem that decreased.

  The reason for this is that wax trees usually rarely produce one kind of varieties in large quantities, and are demanded to cope with the production of many kinds and small quantities. However, when producing many varieties, the number of refractory layers to be formed differs depending on the varieties, and as a result, drying is completed and a wax tree forming the next refractory layer is randomly generated. .

  When drying is completed and the next refractory layer is formed, it is necessary to move the time-up wax tree to the transfer position of the hanger conveyor. At this time, the hanger conveyor only moves in one direction. If it is not possible, for example, if the wax tree immediately after passing through the transfer position has timed up, it will wait for approximately one round of movement, and the waiting time for reaching the transfer position will be very long. As a result, the production efficiency was lowered.

  The present invention has been made in view of such conventional problems, and the object of the present invention is to provide a precision casting hanger that improves production efficiency by shortening the time to reach the transfer position. It is providing the control method and control apparatus of a conveyor.

  In order to achieve the above object, the present invention includes a plurality of hangers on which a wax tree is individually suspended, a hanger conveyor that moves the hangers around, and the wax tree is taken out at a transfer position of the hanger conveyor. In the precision forging method using the robot for dipping into the slurry, draining the liquid, and then returning the wax tree with the refractory sprinkled and adhered to the transfer position, the temperature and humidity of the hanger conveyor are adjusted. A hanger conveyor for the final line installed in the drying chamber, and a hanger conveyor for molding line arranged on the front side of the hanger conveyor for the final line, and the moving direction of either or both of the hanger conveyors The hanger conveyor for the final line and When the robot takes out the wax tree timed up to form the next refractory layer from the molding line hanger conveyor at the transfer position, the wax tree continues the current direction of movement. Time and the time to reach the transfer position when the moving direction is reversed, and predicting both, selecting a moving direction of a shorter time among the predicting calculations, and selecting the moving direction in the selected moving direction Moved the wax tree.

  The molding line hanger conveyor is composed of a plurality, and when transferring the wax tree timed up from the front stage side of the molding line hanger conveyor to the next stage molding line hanger conveyor, and on the rear stage side When transferring the wax tree timed up from the molding line hanger conveyor to the final line hanger conveyor, the empty hanger of the transfer destination hanger conveyor is recognized, and the empty hanger indicates the current moving direction. The time to reach the transfer position when the movement direction is reversed and when the movement direction is reversed is predicted and calculated in both directions, and the movement direction of a shorter time is selected from the prediction calculations, and the selected movement direction The empty hanger can be moved.

  Further, the present invention includes a plurality of hangers on which wax trees are individually suspended, a hanger conveyor that circulates the hangers, and the wax tree is taken out of the hanger conveyor at a transfer position and dipped into the slurry. In the precision forging apparatus having a robot for returning the wax tree on which the refractory material is sprinkled and adhered after the liquid is drained, the hanger conveyor is installed in a drying chamber in which the temperature and humidity are adjusted. It has a hanger conveyor for the final line and a hanger conveyor for the molding line arranged on the front stage side of the hanger conveyor for the final line, and is configured to be able to reverse the direction of movement of either or both of the hanger conveyor. And the hanger conveyor for the final line and / or the molding line. When the wax tree continues the current moving direction when the robot takes out the wax tree timed up to form the next refractory layer from the hanger conveyor at the transfer position, the moving direction The time to reach the transfer position when the rotation is reversed is predicted and calculated in both directions, and the movement direction of a shorter time is selected from the prediction calculations, and the wax tree is moved in the selected movement direction. It has a control device.

  The molding line hanger conveyor is composed of a plurality, and when the controller transfers the wax tree timed up from the previous stage side of the molding line hanger conveyor to the next stage side molding line hanger conveyor, And, when transferring the wax tree timed up from the molding line hanger conveyor on the rear stage side to the final line hanger conveyor, the empty hanger of the transfer destination hanger conveyor is recognized, When the current moving direction is continued and when the moving direction is reversed, the time to reach the transfer position is predicted in both cases, and the shorter moving time of the prediction calculations is selected, The empty hanger can be moved in the selected moving direction.

  The hanger conveyor includes the last line hanger conveyor, a plurality of molding line hanger conveyors, and a model line hanger conveyor provided with a plurality of hangers on which an untreated wax tree is individually suspended. A front stage side of the molding line hanger conveyor is disposed immediately above the line hanger conveyor, a rear stage side of the molding line hanger conveyor is disposed immediately above the final line hanger conveyor, and the robot has a pair of first And a second robot, the first robot is arranged between the model line hanger conveyor and the molding line hanger conveyor, and the second robot is arranged on the front side of the final line hanger conveyor. Can do.

  According to the control method and the control device for the precision casting hanger conveyor configured as described above, the hanger conveyor is configured so that one or both of the movement directions can be forward and reverse, and the hanger conveyor for the final line, and / or When the robot takes out the wax tree timed up to form the next refractory layer at the transfer position from the hanger conveyor for the molding line, the direction of movement is reversed when the wax tree continues the current direction of movement. The time to reach the transfer position at that time is predicted and calculated on both sides, and the movement direction of the shorter time is selected in the prediction calculation, and the wax tree is moved in the selected movement direction. It is possible to shorten the movement time to the transfer position, and as a result, the standby time is shortened and the production efficiency is improved.

  According to the control method and the control device for the precision casting hanger conveyor of the present invention, it is possible to shorten the movement time to the transfer position of the wax tree, and as a result, the standby time is shortened and the production efficiency is improved. .

It is a top view which shows the whole arrangement configuration of the precision forging apparatus to which the control method and control apparatus of the hanger conveyor for precision casting concerning this invention are applied. It is a top view which shows the structure of the precision forging apparatus arrange | positioned on the top view of FIG. It is side explanatory drawing which shows the whole arrangement configuration of the precision forging apparatus to which the control method and control apparatus of the hanger conveyor for precision casting concerning this invention are applied. It is a top view, a top view, a side view, and a control block diagram showing an example of a precision casting hanger conveyor driving device according to the present invention. It is a block diagram of the control system of the control apparatus of the precision casting hanger conveyor concerning this invention. It is a flowchart of the control procedure which shows an example of the control method of the hanger conveyor for precision casting concerning this invention. FIG. 7 is a flowchart performed following the control procedure of FIG. 6. FIG. 8 is a flowchart performed following the procedure of FIG. 7.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. 1 to 8 show an embodiment of a control method and control device for a precision casting hanger conveyor according to the present invention. 1 to 3 show the overall configuration of a precision casting apparatus to which the present invention is applied.

  The precision forging device shown in the figure includes a plurality of hangers No1 to No150 on which a wax tree WT is individually suspended, and a hanger conveyor (hereinafter simply referred to as a conveyor) 10a that moves the hangers No1 to No150 in an endless manner. 10b, 10c, 10d and the wax tree (hereinafter abbreviated as tree) WT from the conveyors 10a, 10b, 10c, 10d are taken out at the first to sixth transfer positions 12a, 12b, 12c, 12d, 12e, 12f, After dipping into the slurry and draining, the tree WT on which the refractory is sprinkled and adhered is transferred to the transfer positions 12a, 12b, 12c, 12d, 12e provided on the hanger conveyors 10a, 10b, 10c, 10d, respectively. And robots 14a and 14b that return them in 12d.

  In the case of the present embodiment, as shown in FIGS. 1 and 2, the hanger conveyor includes a model line conveyor 10a, a first molding conveyor 10b, a second molding conveyor 10c, and a final line conveyor used for forced drying. 10d.

  The model line hanger conveyor 10a includes a plurality of hangers No1 to No30 on which untreated wax trees WT are individually suspended. The first molding line conveyor 10b includes a plurality of hangers No31 to No60 for suspending a tree WT formed with a third refractory layer from the first refractory layer.

  The second molding line conveyor 10c includes a plurality of hangers No61 for suspending a tree WT on which a refractory layer (n-2) from the fourth refractory layer to the last layer (hereinafter referred to as n layer) is formed -No110 is provided.

  The conveyor 10d for the final line is installed in a drying chamber in which the temperature and humidity are adjusted, and includes a plurality of hangers No111 to No150 that suspend the tree WT in which the (n-1) layer and the n layer (final layer) are formed. I have. The robot includes two units, a first robot 14a and a second robot 14b.

  In addition, hanger No1-No150 provided in conveyors 10a-10d for each line and the last line is arrange | positioned so that each may become equal intervals, and is aiming at the effective utilization of an installation area by meandering. .

  The model line conveyor 10b is installed in the first chamber 18a, and the first molding line conveyor 10b is disposed in the second chamber 18b on the second floor immediately above the model line conveyor 10b, and the drying chamber 18d adjacent to the first chamber. Inside, the final line conveyor 10d is installed, and the second molding line conveyor 10c is arranged in the third chamber 18c on the second floor directly above it, and it is divided into four separate chambers. It is possible to produce a casting with high accuracy and to reduce the defect rate. The first chamber 18a to the third chamber 18c may be at room temperature, or the temperature and humidity may be appropriately controlled to set values. For example, the set value is appropriately set according to the outside air temperature and the season.

  Corners of the first chamber 18a and the second chamber 18b so that the tree WT can be taken out and returned from the model line conveyor 10a, the first molding line conveyor 10b, and the second second molding line conveyor 10c. The first robot 14a is disposed on the front side of the.

  In addition, at the substantially central position in the longitudinal direction of the fourth chamber 18d (drying chamber 18d) so that the tree WT can be taken out and returned from the second molding line conveyor 10d and the final line conveyor 10d, The second robot 14b is arranged on the front side.

  On the model line conveyor 10a and the first molding line conveyor 10b, the first and second transfer positions 12a and 12b are located at the corners of the respective chambers 18a and 18b within the operable range of the first robot 14a. Is provided. These 1st and 2nd transfer positions 12a and 12b are arrange | positioned at the location corresponding up and down.

  The second molding line conveyor 10c is provided with third and fourth transfer positions 12c and 12d. The third transfer position 12c is within the range in which the first robot 14a can be operated, and is disposed at a corner adjacent to the second chamber 18b. The fourth transfer position 12d is the longitudinal length of the third chamber 18c. It is set within a range where the second robot 14b can be operated in a substantially central portion of the direction.

  The final line conveyor 10d is provided with fifth and sixth transfer positions 12e, 12f, and these transfer positions 12e, 12f are the transfer positions 12c, 12d of the second molding line conveyor 10c. It corresponds to.

  Each conveyor 10a, 10b, 10c, 10d has a driving device 20a, 20b, 20c, 20d, and each driving device 20a, 20b, 20c, 20d has a hanger conveyor 10a, It is installed on the upper side of 10b, 10c, 10d.

  Tension pulleys 21a, 21b, 21c, and 21d are disposed adjacent to the drive devices 20a, 20b, 20c, and 20d. The details of the drive device 20d for the final line conveyor 10d are shown in FIG.

  4 includes a driving motor 200a, a reduction gear 201a connected to the driving motor 200a, and a pulley 203a connected to an output shaft 202a of the reduction gear 201a.

  A torque limiter 206a is connected to the pulley 203a. A driving sprocket wheel 208a is attached to an output shaft 207a of the torque limiter 206a. A chain 210a is wound between the driving sprocket wheel 208a and the driven sprocket wheel 209a. ing. The chain 210a extends from the driving sprocket wheel 208a in the right direction in FIG. 4 and circulates around the tension pulley 21d to return to the driven sprocket wheel 209a, and is wound endlessly.

  In the case of the present embodiment, the driving motor 200a is composed of, for example, a DC motor, and power is supplied to the driving motor 200a from the power source 212a via the changeover switch 211a. The changeover switch 211a switches the polarity of the power supply 212a supplied to the driving motor 200a in response to a signal sent from a hanger line control device to be described later. When the polarity is switched, the rotation direction of the driving motor 200a is reversed.

  When the rotational direction of the driving motor 200a is switched, the rotating direction of the chain 210a is changed from the forward direction (for example, clockwise in FIG. 1) to the reverse direction (counterclockwise in FIG. 1).

  In the case of the present embodiment, the model line conveyor 10a moves only in the counterclockwise direction, and the first molding line conveyor 10b moves only in the counterclockwise direction, and the second molding line conveyor 10c and the final line. The conveyor 10d is configured to move in a clockwise direction and a counterclockwise direction. In FIGS. 1 and 2, the steady moving directions of the conveyors 10 a, 10 b, 10 c, and 10 d are indicated by black arrows.

  The driving device shown in FIG. 4 is used for driving the final line conveyor 10d, but the same structure as this is also used for the second molding line conveyor 10c. In the case of this embodiment, the model line conveyor 10a and the first molding line conveyor 10b are not provided with the changeover switch 211a shown in FIG.

  In the case of the present embodiment, the fourth chamber 18d in which the final line conveyor 10d is installed is a forced drying chamber in which the internal temperature and humidity are constantly controlled. For this reason, a shutter 22 that opens and closes only when necessary is provided in front of the fifth and sixth transfer positions 12e and 12f provided on the final line conveyor 10a. The shutter 22 is opened for a predetermined time when the robots 14a and 14b take out the tree WT and when returning it.

  FIG. 5 is a block diagram of a control system of the precision casting apparatus of the present embodiment. The control system includes a data input terminal 50, a data processing terminal 52 to which the terminal 50 is connected, a data processing terminal 52, and a control. And a molding control personal computer 56 connected to the PLC 54 for use.

  A hanger line control device 58 and a robot control device 60 are connected to the control PLC 54. The hanger line control device 58 is connected to the driving devices 20a to 20d of the model line conveyor 10a, the first molding line conveyor 10b, the second molding line conveyor 10c, and the final line conveyor 10d.

  A control system for the first and second robots 14 a and 14 b is connected to the robot control device 60. The basic flow of the above control system will be described below.

  In the data input terminal 50, data of a product to start coating is input in the model line conveyor 10a. The data input operation is executed by reading product data (product code, WO, number of coatings, quantity, etc.) on the work instruction using a barcode reader. With this data input, model data corresponding to the product code is uploaded to the system control PLC 54 from the model management personal computer 56 for the corresponding tree WT.

  In the data processing terminal 52, the final line conveyor (10d) performs data processing on the product for which the final layer (n layer) of the refractory layer has been coated. Various data of the wax tree WT on the hanger number that has finished molding (product code, W / 0, quantity, slurry used, stucco used, drying interval, actual molding time, hanger number, drying temperature / humidity, (Mold weight, presence / absence of error, etc.) are converted into a single data file and stored as electronic data. In the end operation input, the molding data in the PLC 54 is downloaded in the form of an electronic file (a table by Excel) by bar code input from the work instruction, and stored in the molding management personal computer 56.

  The molding control personal computer 56 is installed in the second chamber 18b (the chamber in which the first molding line is installed). Online creation and storage of molding condition data for each product and monitoring of various data of products during the molding process in each hanger line. Further, it has a function that can stop molding of the wax tree WT during the molding process or change setting conditions.

  The control PLC 54 is linked to various terminals, the robot control device 60, etc., and performs all data management. In addition, system control of the molding equipment is performed according to the set program.

The robot controller 60 controls the operation of the first robot 14a and the second robot 14b in the following series of refractory film forming operations (coating operations) as follows. A pre-wet tank, a slurry tank, a rain sander, and the like necessary for performing the following operations are arranged on the outer periphery of each robot 14a, 14b (see FIG. 2).
A) Tree removal from each hanger B) Air blow (removal of floating sand)
C) Dipping pretreatment (pre-wet after the second layer)
D) Dipping (immersion in slurry)
E) Excess slurry draining F) Sanding (rain sander or fluidized bed)
G) The robots 14a and 14b perform the work more than the return of the tree to each hanger line within 6 minutes.

Next, the work sequence of the precision forging device of the present embodiment will be described.
(1) An operator suspends the wax tree WT that has been assembled to a vacant portion of the hangers No1 to No30 of the model line hanger conveyor 10a. Using the barcode reader, the worker inputs molding data, for example, data such as the number of refractory layers formed, from the barcode registered in the work instruction for the hanger number.
(2) When the hanger of the model line hanger conveyor 10a is fixed at the home position of the transfer position 12a and coating work is possible, the first robot 14a reads the information from the PLC 54, and the program corresponding to the product reads the first layer. Start the coating operation. When the coating operation is completed, the first robot 14a switches to the empty hanger of the first molding line conveyor 10c on the second floor.
(3) When the predetermined drying time of the first layer has passed and the coating operation of the second layer is possible, the first robot 14a performs predetermined conditions (pre-wet / no slurry / slurry selection / rain sander selection / dipping / sanding angle). And the robot program (such as drain time). When the coating operation of the second layer is completed, the first robot 14a hangs back on the same hanger of the first molding line conveyor 10b. When the tree WT taken out from the conveyor is looped back to the same conveyor, the corresponding conveyor is stopped and kept in the same position until the loop back operation is completed.
(4) When the predetermined drying time of the second layer has passed and the hanger of the first molding line conveyor 10b is ready for the third layer coating operation, the first robot 14a is subjected to predetermined conditions (pre-wet / (Slurry selection, rain sander selection, dipping / sanding angle, and selection of robot program such as drain time). When the coating operation is completed, the first robot 14a switches to the empty hanger of the second molding line hanger conveyor 10c.
(5) When the predetermined drying time of the third layer has passed and the hanger of the second molding line conveyor 10c is ready for back-up coating, the robot 14a is subjected to predetermined conditions (pre-wet / no slurry selection).・ Selection of rain sander or fluidized bed ・ Select robot program such as dipping / sanding angle and drain time. When the coating operation is completed, the robot 14a changes over to the same hanger of the second molding line conveyor 10c.
(6) When the back-up coating is completed, the predetermined drying time has passed, and the second molding line conveyor 10c is ready for the final layer coating operation, the second robot 14b uses the wax tree WT. Remove from the hanger, place the mold on the mold weight measuring device, and measure the weight.

  After the weight measurement, compare with the preset loan for each product. If the measured weight exceeds the threshold value, select the robot program such as slurry selection / dipping angle and drain time. Start seal coating work. When the seal coating operation is completed, the second robot 14b is switched to the empty hanger of the final line conveyor 10d.

After the weight measurement, compare with the pre-set saddle value for each product. If the measured weight is less than the threshold value, add back-up coating once to the original hanger of the second molding line conveyor 10c. return. When the predetermined drying time has elapsed, the final coating operation (6) is started.
(7) Molding (wax tree) is completed after drying for 24 hours on the final line conveyor 10d. After the molding is completed, the operator drops the tree that has completed the molding from the hanger. Detachment from the hanger is done manually, but if it is difficult to remove it manually due to its weight, work with a special cart (reuse of existing equipment). The worker performs a finishing operation on the wax tree having the hanger number for which molding has been completed by inputting a barcode using a work instruction sheet.

  6 to 8 are flowcharts showing more detailed contents of the above work sequence. When the procedure starts, it is determined in step 1 whether or not there is an empty hanger on the first molding line conveyor 10b. If there is an empty hanger, the process proceeds to step 2.

  In Step 2, after the first robot 14a takes out the tree WT from the first transfer position 12a of the model line conveyor 10a and forms the first refractory layer, the tree WT is passed through the second transfer position 12b. Is suspended on the empty hanger of the first molding line conveyor 10b, and the process returns to the start.

  On the other hand, when it is determined in step 1 that there is no empty hanger on the first molding line conveyor 10b, the process proceeds to step 3, and in step 3, the first molding line conveyor 10b is operated for a predetermined time (for example, several times). It is determined whether or not there is a tree WT that times up within a minute).

  In the case of the present embodiment, the first molding line conveyor 10b is the natural drying of the refractory layers from the first layer to the third layer, so that the tree WT to be timed up in Step 3 is 2 It is the third or third layer.

  If it is determined in step 3 that there is a tree WT that is timed up within a predetermined time, it is determined in step 4 whether the time-up target tree WT is the third layer or not. In step 5, the first robot 14a takes out the tree WT from the first molding line conveyor 10b from the second transfer position 12b to form a second refractory layer. Return to the original position and return to the start.

  In this step, when the corresponding tree WT reaches the transfer position 12b, the conveyor 10b stops rotating and is kept in that position, and after the tree WT is returned to the original position, The circular movement is started, and the movement direction at this time is, for example, a steady-state movement direction. Such an operation is similarly performed in the following steps when returning the tree WT to the same conveyor.

  On the other hand, if it is determined in step 4 that the timed-up tree WT forms the third layer, the molding line needs to be replaced. In step 6, the second molding line conveyor 10c is transferred to the second molding line conveyor 10c. It is determined whether there is an empty hanger. If there is no empty hanger, the process returns to the start.

  If it is determined in step 6 that there is an empty hanger on the second molding line conveyor 10c, the movement time from the empty hanger to the third transfer position 12c is predicted and calculated in step 8. This prediction calculation obtains the time to reach the third transfer position 12c and the arrival time when the moving direction is reversed when the empty hanger continues in the current moving direction, The direction is selected, and the second molding line conveyor 10c is moved in the selected direction.

  In Step 8, when the tree WT timed up from the first molding line conveyor 10b is taken out by the first robot 14a and the third refractory layer is formed, the tree WT is transferred via the third transfer position 12c. Suspend on the empty hanger of the second molding line conveyor 10c and return to the start.

  In this step, when the corresponding tree WT reaches the transfer position 12c, the conveyor 10b stops the circular movement and is kept in that position. After the tree WT is taken out, the circular movement starts. The movement direction at this time is, for example, a steady-state movement direction, and such an operation is similarly performed in the following steps when switching between lines.

  On the other hand, if it is determined in step 3 that there is no tree WT timed up within a predetermined time in the first molding line conveyor 10b, the process proceeds to step 9 shown in FIG. In Step 9, it is determined whether or not there is a tree WT that is timed up in a predetermined time (for example, within several minutes) on the second molding line conveyor 10c.

  In the case of the present embodiment, the second molding line conveyor 10c is such that the refractory layers from the fourth layer to the (n-2) th layer are naturally dried. WT is from the 4th layer to the (n-2) th layer.

  If it is determined in step 9 that there is a tree WT timed up within a predetermined time, it is determined in next step 10 whether or not the time-up target tree WT is the (n-1) th layer formation. If not, the process proceeds to step 11, and in step 10, the travel time from the time-up tree WT to the transfer positions 12c and 12d is predicted and calculated. This prediction calculation calculates the time to reach the third transfer position 12c or the fourth transfer position 12d when the time-up tree WT continues the current movement direction and the arrival time when the movement direction is reversed. Each of them is obtained, and the one that can be reached in the shortest time is selected, and the second molding line conveyor 10c is moved in the selected direction.

  In the case of the present embodiment, the second molding line conveyor 10c has two locations of the third and fourth transfer positions 12c and 12d, so that a total of four predicted times to reach the respective transfer positions are calculated. The shortest one will be selected.

  In the next step 12, it is determined whether the selected transfer position is 12c or 12d. If the transfer position 12c is selected, in step 13, the first robot 14a sets the corresponding tree WT to the second molding. Taking out from the line conveyor 10c, the fourth or (n-2) th refractory layer is formed to return to the original position, and the process returns to the start.

  On the other hand, if it is determined that the transfer position selected in step 12 is 12d, in step 14, the second robot 14b takes out the corresponding tree WT from the second molding line conveyor 10c, and the fourth layer. Or even if the (n-2) th refractory layer is formed, it returns to the original position and returns to the start.

  On the other hand, if it is determined in step 10 that the time-up WT forms the (n-1) th layer, the process proceeds to step 15 where there is an empty hanger on the final line conveyor 10d. If there is no empty hanger, return to the start.

  If it is determined in step 15 that there is an empty hanger, in the next step 16, the movement time from the empty hanger to the transfer positions 12e and 12f is predicted and calculated. This prediction calculation obtains the time for reaching the fifth transfer position 12e or the sixth transfer position 12f when the empty hanger continues the current movement direction and the arrival time when the movement direction is reversed. Of these, the one that arrives in the shortest time is selected, and the conveyor 10d for the final line is moved in the selected direction.

  In the case of the present embodiment, since the final line conveyor 10d has two locations of the fifth and sixth transfer positions 12e and 12f, a total of four predicted times to reach the respective transfer positions are calculated. The shortest one is selected.

  In the next step 17, it is determined whether the selected transfer position is 12e or 12f. If the transfer position 12e is selected, in step 18, the first robot 14a sets the corresponding tree WT to the second molding. Taking out from the line conveyor 10c, the (n-1) th layer is formed, suspended on the empty hanger of the final line conveyor 10d, and returning to the start.

  If it is determined that the transfer position selected in step 17 is 12f, in step 19, the second robot 14b takes out the corresponding tree WT from the second molding line conveyor 10c, and (n-1 ) Form a first refractory layer, suspend it on the empty hanger of the conveyor 10d for the final line, and return to the start.

  If it is determined in step 9 that there is no tree WT timed up by the second molding line conveyor 10d within a predetermined time, the process proceeds to step 20, and in step 20, the time is reached by the final line conveyor 10d within the predetermined time. It is determined whether or not there is a tree WT to be up.

  In the case of the present embodiment, the final line conveyor 10d is forcibly dried on the (n-1) th layer and the nth layer (final layer) refractory layers, so that the time-up target tree in step 20 is the target. WT includes (n-1) layers and n layers.

  If it is determined in step 20 that there is a tree WT to be timed up, it is determined in next step 21 whether or not the next refractory layer to be formed is the (n-1) th layer. If it is determined that it does not correspond, the forced drying of the n-layer, that is, the final layer has been completed. Therefore, in step 22, the removal of the corresponding tree WT is instructed, and the process returns to the start.

  If it is determined in step 21 that the time-up tree WT is the formation of the (n−1) th layer, the process proceeds to step 23. In step 23, the travel time from the time-up tree WT to the transfer positions 12e and 12f is predicted and calculated. This prediction calculation calculates the time to reach the fifth transfer position 12e or the sixth transfer position 12f when the time-up tree WT continues the current movement direction and the arrival time when the movement direction is reversed. Each of them is obtained, and the one that can be reached in the shortest time is selected, and the final line conveyor 10d is moved around in the selected direction.

  In the case of the present embodiment, since the final line conveyor 10d has two locations of the fifth and sixth transfer positions 12e and 12f, a total of four predicted times to reach the respective transfer positions are calculated. The shortest one is selected.

  In the next step 24, it is determined whether the selected transfer position is 12e or 12f. If the transfer position 12e is selected, in step 25, the first robot 14a uses the corresponding tree WT for the final line. It is taken out from the conveyor 10d, the nth layer is formed, returned to the final line conveyor 10d, and the process returns to the start.

  If it is determined that the transfer position selected in step 24 is 12f, then in step 26, the second robot 14b takes out the corresponding tree WT from the final line conveyor 10d, and the n-th layer refractory. The layer is formed and returned to the final line conveyor 10, and the process returns to the start.

  Now, according to the control method and control device for the precision forging hanger conveyor configured as described above, both the moving directions of the second molding conveyor 10c and the final line conveyor 10d are configured to be forward and reverse, and the final line. When the tree WT is timed out from the conveyor 10d and the second molding line conveyor 10c by the robots 14a and 14b to form the next refractory layer at the transfer positions 12c to 12f, the tree WT When the current moving direction is continued and when the moving direction is reversed, the time to reach the transfer position is predicted and calculated in both directions, and the shorter moving direction is selected from the prediction calculations. Since the tree WT is moved in the moving direction, it is possible to shorten the movement time to the transfer position of the tree WT, and as a result, the waiting time is shortened. It is to improve the production efficiency.

  In addition, in the case of the present embodiment, in addition to the above configuration, when transferring the timed tree WT from the first molding line conveyor 10b to the second molding line conveyor 10c on the next stage side, and In each case of transferring the tree WT timed up from the second molding line conveyor 10c on the rear stage side to the final line conveyor 10d, the empty hanger of the transfer destination conveyor is recognized, and the empty hanger is When the movement direction is continued and when the movement direction is reversed, the time to reach the transfer position is predicted in both directions, and the selected movement is selected by selecting a shorter movement direction in the prediction calculation. Since the empty hanger is moved in the direction, the waiting time can be further shortened.

  In the above-described embodiment, the drive devices 20c and 20d of the second molding line conveyor 10c and the final line conveyor 10d are configured to be able to be reversed, and the tree WT timed up to form the next refractory layer is formed. The movement time is predicted and calculated at the transfer positions 12c to 12f. However, in the implementation of the present invention, it is not always necessary to make such a configuration. Good.

  Further, in the above embodiment, the second molding line conveyor 10c and the final line conveyor 10d, which are conveyors with a large number of hangers for suspending the tree, can be moved in the forward and reverse directions and moved in the respective directions. Although the time is predicted and calculated, either one of them may be used, and the time may be applied to other conveyors.

  Furthermore, in the above embodiment, the case where the travel time is predicted and calculated also when an empty hanger is selected is shown, but this need not necessarily be performed.

  According to the control method and the control device for the precision casting hanger conveyor according to the present invention, the waiting time of the robot is shortened, which can contribute to the efficiency of the precision step construction field.

10a Hanger conveyor for model line 10b Hanger conveyor for first molding line 10c Hanger conveyor for second molding line 10d Hanger conveyor for final line 12a-12f First to sixth transfer positions 14a First robot 14b Second robot 18d Fourth Room (forced drying room)
20a-20d Drive unit WT Wax tree No111-No150 Hanger

Claims (3)

A plurality of hangers on which a wax tree is individually suspended, and a hanger conveyor that circulates the hangers, and the wax tree is taken out at the transfer position of the hanger conveyor, dipped in slurry, and drained in precision casting method using a robot to return the deposited wax tree refractory sprinkled on the transfer position,
The said hanger conveyor has the hanger conveyor for the last line installed in the drying chamber where temperature and humidity were adjusted, and the hanger conveyor for molding lines arrange | positioned in the front | former stage side of the said hanger conveyor for last lines, The said hanger conveyor And either one or both of the movement directions are configured to be forward / reverse,
When the robot takes out the wax tree timed up to form the next refractory layer from the hanger conveyor for the final line and / or the molding line hanger conveyor at the transfer position, the wax tree Calculates the time to reach the transfer position when the current movement direction is continued and when the movement direction is reversed, and selects the movement direction of a shorter time from the prediction calculations. Moving the wax tree in a selected moving direction ,
The molding line hanger conveyor is composed of a plurality of pieces,
When transferring the wax tree time-up from the former stage side of the molding line hanger conveyor to the next stage side molding line hanger conveyor, and from the latter stage side of the molding line hanger conveyor to the final line hanger conveyor When transferring the wax tree timed up to the time, the empty hanger of the transfer destination hanger conveyor is recognized, and when the empty hanger continues the current moving direction, and when the moving direction is reversed, Performing a prediction calculation on both sides to reach the transfer position, selecting a movement direction of a shorter time among the prediction calculations, and moving the empty hanger in the selected movement direction. A method for controlling a precision casting hanger conveyor.
A plurality of hangers on which a wax tree is individually suspended, and a hanger conveyor that circulates the hangers, and the wax tree is taken out of the hanger conveyor at a transfer position, dipped into slurry, and after draining In a precision forging device having a robot that returns a wax tree to which the refractory is sprinkled and attached at the transfer position,
The said hanger conveyor has the hanger conveyor for the last line installed in the drying chamber where temperature and humidity were adjusted, and the hanger conveyor for molding lines arrange | positioned in the front | former stage side of the said hanger conveyor for last lines, The said hanger conveyor And either one or both of the movement directions are configured to be forward / reverse,
When the robot takes out the wax tree timed up to form the next refractory layer from the hanger conveyor for the final line and / or the molding line hanger conveyor at the transfer position, the wax tree Calculates the time to reach the transfer position when the current movement direction is continued and when the movement direction is reversed, and selects the movement direction of a shorter time from the prediction calculations. A control device for moving the wax tree in a selected moving direction ,
The molding line hanger conveyor is composed of a plurality of pieces,
The control device transfers the wax tree timed up from the front side of the molding line hanger conveyor to the next stage molding line hanger conveyor, and from the molding line hanger conveyor on the rear side. When transferring the wax tree that has timed up to the last line hanger conveyor, the empty hanger of the transfer destination hanger conveyor is recognized, and when the empty hanger continues the current movement direction, the movement direction is determined. The time required to reach the transfer position at the time of reverse rotation is predicted and calculated in both directions, the moving direction of the shorter time is selected from the prediction calculations, and the empty hanger is moved in the selected moving direction. A control device for a precision casting hanger conveyor.
The hanger conveyor includes a hanger conveyor for the final line, a plurality of hanger conveyors for molding lines, and a hanger conveyor for model lines including a plurality of hangers on which an untreated wax tree is individually suspended.
Place the front side of the molding line hanger conveyor directly above the model line hanger conveyor, and place the rear side of the molding line hanger conveyor directly above the final line hanger conveyor,
The robot includes a pair of first and second robots,
Claim 2, wherein the placing the first robot between the model line hanger conveyor and the molding line hanger conveyor, placing the second robot to the front side of the last line hanger conveyor The control apparatus of the hanger conveyor for precision casting as described.

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