JPH105980A - Device for finishing casting - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the machining of many kinds of works with one set of device by moving a working arm to an arbitrary direction, shifting the work grasped with a hand means within the work machining range formed as a rectangular box shape at the lower part of a gantry type frame base and machining the work with a work machining means. SOLUTION: The work 16 grasped in the hand means 17 is shifted near a cutting machine 20 and a four-axial turret 21 in order by executing the positioning in the side direction of the grasped work 16 with the shifting of an X and a Y tables 24, 25 by using an X and a Y motors 26, 32 or ascending/ descending an ascending/ descending member 36 by using a Z motor 58. A prescribed machining is executed by using a rotary edge 52 or some machining tool 54 at these positions. In such a way, since the work 16 is machined by using the cutting machine 20 and the four-axial turret 21 while shifting the work 16 grasped with the hand means 17 within the comparatively narrow work machining range at the lower part of a gantry type frame base 12 in order, many kinds of works 16 can be machined with one set of device to each.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a casting finishing apparatus, and more particularly to a single apparatus capable of processing a wide variety of workpieces and reducing the installation space of the apparatus including a movable space for a working arm. Accordingly, the present invention relates to a casting finishing device which can be easily incorporated into an existing work casting line, and can easily discharge chips and sand.

[0002]

2. Description of the Related Art Downstream of a work casting line for casting a work by a mold, there is a finishing area for the cast work. Conventionally, in the finishing area, dedicated processing equipment (for example, knockout equipment, die cutting equipment, etc.) tailored to various types of workpieces with different dimensions and shapes are arranged, and the cast workpiece is sent to each processing equipment. To finish each side. By the way, the conventional casting finishing device is configured such that a large number of dedicated processing devices corresponding to various works are used one by one for each corresponding surface of the work. When it happened, the entire casting finishing equipment had to be replaced. For example, in order to be able to finish many kinds of workpieces with one casting finishing apparatus, it is described in, for example, the specification of "automatic gate cutting apparatus" in Japanese Utility Model Application Laid-Open No. 4-40414 filed by the present applicant. It is conceivable to use an industrial robot. In this case, first, the six-axis arm is turned or rotated, and the work on the casting line is gripped by the hand means attached to the tip of the work arm.
The workpiece is further processed by moving to a predetermined processing device.

[0003]

However, when such an industrial robot driven by six axes is used, the turning space of the working arm is large, so that the installation space for the robot becomes large. This makes it difficult to incorporate it into the finishing area of the existing line, which is limited by space.On the other hand, even if a new work casting line is to be built, the building must be enlarged by the turning space of this work arm.
There was a problem that construction costs increased. By the way, the industrial robot is placed on the floor near the finishing area.
Therefore, a large amount of chips, sand, and the like are deposited on the industrial robot by processing the work. Therefore, there is a problem that the discharge process takes time. The present invention has been made in view of such circumstances, and it is possible to process a wide variety of workpieces with a single device, and further reduce the installation space of the device including the movable space of the work arm, and it is also applicable to an existing work casting line. An object of the present invention is to provide a casting finishing device that can be easily incorporated and that can easily discharge chips and sand generated during processing.

[0004]

According to the present invention, there is provided a semiconductor device comprising:
The described casting finishing apparatus is disposed on a side of a finishing area of a work casting line, and is horizontally movably disposed on a gate type gantry having a work finishing stage below, and a horizontal beam constituting an upper part of the gate type gantry. A traveling trolley, a traversing trolley arranged on the traveling trolley so as to be horizontally movable in a direction perpendicular to the moving direction thereof, and a trolley disposed on the traversing trolley so as to be able to ascend and descend by lifting means. A work arm provided with hand means capable of gripping each type of work, a work gripping position correction means for finely correcting the position of the hand means,
A work processing means provided on the work finishing stage, wherein the work arm is movable in an arbitrary direction, and the work gripped by the hand means is formed into a rectangular box-shaped work below the portal frame. The workpiece is moved within the range, and the workpiece is processed by the workpiece processing means.

[0005] In the casting finishing apparatus according to the first aspect of the present invention, the traveling trolley movably disposed on the portal gantry and the traversing trolley movably disposed on the traveling trolley are horizontally moved or lifted and lowered. The work gripped by the hand means at the end of the work arm that is raised or lowered by the hand is moved in the rectangular box-shaped work processing area below the gate-shaped gantry, and then fine position correction is performed by the work gripping position correction means. Then, since a predetermined processing of the work is performed by the work processing means, a variety of works can be processed by one apparatus. In addition, the work arm is movable within the work processing range, but since this work processing range is a relatively narrow rectangular box below the portal frame, the installation space of the device including the movable space of the work arm is reduced. It can be easily integrated into existing work casting lines. Further, when the work gripped by the hand means is processed by the work processing means, a large amount of chips and sand are generated, but the chips are only scattered over the floor surface under the portal gantry, and the upper part is scattered. Since it does not adhere to a work arm or the like disposed on the cross beam via the traveling trolley and the traversing trolley, the processing of discharging chips and the like is facilitated.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention. For convenience of explanation, the machine length direction is defined as the X direction, the machine short direction is defined as the Y direction, and the height direction is defined as the Z direction. 1 is a front view of a casting finishing apparatus according to an embodiment of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a left side view thereof, FIG. 4 is a right side view thereof, and FIG. It is an expansion perspective view of a means.

As shown in FIGS. 1 to 4, a casting finishing apparatus 10 according to an embodiment of the present invention
1 on a portal frame 12 arranged across the finishing area E and the workpiece finishing stage S, and on a transverse beam 13 constituting the upper part of the portal frame 12, in a direction perpendicular to the workpiece transfer direction of the workpiece casting line 11. And a traveling vehicle 14a disposed on the traveling vehicle 14 so as to be horizontally movable in a direction perpendicular to the moving direction thereof.
And a work arm 18 provided on the traversing carriage 14a so as to be able to ascend and descend by the elevating means 15 and provided at its lower end with hand means 17 capable of gripping various types of works 16 respectively, and the work arm 18 is finely movable. Work gripping position correcting means 19, cutting machine 20 and 4-axis turret 2 which are examples of work processing means provided on work finishing stage S
1 is provided. The gate type gantry 12 is a horizontally long frame-like gantry, and the soundproofing protection panel 57 arranged on each side surface allows
The processing sound of the work 16 is hard to leak to the outside. An X rail 22 is provided on each of the pair of parallel cross beams 13 of the gate type gantry 12, and the traveling carriage 14 extends over a slider 23 movably arranged on each X rail 22. (See FIG. 4).

The traveling carriage 14 has a frame-shaped X table 24.
The trolley 14a has a frame-shaped Y table 25. At one corner of the X table 24,
An X motor 26 for rotating a traveling gear 27 meshing with an X rack 26a fixed to the inner side surface of one of the cross beams 13
Has been deployed. When the X motor 26 is rotated, the traveling gear 27 rotates along the X rack 26a, and the X gear 26 rotates.
The table 24 moves along the X rail 22. Also,
The Y table 25 is movably mounted via a slider 29 on a pair of Y rails 28 provided on both frame plates 24 a extending in the Y direction of the X table 24. The section is provided with a Y motor 32 for rotating a traveling gear 31 meshing with a Y rack 30 fixed to the outer surface of the frame plate 24a on one side. When the Y motor 32 is rotated, the traveling gear 31 rotates along the Y rack 30, and the Y table 25 on the X table 24 moves along the Y rail 28.

A vertical Z plate 33 is erected on the Y table 25 via a holder plate 33a, and a pair of Z rails 34 are provided on both sides of the surface of the Z plate 33. The Z rail 34 has a slider 3
5, a lifting member 36 is attached so as to be able to move up and down. As shown in FIGS. 2 and 3, a Z motor 58, which is an example of lifting means, is provided on a lower surface of a casing 33 b provided at an upper end of the Z plate 33. Is installed. When the output shaft of the Z motor 58 rotates, the ball screw 36a screwed to the nut of the elevating member 36 rotates via a power transmission system including pulleys 59 and 60 and a timing belt 61. 36 moves up and down in the Z direction. The lifting member 36 has a single cylindrical working arm 1 extending downward.
8, an X correction motor 37, a Y correction motor 38, and a θ correction motor 39 which constitute the work gripping position correction means 19 are provided. The work gripping position correcting means 19 is a known one, and the X, Y, and θ correction motors 37 to 39 are provided at the lower end of the working arm 18 via respective power transmission systems housed in the working arm 18. The wrist part 40
Rotate or turn separately in the Y and θ directions. Next, the hand means 17 will be described in detail with reference to FIG.

As shown in FIG. 5, the hand means 17 includes a connecting portion 4 connected to a joint 41 below the wrist portion 40.
2 has a rectangular mounting plate 43 provided on the center thereof. Four air cylinders 44 are mounted side by side on one end of the lower surface of the mounting plate 43, and a stopper 45 is provided on the other end facing the same. Then, when the rods 44a of the air cylinders 44 are projected, the clamp members 4
6 moves in the direction of the arrow, and clamps the work 16 abutted on the mounting plate 47 having a substantially U-shaped cross section between the clamp member 46 and the stopper 45. An air cylinder 48 for holding the work 16 from both sides is housed in the internal space of the mounting plate 47, and a clamp member 49 fixed to the tip of a rod 48a and a clamp member 4
The work 16 is held between the stopper 16 and the stopper 50 attached to an end of the lower surface of the attachment plate 43 so as to face the work 9. The work 16 is firmly gripped by enclosing the work 16 in four directions using the air cylinders 44 and 48. 1 to 4, reference numerals 51 and 51a denote cable carriers, reference numeral 52 denotes a rotary blade of the cutting machine 20, reference numeral 53 denotes a pedestal of the cutting machine 20, reference numeral 54 denotes various processing tools of the 4-axis turret 21, reference numeral 55 denotes four axes. Cradle of turret 21, code 5
Reference numeral 6 denotes a work transport conveyor of the work casting line 11, and in FIG.
Is a guide rod for the rod 48a.

Next, the operation of the casting finishing apparatus 10 according to one embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the cast work 16 is transferred to a work transfer conveyor 56.
Is transferred to the finishing area E of the work casting line 11. Then, the ball screw 36a is
Is rotated to lower the elevating member 36,
The waiting work arm 18 descends, and grips any work 16 on the work transfer conveyor 56. Then Z
The work arm 18 is raised by rotating the motor 58 in the reverse direction,
Next, the X table 24 is moved to the work finishing stage S side by the X motor 26, and the X and Y motors 2 are moved there.
The movement of the X and Y tables 24 and 25 by 6 and 32 adjusts the position of the gripped work 16 in the horizontal direction, and raises and lowers the lifting member 36 by the Z motor 58, and the gripping work 16 is gripped by the hand means 17. The work 16 is sequentially moved to the vicinity of the cutting machine 20 and the four-axis turret 21, and predetermined processing is performed at those positions by using the rotary blade 52 or any of the processing tools 54. At this time, the wrist 40 is slightly moved by the work gripping position correcting means 19 to
Is corrected, that is, the direction and inclination of the work 16 are adjusted, and the work 16 is substantially moved within the work processing range WE (see FIGS.
To process. This work processing range WE is the
Since it is a relatively narrow rectangular box below, the installation space of the device including the movable space of the working arm 18 can be reduced,
This makes it easy to incorporate it into existing work casting lines.

As described above, the cutting machine 20 and the 4-axis turret 21 are used while sequentially moving the work 16 gripped by the hand means 17 within the relatively narrow work processing range WE below the portal frame 12. Since the work 16 is machined by using a single device, various types of work 1
6 can be processed individually. In addition, chips, sand, and the like generated during the processing of the work 16 merely scatter and accumulate over the floor surface under the portal gantry 12 and have a precise movable part. The chips and the like are hardly attached to the work arm 18 disposed via the trolley 14 and the trolley 14a, and chips and the like dropped on the floor surface are collected by a chute. By the way, in the conventional six-axis industrial robot, a heavy six-axis movable arm combining a six-axis motor with a speed reducer and long and short partial arms has been adopted as a working arm. As a result, the transportable cylinder amount of the working arm increases,
As each motor with a speed reducer, an expensive motor with a relatively large output is employed, and the movable speed of the work arm is reduced due to an increase in the load deflection of the work arm and the effect of inertia.

On the other hand, in the casting finishing apparatus 10 according to the present embodiment, since the motors are not mounted on the working arm 18 itself, the weight of the working arm 18 can be reduced, and the amount of the transportable cylinder of the working arm 18 can be reduced. Becomes smaller, and each X, Y,
As the Z motors 26, 32, and 58, there are advantages that a relatively small output and inexpensive one can be adopted, the load deflection of the working arm 18 is reduced, and the moving speed is increased. Further, the conventional industrial robot has a problem that the movable arm uses a large number of gears or the like that cause rattling, and the positioning accuracy of the work is reduced. However, the casting finishing apparatus 10 according to the present embodiment has a problem. Thus, the number of gears provided on the working arm 18 is small, and the positioning accuracy of the work 16 is improved. Further, in the conventional means, metal corrosion caused by chips and sand dropped on the surface of the industrial robot, an increase in the amount of transportable cylinders of the work arm, an increase in load deflection of the work arm, and the like are caused by the conventional means. Although the life of the device has been shortened, in the present embodiment, by improving these causes, the life of the device can be extended.

The embodiment of the present invention has been described above.
The present invention is not limited to this, and any change in design without departing from the gist is included in the present invention.
For example, the hand means is not limited to the embodiment, and any other hand type can be used as long as it can be firmly gripped so that the workpiece does not shift or separate during processing. Means may be used. Further, the portal frame and the elevating means are not limited to those in the embodiment, and may be of any type as long as the hand means can be moved three-dimensionally. Further, in the embodiment, the cutting machine and the four-axis turret are shown as the workpiece processing means.
Without being limited to this, for example, a spindle for deburring, an air hammer for sanding, a milling machine, or any other processing means may be used. Work gripping position correcting means 1
9 may be provided on the traveling carriage 14 or the work arm 18.
Also, X, Y, Z motors 26, 32, 58, X, Y,
Servo motors or the like can be used as the θ correction motors 37 to 39. In the present embodiment, the portal gantry 12 is arranged so as to straddle the finishing area E of the work casting line 11 and the work finishing stage S. However, the present invention is not limited to this. For example, there is a work finishing stage below. In the state, it may be arranged on the side of the finishing area of the work casting line.

[0015]

As is apparent from the above description, in the casting finishing apparatus according to the first aspect of the present invention, the casting gantry is movably disposed on the portal gantry via the traveling trolley and the traversing trolley, and the lifting / lowering means is provided. The work arm, which can be moved up and down, is moved in the horizontal or vertical direction, and the gripped work is moved in a rectangular box-shaped work processing area below the portal frame, and predetermined work of the work is performed by the work processing means. Can be used to process a wide variety of workpieces with a single device, and can reduce the installation space of the device, including the movable space for the work arm, and can be easily incorporated into existing work casting lines. Further, it is easy to discharge chips and sand generated during processing.

[Brief description of the drawings]

FIG. 1 is a front view of a casting finishing apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a left side view of the same.

FIG. 4 is a right side view of the main part.

FIG. 5 is an enlarged perspective view of a hand means.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Casting finishing apparatus 11 Work casting line 12 Portal frame 13 Cross beam 14 Traveling trolley 14a Traversing trolley 15 Elevating means 16 Work 17 Hand means 18 Work arm 19 Work holding position correction means 20 Cutting machine (Work processing means) 21 4-axis turret ( Work processing means) 22 X rail 23 Slider 24 X table 24a Frame plate 25 Y table 26 X motor 26a X rack 27 Travel gear 28 Y rail 29 Slider 30 Y rack 31 Travel gear 32 Y motor 33 Z plate 33a Holder plate 33b Casing 34 Z rail 35 Slider 36 Lifting member 36a Ball screw 37 X correction motor 38 Y correction motor 39 θ correction motor 40 Wrist 41 Joint 42 Connecting part 43 Mounting plate 44 Air cylinder 44a Rod 4 Stopper 46 Clamping member 47 Mounting plate 48 Air cylinder 48a Rod 48b Guide rod 49 Clamping member 50 Stopper 51 Cable carrier 51a Cable carrier 52 Rotating blade 53 Receiving stand 54 Processing tool 55 Receiving stand 56 Work transfer conveyor 57 Soundproof and protective panel 58 Z motor 59 Pulley 60 Pulley 61 Timing belt E Finishing area S Work finishing stage WE Work processing range

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Naotaka Nogami 46-59 Nakahara, Toba-ku, Kitakyushu-shi, Fukuoka 59 Nippon Steel Plant Design Co., Ltd.

Claims (1)

[Claims] 1. A portal mounted on a side of a finishing area of a work casting line and having a workpiece finishing stage below, and a traveling beam movably disposed on a horizontal beam constituting an upper portion of the portal shaped base. A trolley, a traversing trolley disposed on the traveling trolley so as to be horizontally movable in a direction perpendicular to the direction of movement thereof, and a trolley disposed on the traversing trolley so as to be able to move up and down by lifting means,
A work arm provided at its lower end with a hand means capable of gripping various kinds of works, a work gripping position correcting means for finely correcting the position of the hand means, and a work processing means provided on the work finishing stage With
The work arm is moved in an arbitrary direction, and the work gripped by the hand means is moved within a rectangular box-shaped work processing area below the portal frame, and the work is processed by the work processing means. Casting finishing equipment.