JP6009269B2 - Casting filter input device - Google Patents

Description

  The present invention relates to a casting filter loading apparatus for automatically loading a filter into a sand-type molten metal flow path.

  2. Description of the Related Art Conventionally, in a frameless casting line, a sand mold making machine, a sand mold extruder, a pouring machine, a casting take-out device, and the like are arranged along an intermittent conveyance device for sand mold conveyance. The sand mold row on the intermittent transport unit is made by connecting unlined sand molds in a row, and there is a gate that opens to the internal cavity at the center of the upper surface of the boundary between adjacent sand molds. The molten metal is poured from the machine.

In addition, a filter that removes foreign matter is provided along the route from the gate to the product molding in order to prevent problems such as sand clogging caused by foreign matters such as slag when pouring molten metal into the gate. ing.

In Japanese Patent Application Laid-Open No. 2004-34136, the adsorbed filter automatically moves to a filter set position (placed on the way from the gate to the product molded product) and falls to the filter set position to be set. A casting filter setting device capable of automatically setting a filter in a sand mold is known as a conventional technique.

JP 2004-34136 A

However, the prior art of the filter set device for casting has the following problems.
1) In the frameless casting line, the sand mold produced by the sand mold molding machine is pressed against the end of the sand mold row by the sand mold extruder. At this time, the sand mold contracts and the width of each sand mold varies. There is a problem that the position of the filter set to be input varies.

2) In the frameless casting line, there are a plurality of types of sand molds to be transported, and the width varies depending on the sand molds. Therefore, there is a problem that the filter set position where the filter is inserted cannot be specified.

3) Since the color of the sand mold is black, there is a problem that the filter set position in the middle path of the filter insertion port cannot be recognized due to the influence of the shadow depending on the shape.

In order to solve the above problems, the present invention provides a casting filter dosing device for dosing a filter for filtering molten metal supplied to the unframed sand mold cavity at a predetermined position of the sand mold, in a row in the traveling direction Images were taken by a sand mold conveying device that intermittently conveys a plurality of sand molds connected to each other, a suction device that adsorbs the filter surface of the filter, a gate imaging device that images a predetermined imaging point, and a gate imaging device. Output means for outputting data, information on the output means and the gate data registered in advance, and a gate position calculating means for calculating the movement amount, and a filter transport device for transporting the filter to the gate position by the gate position calculating means When the filter adsorbed by the adsorbing device has been conveyed to the pouring gate position by the filter conveying device, the adsorbing device stops the adsorption of the adsorbing device. A runner having a trapezoidal shape with a cross-section extending upward, a filter inlet having a surface on which the filter is placed, and a cross section above the filter inlet. Is a sand-type molten metal passage comprising a U-shaped molten metal inlet, and the molten metal inlet has a bottom surface and a side surface, and the bottom surface and the side surface are substantially perpendicular to each other. There is a step portion between the inlet portion and the filter inlet portion, and the bottom surface of the molten metal inlet portion which is the step portion is 0 to 5 ° with respect to the horizontal direction .

The casting filter set device of the present invention is generally black in the color of the sand mold to be transported, so even if the filter input surface is imaged, it is difficult to identify the shape of the filter input surface due to the shadow, but the molten metal input The shape of the filter input surface can be obtained even if the filter input surface is imaged by making the connecting portion of the mouth portion and the filter input port portion substantially perpendicular and setting the bottom surface of the molten metal input port to 0 to 5 ° with respect to the horizontal direction. And the video signal can be processed to determine the filter set position.

In particular, in the present invention, after the latest sand mold is pressed against the end of the sand mold row by the extruder, one of the five predetermined imaging points is imaged until the filter insertion surface can be imaged. Since the movement amount is calculated by comparing the completion data with the pre-registered gate data, the filter set position can be determined even if the filter set position is shifted due to the sand mold contraction due to the pressing.

Further, the filter set position can be determined even when sand molds having different widths are conveyed in the traveling direction.
Furthermore, by sucking the filter with an air pressure of 3.5 to 7 MPa, it is possible to reliably suck and hold the filter surface even if the suction device is a filter having a minute gap. .
In addition, it is natural that the filter insertion port should have a small gap with the filter in order to prevent foreign matter from entering, and if the filter is inserted from a position 10 mm above the bottom surface of the filter, the filter may be tilted. Without being lifted, it can be reliably set at a highly accurate filter setting position with high accuracy.

It is a whole external view when the filter input device for casting of a present Example is installed in the vertical frameless type molding line. It is the whole external appearance figure of the line by which the sand mold | die which has A width and B width is conveyed by the intermittent conveyance apparatus 4 of FIG. It is the figure which showed the shift | offset | difference of the gate position in the line of the sand mold 1 which has the same width | variety, and the extruder 3. FIG. It is a sand mold gate sectional view. Fig.4 (a) is the gate in the Example of this invention. FIG. 4B is a conventional gate. It is the figure which showed 5 gate search positions. It is a flowchart which shows operation | movement of a calculating part.

Hereinafter, embodiments of the present invention will be described in detail.

FIG. 1 is an overall external view of the casting filter loading device of this embodiment when installed on a vertical frameless molding line. This vertical frameless molding line includes a sand molding machine for molding a sand mold (not shown), an extruder 3 for extruding the molded sand mold 1 in one direction to form a sand mold row 10 in close contact with each other, and a sand mold row The intermittent transfer device 4 that intermittently conveys 10 in the arrangement direction, the gate image pickup device 5 that images the gate 2 between the adjacent sand molds 1 and 1 in the sand mold row 10 to be conveyed and outputs a video signal, and the video signal The gate position calculation means 6 for determining the gate position by processing, the suction conveyance means 7 for sucking and transporting the filter 90 to the gate position, and the suction stop control means 8 for stopping the suction of the filter 90 are provided. .

A sand mold making machine (not shown) is disposed close to the end of the intermittent conveying device 4 and is a device for producing a molded sand mold.

The extruder 3 is a hydraulic drive device that is provided at the end of the intermittent conveyance device 4 and pushes the molded sand mold forward in the conveyance direction and presses the end of the sand mold row 10 on the intermittent conveyance device 4.

The intermittent conveying device 4 is a device that conveys the sand mold row 10 in conjunction with the extruder 3.
A frameless sand mold row 10 formed by connecting the sand molds 1 in a row is placed on the intermittent conveying device 4, and a cavity for a casting product is provided at each boundary 20 between two adjacent sand molds 1. 21 is formed, and a substantially square gate 2 communicating with each cavity is provided on the upper surface of the boundary portion 20. The intermittent conveying device 4 advances the frameless sand mold row 10 every time by the same distance as the distance by which the extruder 3 pushes the sand mold 1.

The gate imaging device 5 is composed of a camera equipped with a CCD mounted on a robot arm, and is arranged upstream of the intermittent transfer device 4 to image the gate 2 and input a video signal to the gate position calculating means. Send to 6.

The gate position calculating means 6 compares the gate shape calculated by processing the video signal with a gate shape registered in advance and recognizes the gate shape. When the gate shape is recognized, a correction amount between the next calculated gate shape position and a previously registered gate shape position is calculated, and the corrected amount is output to the suction conveyance means 7.

The suction conveying means 7 is a suction machine attached to the robot arm in the vicinity of the gate image pickup device 5, sucks air to suck the filter 90 and holds the filter 90, and the gate position calculating means 6. The correction amount outputted is moved, and the filter 90 is conveyed to the gate position. In this embodiment, after the suction machine is moved, the height at which the stop is stopped at the pouring gate position is a position 10 mm above the bottom surface of the filter.

The suction stop control means 8 releases the holding of the filter 90 and drops the filter 90 by stopping the suction from the position moved to the pouring gate position by the suction conveying means 7.

The operation of the present invention will be described below with reference to FIG.
First, a sand mold making machine (not shown) creates a sand mold.
Next, the extruder 3 pushes the sand mold 1 forward, and presses the sand mold 1 against the rear surface of the sand mold 1 at the end of the sand mold row 10. In this pressing operation, the intermittent conveyance device 4 is moved by the distance pushed by the extruder 3 in conjunction with the extruder 3.

FIG. 2 is an overall external view of a line in which a sand mold having A width and B width is conveyed to the intermittent conveyance device 4 of FIG.
On the intermittent conveying device 4, a frameless sand mold row 10a formed by connecting sand molds 1a having A width in a row is placed, and subsequently, sand molds 1b having B width are connected in a row. An unframed sand mold row 10b formed in this manner is placed.
In FIG. 2, a combination of the sand mold row 10a of the sand mold 1a having the A width and the sand mold row 10b of the sand mold 1b having the B width is taken as an example, but the line is not limited to the A width B width, and the sand molds of various widths are used. The sand mold row is conveyed.
Further, since the sand molds having various widths are conveyed to the line as described above, it goes without saying that the gate position does not exist in the same place.

FIG. 3 is a diagram showing a shift of the pouring gate position in the line of the sand mold 1 having the same width and the extruder 3. In FIG. 3, even in the sand mold row 10 of the sand mold 1 having the same width, the sand mold is almost crushed by the pushing force P of the extruder 3, and the width of the adjacent sand mold varies.
And since the width | variety of a sand mold varies as mentioned above, it cannot be overemphasized that the pouring gate position does not exist in the same location and varies by Z amount.

Next, the operation of the present invention will be described with reference to a flowchart showing the operation of the arithmetic unit in FIG.
First, in S10, the suction machine sucks the filter 90 and stands by. At this time, the air pressure of the suction device for adsorbing the filter 90 is set to 3.5 to 7 MPa in this embodiment.
Next, the extruder 3 waits until the latest sand mold is advanced and pressed against the end of the sand mold row to stop (S20).

Next, in order to specify the pouring gate position, five pouring gate search positions to be imaged by the camera are determined in advance, and the first pouring gate search position is imaged by a camera equipped with a CCD (S30) (S40). .

Next, an image signal picked up by the camera is output to the gate position calculating means 6.
Whether or not the gate is in the captured image is compared with the reference image data of the gate that has been imaged in advance and the output image data, and pattern matching is performed (S50).
If the gate cannot be determined, the second gate search position among the five gate search positions is imaged by a camera equipped with a CCD. The gate search positions at five locations are repeated until the gate can be determined by image comparison. If the gate is determined, the process proceeds to the next step when it is determined.

FIG. 5 is a diagram showing five gate search positions. The imaging area in this embodiment is 150 mm × 200 mm. The first imaging center and the second imaging center are horizontally shifted toward the conveyance direction of 30 mm. Further, the second and third imaging centers are horizontally displaced toward the 20 mm conveyance direction. The first and fourth imaging centers are horizontally displaced in the direction opposite to the 80 mm conveyance direction. The fourth and fifth imaging centers are horizontally displaced in the direction opposite to the 30 mm conveyance direction.
Even if the sand mold 1 having a different width is conveyed, if any one of the five locations is picked up, it is possible to pick up all the gates.

Next, the position of the gate with the gate position calculating means 6 is compared with the position of the reference image (S60).
The positions are compared, and the correction data calculated from the difference is output to the robot arm into which the filter 90 is inserted (S70).

Next, the robot arm moves to the filter insertion position from the correction data calculated from the difference and stops. At this time, the height stopped at the pouring gate position is a position 10 mm above the bottom surface of the filter. In order to prevent troubles such as “sand clogging” caused by foreign matter such as slag when pouring molten metal into the gate, a filter 90 is provided to remove foreign matter along the way from the gate to the product molding. Yes. By inserting the filter 90 from a position 10 mm above the filter insertion bottom surface, the filter 90 can be reliably set at a highly accurate filter setting position without tilting or floating.

FIG. 4 is a cross-sectional view of a sand mold gate. Fig.4 (a) is the gate in the Example of this invention. FIG. 4B is a conventional gate.
The gate 2 has a trapezoidal shape with a trapezoidal cross section, a filter inlet 9b having a surface on which the filter 90 is installed on the runner, and a U-shaped cross section on the filter inlet 9b. This is a passage of sand-type molten metal comprising a molten metal inlet 9a.

Since the sand mold color is black, it is difficult to determine the boundary line or the contour line even if the image is taken. However, as shown in FIG. 4A of the present embodiment, the molten metal inlet 9a and the filter inlet 9b are combined. By making the chamfered portion (R2), the bottom surface and the side surface (R1) of the molten metal inlet portion 9a 0 to 5 mm in each case, each becomes substantially right angle, which makes it easy to determine the imaging. Further, the bottom of the molten metal inlet portion 9a is made substantially horizontal at 0 to 5 ° (9d), thereby making it easy to determine the image pickup.

Next, by turning off the air pressure of 3.5 to 7 MPa, which is the air pressure of the suction device, the filter 90 is introduced into the filter introduction bottom surface by its own weight (S90) (S100).
After the filter input is completed, the process returns to S10 and is repeated.

DESCRIPTION OF SYMBOLS 1, 1a, 1b Sand mold | type 10, 10a, 10b Sand mold row | line | column 2 Pouring gate 20 Boundary part 21 Cavity 3 Extruder 4 Intermittent conveyance apparatus 5 Pouring gate imaging device 6 Pouring gate position calculating means 7 Adsorption conveyance means 8 Adsorption stop control means 9a Molten metal pouring opening part 9b Filter inlet 9c Runway 9d Angle of 0 to 5 ° 90 Filter A, B Width P Pushing force Z Displacement deviation R1, R2 R chamfering of 0-5 mm

Claims (3)

In a casting filter loading device for loading a filter for filtering molten metal supplied to an unframed sand mold cavity into a predetermined position of the sand mold, a plurality of sand molds connected in a row in the traveling direction and each having a pouring gate are intermittently conveyed. A sand-type transfer device that
An adsorption device for adsorbing the filter surface of the filter;
A gate imaging device for imaging a predetermined imaging point;
Output means for outputting data imaged by the gate imaging device;
A gate position calculation means for comparing the information of the output means and the gate data registered in advance and calculating the movement amount;
A filter transport device for transporting the filter to the gate position by the gate position calculating means;
When the filter adsorbed by the adsorbing device has been conveyed to the gate position by the filter conveying device, the adsorbing stop control means for stopping the adsorption of the adsorbing device,
The gate is a trapezoidal shape with a trapezoidal cross section, and
A filter inlet having a surface on which the filter is installed on the runner;
A molten metal inlet having a U-shaped cross section on the filter inlet,
It is a sand-shaped molten metal path consisting of
The molten metal inlet has a bottom surface and a side surface, and the bottom surface and the side surface are substantially at right angles,
The casting filter characterized in that the molten metal inlet portion and the filter inlet portion have a step portion, and the bottom surface of the molten metal inlet portion, which is the step portion, is 0 to 5 ° with respect to the horizontal direction. Input device.
2. The casting filter feeding device according to claim 1, wherein the sand mold conveying device intermittently conveys sand molds of different widths connected in a row in the traveling direction.
Means for pattern matching by comparing an image of the gate search position and the reference image of the gate;
3. The apparatus according to claim 1, further comprising: an image obtained by capturing a plurality of gate search positions until pattern matching and a unit that repeats until the previously registered gate data image is pattern-matched. Filter casting device for casting.