JPH11267791A - Forming device of mold for large-scaled propeller and forming method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a forming device and a forming method of a mold for a large- scaled propeller, in which the reductions of man-hours, term of works, manufacturing cost and energy consumption are attained. SOLUTION: This mold forming device is constituted of a supporting column 4 uprightly stood on the floor surface at the position corresponding to the center of a boss part of the propeller 2 so as to be inserted, fixed, released from the fixture and taken off, a swing arm 5 having cantilevered frame structure supported by this supporting column 4 so as to be horizontally swingable, a vertical shaft motor 15 with encorder, rotating driving the swing arm 5, a running head 2 reciprocatively shiftable in the longitudinal direction of the swing arm 5 through a linear guide 16 and a linear bearing 22, a vertical shaft motor 18 with encorder for shifting the running head 21, an articulated robot 6 mounted on the running head 21, a scraping plate 8 for scraping molding sand, fitted to the tip part of an arm of the robot 6, a CAD data memory 25 for displaying the shape of the propeller 2 and a control operating panel 9 provided with an outlet circuit for controlling the swing arm 5 and the robot 6 by reading this CAD data 25. Then, the molding sand is scraped based on the CAD data diaplaying the shape of the propeller to form the mold for the propeller 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a molding apparatus and a molding method for a large-sized propeller, and more particularly to a robot apparatus and a molding method suitable for a screw propeller used for a ship.

[0002]

2. Description of the Related Art An ordinary casting is made of a wooden mold, which is buried in molding sand and solidified, and the wooden mold is removed to form a mold. When making things by casting, the quantity is one or two, and it takes a lot of money to make a large wooden mold, so conventionally, a wooden frame of the sectional shape of the propeller was created, and the sand was manually cast along it. Was used to mold the wing mold, and this was performed on each wing to form the entire propeller mold.In this way, the duplication of the same work process required a lot of manpower and long work time, and was a factor of high cost Had become.

[0003] As a method of forming a mold to reduce such manpower and work time, when forming upper and lower molds for the first blade, a sand mold having a propeller shape formed in a space between the molds in an intermediate process is hardened. A method of forming a mold for the second and subsequent wings using this airfoil model is introduced in Japanese Patent Publication No. Sho 56-42375.

[0004] Further, a method of shaving a mold using an NC tape and an NC machine after hardening a rough sand material or imitating a real or model propeller placed beside by using a copying apparatus. Japanese Patent Application Laid-Open No. 54-66326 discloses a molding method for processing a hardened sand mold material.

[0005]

SUMMARY OF THE INVENTION In forming a large propeller mold for a ship, a method for producing an airfoil model as disclosed in Japanese Patent Publication No. Sho 56-42375 discloses a method for producing a first propeller. It is necessary to form a wooden frame of the cross section of the propeller as in the conventional case, and manually scrape the molding sand to form the wing mold, and it takes a lot of man-hours (manually), resulting in a large cost. .

In the method using an NC machine or a copying apparatus as disclosed in Japanese Patent Application Laid-Open No. 54-66326, a wooden mold or an airfoil model is not required, but a hardened mold is cut by the NC machine. Therefore, the NC machine to be used needs rigidity and is a large-sized machine, so that the apparatus itself is expensive and the energy cost for cutting is large.

SUMMARY OF THE INVENTION An object of the present invention is to provide a molding apparatus and a molding method for a large-sized propeller, which can reduce man-hours, a construction period, costs, and energy consumption.

[0008]

According to the present invention, there is provided a large-sized propeller mold forming apparatus for casting a large-sized propeller having a plurality of blades. An upright support that can be inserted, fixed, unfixed, and removed from the floor surface at a corresponding location, a cantilever frame-structured swivel arm that is supported by the support so that it can rotate horizontally, and the swivel arm is driven to rotate. First drive means, a traveling head reciprocally movable via guide means in the longitudinal direction of the revolving arm, second drive means for moving the travel head, and a multi-joint mounted on the travel head Type robot, a scraping plate attached to the tip of the robot's arm for scraping sand, a memory of CAD data indicating the shape of the propeller, and a turning arm that reads this CAD data Is constituted by a robot controller having an output circuit for controlling the bot, characterized by shaping the mold scraped propeller molding sand based on the CAD data representing the shape of a propeller.

According to a third aspect of the present invention, there is provided a method for molding a large-sized propeller using a mold-forming apparatus equipped with an articulated robot according to the first aspect of the present invention. Turn the swivel arm to the angular position of the radial reference line of the propeller blade to stop, move the traveling head in the radial direction on the swivel arm in small pitch increments, and stop. Every time the cutter stops, the CAD data in the circumferential direction of the propeller is read out, converted into a robot operation program, the multi-joint robot is operated, and the casting sand is scraped off by the scraper attached to the robot to form the propeller casting. It is characterized by being shaped.

Further, in the apparatus for molding a large-sized propeller according to claim 1, a plurality of types of scraper storage cases are mounted on the traveling head, or the scraper storage cases are set within the operating range of the finger of the articulated robot. In addition to installing separately, attaching a scraper holder that allows the scraper to be detachable by air operation to the robot finger, and adding an operation program that moves the scraper holder to replace the scraper in the storage case It is characterized by.

In the mold forming apparatus for a large-sized propeller according to claim 1 or 3, a flange is provided on a grounding portion of a column standing upright in a floor surface, and a remotely operated hydraulic clamp for pressing the flange on a ground side of a foundation. Is fixed, and the column is fixed to and separated from the ground.

Further, in the propeller mold forming apparatus according to the present invention, a flange is provided on the ground side of the foundation, and a hydraulic clamp for pressing the flange is installed on a column standing upright in the floor, and the column is grounded. Is characterized in that it is fixed and separated.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a molding apparatus and a molding method for a large marine propeller according to the present invention.

[First Embodiment] FIG. 1 shows a first embodiment of the present invention.
FIG. 2 is a perspective view of a propeller mold forming apparatus according to an embodiment of the present invention, FIG. 2 is an explanatory view of the operation of a robot, and FIG. 3 is a perspective view showing shapes of a scraping plate and a scraping plate holder of the mold forming apparatus of FIG. is there.

In FIG. 1, reference numeral 1 denotes a mold forming apparatus, reference numeral 2 denotes an imaginary line showing the appearance of a large propeller having a plurality of blades, and reference numeral 3 denotes a lower mold of a propeller mold being processed. Reference numeral 4 denotes a support. The support 4 is provided upright in a floor hole 7 at a location corresponding to the center of the propeller boss, and the support 4 has a flange 4a at the ground portion. A support cylinder 11 is embedded in the floor hole 7 in the foundation ground, and supports the column 4. A plurality of remote-operated hydraulic clamps 12 are equally distributed and fixed to the support cylinder 11. By operating the hydraulic clamps 12, the flange 4 a is pressed to fix the support 4 to the support cylinder 11. Easy separation. 31 is a hydraulic pipe. The upper part of the support 4 is a bearing cylinder, and the outer gear 1 is concentrically provided outside the cylinder.
3 is fixed.

Reference numeral 5 denotes a swing arm.
A horizontal cantilever frame structure fixed to a shaft supported and supported in a vertically rotatable manner on a bearing cylinder of a support column 4 via a bearing so that the mold molding device 1 can be lifted at two places on the upper surface. A U-bolt 24 is attached. A vertical motor 15 with an encoder as first driving means for driving a pinion 14 that meshes with the external gear 13 of the column 4 is attached to the turning arm 5. On one side surface of the swing arm 5, two linear guides 16 as guide means, and a rack 17 are horizontally installed in the middle of the linear guides 16 in parallel.

Reference numeral 21 denotes a traveling head.
A pinion 23 guided by a linear guide 16 via a linear bearing 22 and driven by a longitudinal motor 18 with an encoder as a second driving means engages with the rack 17 and moves the traveling head 21 horizontally along the turning arm 5. Reciprocating drive in the direction.

Reference numeral 6 denotes an articulated robot mounted on a base 6a rotatable in a horizontal plane below the traveling head 21. Finger 6b at the tip of arm (wrist) of robot 6
A scraper holder 37 is attached to the
Numeral 7 can hold a scraping plate 8 for scraping the sand when air pressure is applied to the built-in diaphragm 39 (the shape of the lower side 8b of the scraping plate 8 conforms to the cross-sectional shape of the propeller 2). use).

Reference numeral 9 denotes a control operation panel.
An output circuit for reading the memory 25 of CAD data indicating the shape of the propeller 2 (see the control signal line 29), controlling the rotation of the turning arm 5, the movement of the traveling head 21, and the movement of the articulated robot 6 is provided. (Control signal lines 26, 2
7, 28).

Reference numeral 35 denotes a storage case provided with a partition capable of storing a plurality of types of scraping plates 8, which is set within the operating range of the finger 6.

FIG. 2 shows the operation of the articulated robot 6. FIG. 3 shows a configuration in which an air-operated scraping plate holder 37 is attached to the finger 6b of the robot 6,
For easy attachment and detachment. Split groove 3 of scraper holder 37
A pin 38 is fixed on the lower side of 7a, and an air-operated diaphragm 39 is provided on the upper side of the groove. Scraper holder 3
When the scraper 8 is attached to the scraper 7, the recess 8 a of the scraper 8 is engaged with the pin 38, and the edge 8 c on the holding side of the scraper 8 abuts against the groove bottom of the scraper holder 37 to be positioned. Pressurized air is sent to 39, and the diaphragm 39 expands and presses the scraping plate 8, whereby it can be easily held.

The control operation panel 9 is provided with a control circuit for operating the robot 6 so that the scraper plate holder 37 replaces the scraper plate 8 in the storage case 35, and changes the radial pitch of the propeller at the time of molding a mold. If the user wants to change the shape of the scraper 8 in order to cope with a change in the profile of the cross section of the propeller depending on the radius of the propeller, the scraper 8 is automatically replaced using the function of the articulated robot 6. .

The articulated robot 6 is, as shown in FIG.
There are six rotating joints (rotational axes I to VI), and they can rotate as shown by the rotation arrows in the figure. The two-dot chain line indicates the posture position of the robot 6 before the scraping plate 8 starts molding the mold, 3
The dashed-dotted line indicates the posture position of the robot 6 during the molding of the mold using the scraper 8, and the solid line indicates the posture and state of the robot 6 when the scraper 8 is replaced.

The operation of the molding apparatus 1 will be described. The timing of the molding of the molding sand by the molding apparatus 1 is as follows. First, the rough molding material of the lower mold 3 for the propeller mixed with the hardener is used as the center of the axis of the support cylinder 11, and a cylindrical hole having a larger diameter than the flange 4 a of the support 4 is formed. Make it and make it before the sand becomes hard.

The turning arm 5 on the upper part of the column 4 installed in alignment with the center axis of the propeller 2 is rotated by driving the motor 15, the rotation angle position is checked by the encoder provided on the motor 15, and the signal is controlled. It is sent to the operation panel 9 for feedback control, and the turning arm 5 is moved to the angular position of the reference line in the radial direction of the propeller blade previously stored or calculated in the control operation panel 9 and stopped. The angular position is determined by the number of blades of the propeller 2 to be created.

Next, the motor 18 attached to the traveling head 21 is driven to move the traveling head 21. At this time, the moving distance is checked by an encoder provided in the motor 18, and a signal is sent to the control operation panel 9 to perform feedback control. The traveling head 21 on the swing arm 5 is moved to the control operation panel 9.
Move in the radial direction at small pitch increments stored in
Stop. This movement interval is set according to the cross-sectional shape such as the profile curvature of the propeller to be created.

Next, the control operation panel 9 reads out the memory 25 of the CAD data in the circumferential direction of the propeller for each stop in the radial direction, converts it into a robot operation program, and operates the articulated robot 6. The casting sand is scraped by a scraping plate 8 attached to 6, and the propeller 2 is shaped into a casting.

The scraper 8 can be selected from a plurality of scrapers 8 in the storage case 35 prepared according to the radial shape of the propeller.

[Second Embodiment] Storage case 3 in FIG.
5 is replaced by a storage case 135 indicated by a two-dot chain line in FIG.
35a, the magnet 36 is attached to the same shelf 135a,
The scraper 8 can be stably stored.

According to this, by mounting the storage case 135 on the robot main body side (the base 6a or the like), the whole apparatus can be made compact.

[Third Embodiment] In the above embodiment, as shown in FIG. 4, the method of fixing the column 4 can be changed.

The support cylinder 1 embedded in the floor hole 7 in the foundation ground
1 ′ is provided with a flange 11 a ′, and a plurality of hydraulic clamps 12 ′ are distributed and installed on the column 4 erected upright in the floor hole 7. By operating the hydraulic clamp 12 ′, the flange 11 a ′ is formed. The support column 4 is easily fixed to and separated from the support cylinder 11 by pressing. 31 'is a hydraulic piping, and 40 is a hydraulic unit.

The present invention is not limited to the above embodiments, and it goes without saying that various changes can be made without departing from the spirit of the present invention.

[0034]

According to the apparatus for molding a large propeller according to the first aspect of the present invention, in a mold molding apparatus for casting a large propeller having a plurality of blades, the mold is inserted into a floor corresponding to a center of a propeller boss. A column which is fixed upright so that it can be fixed, detached and removed, a pivoting arm having a cantilever frame structure which is supported by the column so as to be horizontally rotatable, and a first driving means which rotationally drives the pivoting arm. A traveling head that can reciprocate via guide means in the longitudinal direction of the swing arm;
Second driving means for moving the traveling head, an articulated robot mounted on the traveling head, a scraping plate attached to the arm end of the robot for scraping sand,
A memory of CAD data indicating the shape of the propeller,
It is configured by a robot controller having an output circuit for reading the AD data and controlling the turning arm and the robot,
It is characterized by shaping the casting sand based on the CAD data indicating the shape of the propeller and shaping the propeller mold, so that the center of the propeller and the turning center of the robot are the same, and the shaping of multiple propeller blades by one program Can be performed, the number of programs to be created is small, and it is not necessary to create an airfoil model, an airfoil-shaped wooden frame, etc., so the number of days, cost, and setup time for setting the wooden frame are required. Can be eliminated, and man-hours, construction period, and cost can be reduced.
In addition, since the molding is performed before the casting sand becomes hard, the molding can be performed by a robot having a small rigidity, and the apparatus is inexpensive, and the molding can be performed in a shorter time than the molding by the hardening cutting.
Energy consumption during processing is also small. Further, since the control program for the mold making apparatus is created based on the CAD data, it does not take much time to create the program. In addition, the accuracy of the molded mold is improved by the robotization, the cutting allowance in the cutting in the subsequent process can be reduced, and the material cost can be reduced.

According to a second aspect of the present invention, there is provided a method for forming a large-sized propeller according to the first aspect of the present invention, wherein the multi-joint robot according to the first aspect is equipped with a mold-forming apparatus. Turn the swivel arm to the angular position of the radial reference line of the propeller blade to stop, move the traveling head in the radial direction on the swivel arm in small pitch increments, and stop. Every time the cutter stops, the CAD data in the circumferential direction of the propeller is read out, converted into a robot operation program, the multi-joint robot is operated, and the casting sand is scraped off by the scraper attached to the robot to form the propeller casting. Since it is characterized by shaping, the same effect as that of claim 1 is obtained.

According to a third aspect of the present invention, there is provided a large propeller mold forming apparatus according to the first aspect, wherein a plurality of types of scraper storage cases are mounted on the traveling head or a scraper plate is mounted. The storage case is placed separately in the range of operation of the fingers of the articulated robot, and a scraper holder that allows the removal of the scraper by air operation is attached to the finger of the robot, and the scraper holder holds the scraper in the storage case. Since an operation program for moving the scraper is added, it is possible to automatically change the scraper when it is desired to change the shape of the scraper by changing the step pitch in the radial direction or by changing the curvature of the propeller profile.

According to a fourth aspect of the present invention, there is provided a mold forming apparatus for a large propeller according to any one of the first to third aspects, wherein a flange is provided at a grounding portion of a pillar which stands upright in the floor. A remote-operated hydraulic clamp that holds the flange on the ground side is fixed to fix and disconnect the strut from the ground, so that the mold making device can be easily removed from the floor. Thus, mold shaping can be performed with a plurality of shaping pits, and during casting into a completed mold, mold shaping work can be performed in other pits, thereby increasing the operation efficiency of the apparatus.

According to a fifth aspect of the present invention, there is provided a propeller mold forming apparatus according to any one of the first to third aspects, wherein a flange is provided on the foundation ground side, and the prop is provided on an upright standing pillar in a floor surface. Since a hydraulic clamp for holding the flange is provided to fix and separate the column from the ground, the same effects as those of the fourth aspect can be obtained.

[Brief description of the drawings]

FIG. 1 is a perspective view of a propeller mold forming apparatus according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing the operation of the articulated robot, and is an enlarged perspective view in which a scraper storage case (two-dot chain line) according to a second embodiment is additionally provided.

FIG. 3 is a perspective view showing shapes of a scraping plate and a scraping plate holder of the mold making apparatus of FIG. 1;

FIG. 4 is a perspective view showing a column fixing structure according to a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Mold molding apparatus 2 Propeller 3 Lower mold 4 Prop 5 Rotating arm 6 Articulated robot 8 Scraper 9 Control operation panel 11, 11 'Support cylinder 12, 12' Clamp 21 Traveling head 25 CAD data memory 35, 135 Scratch board storage case 37 Scraper holder

Claims (5)

[Claims] 1. A mold forming apparatus for casting a large-sized propeller having a plurality of blades, comprising: a column upright installed so as to be inserted, fixed, unfixed, and withdrawn in a floor corresponding to a center of a propeller boss. A revolving arm having a cantilever frame structure supported by the column so as to be horizontally rotatable; first driving means for driving the revolving arm to rotate; and reciprocating via a guide means in a longitudinal direction of the revolving arm. A traveling head, a second driving means for moving the traveling head, an articulated robot mounted on the traveling head, and a scraping plate attached to the arm end of the robot for scraping sand. Showing the shape of the propeller
It is composed of a memory of D data, a robot controller equipped with an output circuit for reading the CAD data and controlling the robot and the robot. The molding sand is scraped based on the CAD data indicating the shape of the propeller to form a propeller mold. A large-sized propeller mold making apparatus characterized by performing the following steps. 2. Using a mold forming apparatus equipped with the articulated robot according to claim 1, turning a turning arm at an upper part of a column installed in accordance with a central axis of a propeller to thereby determine a reference line in a radial direction of a propeller blade. Move the swivel arm to the angular position and stop it. Move the traveling head on the swivel arm in the radial direction at small pitch increments and stop. Reads the memory of the robot and converts it into a robot operation program, operates the articulated robot, scrapes the sand with the scraper attached to the robot, and shapes it into the shape of a propeller casting. Method. 3. The apparatus for molding a large propeller according to claim 1, wherein a plurality of types of scraping plate storage cases are mounted on the traveling head, or the scraping plate storage case is set within an operating range of a finger of an articulated robot. In addition to installing separately, attaching a scraper holder that allows the scraper to be detachable by air operation to the robot finger, and adding an operation program that moves the scraper holder to replace the scraper in the storage case A large-sized propeller mold making apparatus characterized by the following features. 4. The remote-operated hydraulic clamp according to claim 1, wherein a flange is provided at a grounding portion of a pillar which stands upright in a floor surface, and the flange is pressed against a foundation ground side. A propeller mold forming apparatus characterized in that a supporting column is fixed to and separated from a ground. 5. The propeller mold forming apparatus according to claim 1, wherein a flange is provided on the ground side of the foundation, and a hydraulic clamp for pressing the flange is installed on a column standing upright in the floor, and the column is grounded. A large-sized propeller mold forming apparatus characterized in that it is fixed to and separated from the mold.