KR20190124912A - Casting machine for cylinder head - Google Patents

Abstract

Provided in the present invention is a casting device for a cylinder head, which comprises: an articulated robot composed of a plurality of arms; a lower mold having a sprue for injecting a molten metal; an upper mold installed to be slidably moved in a vertical direction in a state of being arranged to be opposed to an upper portion of the lower mold, and having a separation ejector which separates a material to be ejected which is completely cast; a mold driving cylinder connected to the upper mold, and generating driving power such that the upper mold may be slidably moved in a vertical direction; a core assembly jig in which a plurality of cores to be installed at the lower mold are assembled and arranged, and of which an upper plane is provided with a position determining groove; a core gripper detachably installed at the arms of the robot, and moved by the robot while clamping the cores assembled on the core assembly jig, before installing the cores at the lower mold; and an ejection and gold net gripper which is detachably installed at the arms of the robot, and moved by the robot while ejecting the material to be ejected, which is separated from the upper mold by the separation ejector, in a fixed state, while checking the sprue of the lower mold and installing a gold net at the sprue.

Description

Casting machine for cylinder head {Casting machine for cylinder head}

The present invention relates to a casting device for a cylinder head for casting parts of an automobile, in particular a cylinder head.

In general, the low pressure casting method is a casting method in which a molten metal is pressed and injected into a mold installed on the upper surface of the furnace by applying compressed air or an inert gas to the molten surface of the furnace.

For example, a production process of an aluminum cylinder head using a low pressure casting method will be described. First, an aluminum ingot is melted in a melting furnace to make a molten metal, and the molten metal is supplied to a casting machine equipped with a heater. Then, in the core inserting process, the water jacket core forming the water jacket of the cylinder head, the port core forming the intake port and the exhaust port, and the oil passage core and the top core are assembled to the lower mold, the lower mold. Set to state. Then, the upper mold and the lower mold are combined, the molten metal is injected into the mold, and after cooling for a predetermined time, the mold is opened, the upper mold and the lower mold are separated, the product is taken out, and the cylinder head product is subjected to heat treatment and post-treatment. After inspection in the inspection process, it is shipped to the machining process.

Here, when the upper and lower molds are separated, the product and the core are joined to the upper mold while being separated from the lower mold, and the ejector device is placed on the eject pin of the upper mold in a state where the drawer is disposed below the upper mold. The material separated by is taken out. Then, for the next casting operation, the operator checks whether the tug is blocked, and installs a metal net to filter out impurities of the molten metal on the tug.

In order to carry out this process, in order to load each core into the mold for casting a cylinder head, it is charged in an assembled state. As such, the assembly of each core is performed because the worker manually assembles each core onto the lower die. It takes a lot of time, safety accidents due to high temperature, and often broken during the core assembly process has a high defect rate problem.

In addition, there is a problem that takes a lot of work time and safety accidents due to high temperature because the operator performs the work of taking out the material, check the hot water ball and install the metal net manually.

Such a technology for a conventional casting apparatus is presented in Korean Patent Publication No. 2009-0034518 (2009.04.08).

It is an object of the present invention to provide a casting device for a cylinder head that enables the core to be stably and easily seated in an accurate position on a lower mold.

In addition, it is an object of the present invention to provide a casting device for a cylinder head that can take out the material separated from the upper mold safely and easily, as well as to automatically check the hot water ball and install the metal net.

The present invention is a multi-articulated robot composed of a plurality of arms, a lower mold having a mouth hole for injecting molten metal, and installed to slide in a vertical direction in a state in which it is disposed to face the upper portion of the lower mold, and the casting target is completed. An upper mold provided with a separate ejector for separating a material, a mold driving cylinder connected to the upper mold to generate a driving force to slide the upper mold in a vertical direction, and a plurality of cores to be installed on the lower mold, A core assembly jig having a positioning groove formed therein, the core gripper detachably installed on the arm of the robot, the core gripper for installing the core in the lower mold after clamping the assembled core on the core assembly jig while moving by the robot. Removably installed on the arm of the robot and moved by the robot The present invention provides a casting apparatus for a cylinder head including an ejection and gold mesh gripper for extracting the ejection target material separated from the upper mold in a fixed state, and checking the tap opening of the lower mold and installing a metal net in the tap.

In the casting apparatus for a cylinder head according to the present invention, the core clamping frame is positioned in the correct position on the core assembly jig in a state in which the core is assembled on the core assembly jig so that the clamping means is accurately inserted into the grip hole of the core and It can be easily clamped in the correct position in the assembled state on the lower mold with the core gripper moving in accordance with the operation of the robot bar.

In addition, while the draw and gold mesh gripper moving in accordance with the operation of the robot is located between the lower mold and the upper mold, the opening and closing of the ball through the operation of the ball check confirmation unit and the ball check cylinder of the ball check confirmation frame to check whether the ball is penetrated, and install the gold mesh The operation of the gold mesh insert of the frame and the gold mesh mounting cylinder makes it possible to install the metal mesh on the tap. In addition, the material to be taken out and placed and separated from the upper mold on the material seating plate of the material seating cylinder is clamped under pressure by the material clamping part of the material clamping frame, so that the ejection work of the material to be ejected can be easily performed. To be.

1 is a schematic configuration cross-sectional view of a casting device for a cylinder head according to an embodiment of the present invention.
FIG. 2 is a perspective view of the core gripper shown in FIG. 1. FIG.
3 is a front view of the core gripper shown in FIG. 2.
4 is a side view of the core gripper shown in FIG. 2.
FIG. 5 is a rear view of the core gripper shown in FIG. 2. FIG.
6 is a cross-sectional view of a core gripping state of the clamping means shown in FIG. 2.
7 and 8 are perspective views of the take-out and gold mesh gripper shown in FIG. 1.
9 is a front view of the take-out and gold-mesh gripper shown in FIG.
FIG. 10 is a side view of the take-out and gold mesh gripper shown in FIG. 7; FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic configuration cross-sectional view of a casting device for a cylinder head according to an embodiment of the present invention. Referring to FIG. 1, in one embodiment, a casting apparatus for a cylinder head includes a robot 100, a lower mold 200, an upper mold 300, a mold driving cylinder 400, a core assembly jig 500, and a core gripper ( 600), a take-out and a gold gripper 700 are provided.

The robot 100 makes a movement for loading or removing the core gripper 600 to be described later on the lower mold 200, or moves the takeout and gold gripper 700 to the lower mold 200. Checking the hot water ball and the metal net is installed, and after moving to the upper mold 300 to take out the finished material to be taken out 20. The robot 100 is a multi-articulated robot composed of a plurality of arms so that the core gripper 600 and the take-out and gold mesh gripper 700 can be accurately moved between the lower mold 200 and the upper mold 300. Use to select.

The lower mold 200 supports the core 10 assembled on the core assembly jig 500 to be described later in a seated state, and is then molded with the molten metal after being molded with the upper mold 300. The lower mold 200 is disposed below the upper mold 300 in a state in which the lower mold 200 is disposed to face the upper mold 300. In addition, a lower portion of the lower mold 200 may include a molten metal supply unit 201 for supplying molten metal, and a molten metal flow path for moving the molten metal from the molten metal supply unit 201 inside the lower mold 200 (not shown). Is formed, and a molten metal (not shown) is formed on the upper surface of the lower mold 200 to inject the molten metal introduced into the molten metal flow path into the core 10. In addition, a plurality of mold guide rods 210 for guiding the upper mold 300 to be slidably moved upward and downward may be vertically coupled to an edge portion of the upper surface of the lower mold 200.

In addition, the lower mold 200 is connected to the target material fixing part 220 for fixing the takeout material 20 disposed on the upper mold 300 after being completed with the upper mold 300. can do. That is, the target material fixing part 220 includes a support pillar 221, a support frame 222, and a material pressing cylinder 223. The support pillar 221 is coupled to the lower end of the support pillar 221 is fixed to the upper surface of the lower mold 200 in a state disposed perpendicular to the upper surface of the lower mold (200). The support frame 222 is a frame installed in a coupled state on the upper end of the support pillar 221, and has a horizontal cross-sectional shape of a square ring. Then, the material pressing cylinder 223 is fixedly installed to the support frame 222. This, the material pressing cylinder 223 is to be fixed in the pressurized state the material to be taken out 20 is located in the upper mold 300 during operation.

The upper mold 300 is a mold disposed to move in the vertical direction from the upper side of the lower mold 200. The upper mold 300 is molded with the lower mold 200 in which the core 10 is disposed, and then molding is completed when the molten metal is injected into the core 10. Here, the upper mold 300 is connected to the mold guide rod 210 installed in the lower mold 200 so as to be slidably movable in the vertical direction.

After the molding is completed, the upper mold 300 has a separate ejector (not shown) which is pushed downward to remove the material 20 attached to the bottom surface of the upper mold 300 to be separated from the upper mold 300. With coupling. That is, the separation ejector is pushed out of the material to be taken out 20 to be released from the upper mold 300 while the pressure fixing of the material to be taken out 20 by the material pressing cylinder 223 is released. The separation ejector is formed to have a cylinder structure to push the ejection target material 20 downward, but is not limited thereto.

The mold driving cylinder 400 is a cylinder that generates a driving force to slide the upper mold 300 in the vertical direction. This, the mold drive cylinder 400 is disposed perpendicular to the lower mold upper mold 300, the rod end is fixedly coupled to the upper surface of the upper mold (300). Here, the mold driving cylinder 400 is installed to be fixed on the fixed frame 410 connected to the upper support frame 222 of the lower mold 200.

The core assembly jig 500 is a jig for assembling the core 10 charged on the lower mold 200. That is, the core assembly jig 500 allows the plurality of cores 10 to be arranged in an assembled state before being charged onto the lower mold 200. H) and the auxiliary positioning pin (not shown) are formed. In addition, a gripper 11 is formed in the core 10 assembled to the core assembly jig 500 so as to insert an expansion bag 663 provided in the clamping means 660 of the core gripper 600 to be described later. do. In addition, the upper surface of the core assembly jig 500 is inserted into the opening and closing check unit 752 and the gold mesh input unit 772 of the take-out and gold mesh gripper 700 to be described later, and the initial installation position can be checked and A gold mesh locking confirmation hole (not shown) for disposing a metal mesh (not shown) to be locked to the input unit 772 may be formed. The core assembly jig 500 may be disposed independently of the lower mold 200 or connected to the lower mold 200.

The core gripper 600 clamps the core 10 assembled on the core assembly jig 500 while being moved by the robot 100, so that the core gripper 600 is charged on the upper surface of the lower mold 200 before casting. The core gripper 600 is detachably installed at the arm end of the robot 100. 2 to 6, the core gripper 600 includes a core charging robot connecting frame 610, a base frame 620, a positioning frame 630, a core clamping frame 640, a lifting cylinder 650, Clamping means 660.

The core charging robot connection frame 610 is a frame having a plate structure that is connected to the arm of the robot 100 to support the base frame 620 to be described later to be slidably movable in the up / down direction. That is, the arm tip of the robot 100 is coupled to the center of the upper surface of the core charging robot connection frame 610, and the base frame 620 is slidably connected to the lower portion of the core charging robot connection frame 610. Here, a plurality of shock absorbing guides 611 having a rod structure extending vertically downward to guide the base frame 620 in a connected state to be slidably movable in an up / down direction is provided on the bottom of the core charging robot connection frame 610. Is formed. In the core charging robot connection frame 610, a plurality of through holes 610a are formed to penetrate in the up / down direction, so that weight reduction and cooling can be stably performed. Here, reference numeral 612 denotes a robot connection arm detachably connected to the arm end of the robot 100.

The base frame 620 is a frame of a plate structure that is installed to be slidably movable in the up / down direction below the core charging robot connection frame 610. The base frame 620 is installed to be slidably movable in the up / down direction to the buffer guide 611 in a state arranged side by side under the core charging robot connection frame 610. Here, the base frame 620 is formed with a plurality of guide holes 620b penetrating in the up and down directions so that the buffer guide 611 can be correspondingly inserted. In addition, a plurality of through holes 620a are formed in the base frame 620 to penetrate in the up / down direction, so that weight reduction and cooling can be performed stably.

In addition, the bottom of the base frame 610 is a plurality of base guides 621 having a rod structure extending vertically downward to guide the core clamping frame 640, which will be described later, in a connected state to be slidably movable in the up / down direction. ) Is formed.

In addition, the upper surface of the base frame 620 is provided with a buffer spring 622 to absorb the shock when moving upward of the core clamping frame 640 by the lifting cylinder 650 to be described later. That is, the buffer spring 622 is disposed between the base frame 620 and the core charging robot connecting frame 610, the upper end of the buffer spring 622 is coupled to the bottom of the core charging robot connecting frame 610, The lower end of the buffer spring 622 is coupled to the upper surface of the base frame 620. Here, the shock absorbing spring 622 is shown as being a coil spring, but is not limited to this may be of course applied to the shock absorbing means such as a leaf spring or other shock absorber.

The positioning frame 630 is a plate-shaped frame that guides the clamping means 660, which will be described later, to be inserted into the gripper 11 of the core 10 in the correct position. That is, the positioning frame 630 may be connected to the core assembly jig 500 at a predetermined position to allow the clamping means 660 to accurately clamp the core 10 assembled on the core assembly jig 500. . The positioning frame 630 is fixedly coupled to the lower end of the base guide 621 to be disposed below the base frame 620.

Here, the positioning pin 631 protrudes downward to correspond to the positioning groove of the core assembly jig 500 so that the bottom surface of the positioning frame 630 may be seated at a predetermined position on the core assembly jig 500. Is formed. In addition, an auxiliary positioning groove 632 may be formed on the bottom of the positioning frame 630 to correspond to the auxiliary positioning pin of the core assembly jig 500. As such, when the positioning frame 630 is seated on the core assembly jig 500, the positioning pin 631 and the auxiliary positioning groove 632 are respectively positioned and assisted by the core assembly jig 500. While being disposed corresponding to the positioning pins, the positioning frame 630 may be seated at a constant position on the core assembly jig 500 at all times.

In addition, the positioning frame 630 may insert the core 10 assembled to the core assembly jig 500 so as to be adjacently disposed in the direction of the base frame 620 when the positioning frame 630 is seated on the upper edge portion of the core assembly jig 500. The insertion portion 630a is formed to have a ring shape so as to penetrate in the up / down direction so that the insertion portion 630a may be formed therethrough.

In addition, after the clamping of the core 10 through the clamping means 660 is completed on one side of the positioning frame 630 in the core assembly jig 500, the core 10 is lower mold 200 An air discharge pipe 670 may be provided to allow the air supplied from the outside to be discharged in the direction of the core 10 before the casting molding operation in a state of being seated on the bed. That is, the air discharge pipe 670 removes foreign substances in the lower mold 200 including the core 10 before the casting molding operation while discharging the air supplied from the outside in the direction of the core 10, and completes the blowout object. The lower incidence rate of the material 20 may be reduced, and the lower mold 200 may be cooled. Here, in the longitudinal direction of the air discharge pipe 670, a plurality of air discharge holes 671 are formed to be spaced apart from each other to allow the air supplied from the outside to be discharged in the inner direction of the core 10 and the lower mold 200.

The core clamping frame 640 is a plate-shaped frame that is lifted between the base frame 620 and the positioning frame 630 according to the operation of the lifting cylinder 650 to be described later. The core clamping frame 640 supports the clamping means 660, which will be described later, in a connected state. Here, the core clamping frame 640 is formed with a plurality of guide holes 640b penetrated in the up / down direction so that the base guide 621 can be inserted correspondingly. In addition, a plurality of through holes 640a are formed in the core clamping frame 640 to penetrate in the up / down direction, so that weight reduction and cooling can be stably performed.

In addition, at least one shock absorber 641 may be connected to and installed on a bottom surface of the core clamping frame 640. That is, the shock absorber 641 combines the upper end so that the shock absorber 641 is disposed perpendicular to the bottom of the core clamping frame 640. Such a shock absorber 641 is in contact with the upper surface of the core 10 before the clamping means 660 is inserted into the gripper 11 of the core 10, the core 10 when grasping the core 10. It is possible to absorb the shock during the downward movement of the core clamping frame 640 according to the operation of the elevating cylinder 650 by preventing the shaking of the stable holding.

The lifting cylinder 650 is a cylinder that generates a driving force to slide the core clamping frame 640 in the up / down direction. That is, the lifting cylinder 650 slides the core clamping frame 640 in the up / down direction on the base guide 621 while the shock absorber 641 installed in the core clamping frame 640 and the clamping to be described later. It is possible to move the means 660 correspondingly. This, the lifting cylinder 650 is fixedly coupled to the base frame 620, the rod is arranged to be movable in the up / down direction in a state extending vertically downward of the base frame 620. At this time, the rod end of the lifting cylinder 650 is fixedly coupled to the upper surface of the core clamping frame 640.

The clamping means 660 is inserted into the gripper 11 of the core 10 while moving downwards corresponding to the downward movement of the core clamping frame 640 according to the operation of the lifting cylinder 650, and then The core 10 can be grasped while being expanded by the supplied air. That is, as shown in FIG. 6, the clamping means 660 moves the core 10 assembled on the core assembly jig 500 while moving the core 10 corresponding to the up / down movement of the core clamping frame 640. The core 10 is held in a gripped state so as to move onto the lower mold 200. This, the clamping means 660 is fixedly coupled to the core clamping frame 640 facing downward, more specifically, the clamping means so that the clamping means 660 is arranged to extend vertically downward from the core clamping frame 640 The upper end of the 660 is installed to be coupled to the bottom of the core clamping frame 640. Here, the clamping means 660 comprises a clamping shaft 661, an expansion bag 663.

The clamping shaft 661 allows air supplied from the outside to be supplied to the expansion bag 663 in a state in which the expansion bag 663 is connected and supported. This, the clamping shaft 661 is coupled to the upper end of the clamping shaft 661 extending vertically downward to the bottom of the core clamping frame 640 so as to extend below the core clamping frame (640). Here, the air supply passage 662 is formed in the clamping shaft 661 in the longitudinal direction, thereby allowing the air supplied from the outside to be supplied to the expansion bag 663. At this time, the upper end of the clamping shaft 661 is the expansion bag 663 is expanded while the inlet and discharge of the air pressure through the direction control valve (not shown) for controlling the pipeline for supplying air to the core 10 Gripping or expanding bag 663 allows for contraction and removal of core 10.

The expansion bag 663 is fitted on the grip hole 11 of the core 10 while expanding and receiving the air supplied from the outside through the air supply passage 662 of the clamping shaft 661 and the core 10 Gripping. The expansion bag 663 is connected to the bottom of the clamping shaft 661 and is formed of an elastic material so as to expand when receiving air through the clamping shaft 661. In this case, the expansion bag 663 is preferably formed of a rubber material, but is not limited thereto, and may be formed of a synthetic resin material having a ductility.

The take-out and gold mesh gripper 700 moves out by the robot 100 while taking out the take-out material 20 separated from the upper mold 300 by the separating ejector in a fixed state, and the hot-drain hole of the lower mold 200. In addition to checking the metal mesh to be installed on the mouthpiece. Such a take-out and a gold gripper 700 are detachably installed in the arm end of the robot 100. 7 to 10, the take-out and gold gripper 700 is a gold mesh installation robot connection frame 710, the material seating cylinder 720, the material clamping frame 730, the ball game connection frame 740, the ball ball confirmation frame 750, a ball check cylinder 760, a gold mesh installation frame 770, and a gold mesh installation cylinder 780.

The gold mesh installation robot connection frame 710 is connected to the arm (not shown) of the robot while supporting the material clamping frame 730 to be slidably movable in the up / down direction, which will be described later. 720 is a frame for connecting and supporting the tanggu connection frame 740. Here, the gold mesh installation robot connecting frame 710 is shown as being composed of a pair of vertical bar member connecting the pair of horizontal bar member and the horizontal bar member, but is not limited to this. As such, the arm end of the robot is coupled to one end of the gold mesh installation robot connection frame 710, and the material clamping frame 730 is coupled to and installed on the upper portion of the gold mesh installation robot connection frame 710. Connect the slide to the up / down direction. And, the lower side of the gold mesh installation robot connection frame 710 is installed in the connection state coupled to the tanggu connecting frame 740. The lifting guide hole 711 is formed in the gold mesh installation robot connection frame 710 so that the material clamping frame 730 can be slidably moved in the up / down direction. Here, a robot connection fitting part 712 coupled to an arm end of the robot 100 may be formed at one end of the gold mesh installation robot connection frame 710.

The material seating cylinder 720 is a cylinder that can seat and support the material to be taken out 20 separated from the upper mold 300. In more detail, the material seating cylinder 720 can stably fix the material to be taken out 20 together with the material clamping portion 732 to be described later in a state of supporting the material to be taken out 20. Such, the seat mounting cylinder 720 is fixedly installed on the upper surface of the gold mesh installation robot connecting frame 710, the rod is moved in the vertical direction of the gold mesh installation robot connecting frame 710 in a vertically extended state Deploy as possible.

In addition, the rod end of the material seating cylinder 720 is provided with a material seating plate 721 in a fixed state so as to stably support the lower portion of the material to be taken out 20. The upper surface of the material seating plate 721 may be provided with a plurality of hooks 722 to be coupled to the lower portion of the take-out material 20 in a fixed state. Here, the locking guide groove 723 is formed in the hook 722 so that the core 10 portion disposed on the bottom surface of the material to be ejected 20 can be inserted and fastened correspondingly.

As described above, the material mounting plate 721 is moved in the up / down direction according to the change in the length of the rod according to the operation of the material seating cylinder 720, and the material to be taken out by changing the position of the material seating plate 721 ( 20) and stable seating, it is possible to maintain a stable fixed state of the material to be taken out 20 during the operation of the material clamping portion 732.

The material clamping frame 730 is a frame having a plate structure for clamping the material to be taken out 20 is placed on the material seating plate 721 of the material seating cylinder 720. Such, the material clamping frame 730 is connected to the upper installation of the gold mesh installation robot connecting frame 710 so as to be slidably movable in the up / down direction. Here, the bottom surface of the material clamping frame 730 is formed to extend the buffer guide bar 731 vertically downward, the buffer guide bar 731 is inserted into the lifting guide hole 711 of the gold mesh installation robot connecting frame 710. As the material clamping frame 730 is disposed, the material clamping frame 730 can be slidably moved upward and downward from the upper portion of the gold mesh installation robot connection frame 710. Here, the buffer spring 731a is inserted into and installed on the outside of the shock absorbing guide bar 731 to elastically support the material clamping frame 730 disposed above the gold mesh installation robot connection frame 710. Here, the cylinder installation hole 730a may be formed through the center portion of the material clamping frame 730 so as to penetrate the material seating cylinder 720.

In addition, the shielding wall 730b may be coupled to the front, rear, left, and right edges of the upper surface of the material clamping frame 730 to protrude vertically upward. The shielding wall 730b prevents foreign matters such as the core 10 and casting residues from being separated from the upper surface of the material clamping frame 730 when the material to be taken out 20 is separated from the upper mold.

In addition, the upper surface of the material clamping frame 730 may be provided with a plurality of material clamping unit 732 for clamping and clamping while pressing the take-out material 20 seated on the material seating plate 721. Here, the workpiece clamping portion 732 includes a workpiece clamping cylinder 733, a clamp arm 734, a rotary link 735, a clamp tip 736.

The workpiece clamping cylinder 733 generates a driving force to cause the clamp arm 734 to rotate. This, the material clamping cylinder 733 is fixedly coupled to the top surface of the material clamping frame 730, the rod of the material clamping cylinder 733 is disposed perpendicular to the top surface of the material clamping frame 730. As such, the workpiece clamping cylinder 733 causes the rod to move up and down in operation.

The clamp arm 734 rotates according to the operation of the material clamping cylinder 733 to press the ejection target material 20 seated on the material seating plate 721. The clamp arm 734 is illustrated as having a shape consisting of a pair of horizontal parts 734b formed to be bent in opposite directions, respectively, with respect to the vertical part 734a, but the present invention is not limited thereto. to be. Here, the lower edge portion of the clamp arm 734 is rotatably hingedly coupled to the rod end of the material clamping cylinder 733.

The rotary link 735 is a bar member that connects the clamp arm 734 in a rotational motion according to the change in the length of the rod according to the operation of the material clamping cylinder 733. That is, the rotary link 735 causes the linear movement force of the rod according to the operation of the workpiece clamping cylinder 733 to transfer the rotational movement force to the clamp arm 734. The longitudinal end of the rotary link 735 is rotatably hinged to one side of the housing of the material clamping cylinder 733, and the other end of the longitudinal link of the rotary link 735 is located at the bottom of the clamp arm 734. Is coupled to the hinge rotatably to one side of the horizontal portion (734b).

The clamp tip 736 is a portion for transmitting the pressing force while contacting the material to be taken out 20 when the clamp arm 734 rotates. This, the clamp tip 736 is fixedly coupled to the other edge of the clamp arm 734, more specifically to the longitudinal edge of the horizontal portion 734b located at the top of the clamp arm 734. Here, the clamp tip 736 is formed of a synthetic resin or rubber material having a soft so as to prevent damage to the object to be taken out 20, when the pressing force is transmitted in contact with the upper surface of the material to be taken out 20 (20) Preferred but not limited to this, of course.

The tanggu connecting frame 740 is connected to support the tanggu confirmation frame 750 and the gold mesh installation frame 770 to be slidably moved in the up / down direction to be described later, as well as the tanggu confirmation cylinder 760 and the gold mesh installation cylinder ( 780 is a frame of a frame structure for connecting and supporting. This, the ball-tang connection frame 740 is coupled to the fixed state to be arranged in a horizontal state on the bottom surface of the gold mesh installation robot connection frame 710. Here, the ball opening movement guide to slide the insertion and insertion guide bar (751) and the gold mesh installation guide bar (771) of the gold mesh installation frame 770 of the ball game confirmation frame 750 in a sliding connection frame 740 to be movable. The ball 741 may be formed to penetrate in the up / down direction.

The ball game confirmation frame 750 is a frame of the plate structure that is installed to be slidably movable in the up / down direction from the bottom of the ball opening connection frame 740. This, the ball game confirmation frame 750 is slidingly moved in the up / down direction according to the operation of the ball game confirmation cylinder 760 to be described later. Here, a plurality of mouth opening insertion guide bars 751 are formed on the upper surface of the mouth opening confirmation frame 750 so as to extend vertically upward. This, the mouth opening insertion guide bar 751 is slidably inserted into the mouth opening movement guide hole 741 of the mouth opening connecting frame 740.

In addition, the bottom surface of the ball check frame 750 is provided with a ball ball check unit 752 to check the penetrating state of the ball while being inserted into the ball of the lower mold 200 when moving downward in accordance with the operation of the ball ball check cylinder 760. do. Here, the ball ball confirmation unit 752 includes a ball ball confirmation bar (753), a ball ball confirmation tip (754). The ball game confirmation bar 753 is a bar member coupled to the bottom of the ball game confirmation frame 750 to extend vertically downward. As described above, the ball game confirmation bar 753 is disposed to extend downward of the ball game confirmation frame 750, so that the ball game confirmation bar 753 can be stably inserted into the device when the device is moved downwardly according to the operation of the game ball confirmation cylinder 760. Will be. The ball ball confirmation tip 754 is a portion that is fixedly coupled to the lower edge portion of the ball ball confirmation bar (753). Such, the ball tang confirmation tip 754 allows to check the penetrating state inside the tanggu when inserted into the tang. That is, the ball check confirmation tip 754 is transmitted to the ball check confirmation bar (753) after receiving the impact force when the penetration state of the ball is not neat. Here, the ball ball confirmation tip 754 is preferably formed of a material having excellent heat resistance by being inserted into the ball. Here, the ball ball confirmation cylinder 760 may be provided with a ball ball detection unit (not shown) for measuring the repulsive force applied to the rod when the rod is moved downward. This, the ball tang detection unit can check the penetration of the ball through the repelling force transmitted to the ball check confirmation cylinder 760, when inserting the ball check confirmation tip 754 in the ball.

The ball check confirmation cylinder 760 is a cylinder for generating a driving force to slide the ball check confirmation frame 750 in the up / down direction. That is, the ball check confirmation cylinder 760 generates a moving force so that the ball check confirmation tip 754 of the ball check confirmation unit 752 is inserted into the tap hole of the lower mold 200 or is separated from the inserted ball. This, the ball check confirmation cylinder 760 is installed coupled to the ball link connection frame 740, the rod end of the ball check confirmation cylinder 760 is fixedly coupled to the upper surface of the ball check confirmation frame 750. Therefore, when the ball check confirmation cylinder 760 is operated, the ball check confirmation frame 750 also moves to correspond to the rod movement of the ball check confirmation cylinder 760.

The gold mesh installation frame 770 is a frame of a plate structure that is installed to be slidably movable in the vertical direction from the lower portion of the mouth opening connecting frame 740. The gold mesh installation frame 770 is slidably moved in the up / down direction according to the operation of the gold mesh installation cylinder 780 which will be described later. Here, a plurality of gold mesh installation guide bar 771 is formed on the upper surface of the gold mesh installation frame 770 to extend vertically upward. The gold mesh installation guide bar 771 is slidably inserted into the tap moving guide hole 741 of the tap connection frame 740.

In addition, the bottom surface of the gold mesh installation frame 770 is provided with a gold mesh inlet 772 for installing a metal mesh (not shown) in the outlet portion of the spout when moving downward in accordance with the operation of the gold mesh installation cylinder 780. The gold mesh input portion 772 is moved to the upper portion of the outlet through the movement of the arm of the robot 100 and the operation of the gold mesh installation cylinder 780 in a state where the metal mesh is held by the worker, and then the outlet portion of the molten metal. Allow the metal mesh to rest securely on the Here, the gold mesh inserting portion 772 is provided with a gold mesh setting bar 773, the gold mesh locking pin 774. The gold mesh setting bar 773 is a bar member coupled to the bottom of the gold mesh installation frame 770 to extend vertically downward. As such, the gold mesh setting bar 773 is disposed to extend downward of the gold mesh mounting frame 770, and thus, when the gold mesh setting bar 773 moves downward of the gold mesh installing frame 770 according to the operation of the gold mesh installing cylinder 780, the metal mesh is disposed at the outlet portion of the mouth. It is possible to arrange the seating stably. The gold mesh locking pin 774 is a portion connecting to protrude downward from the bottom of the gold mesh setting bar 773. This, the gold mesh locking pin 774 is to be supported in a locked state of the metal mesh to be installed seated on the outlet portion of the mouth. That is, a plurality of gold mesh locking pins 774 are formed at the bottom of the gold mesh setting bar 773 to be spaced apart from each other, so that the metal mesh is placed in a locked state while being inserted into the hole of the metal mesh, even through a very small impact force It can lead to the deviation.

In addition, a magnetic force member 775 may be coupled to the lower end of the gold mesh setting bar 773. The magnetic member 775 is attached to the metal mesh from the magnetic force while moving between the upper mold 300 and the lower mold 200 by driving the robot 100 arm, while being caught by the metal locking pin 774. Do not let go.

The gold mesh installation cylinder 780 is a cylinder that generates a driving force to slide the gold mesh installation frame 770 in the vertical direction. That is, the gold mesh installation cylinder 780 generates a moving force so that the metal mesh latched on the gold mesh locking pin 774 can be seated at the outlet of the spout. This, the gold mesh installation cylinder 780 is coupled to the tanggu connecting frame 740, the rod end of the gold mesh installation cylinder 780 is fixedly coupled to the upper surface of the gold mesh installation frame 770. Therefore, when the gold mesh mounting cylinder 780 is operated, the gold mesh mounting frame 770 also moves to correspond to the rod movement of the gold mesh mounting cylinder 780.

As such, when the gold mesh installation cylinder 780 is operated, the lower end of the gold mesh locking pin 774 of the gold mesh input part 772 according to the downward movement of the gold mesh mounting frame 770 collides with the lower mold 200, thereby locking the gold mesh. As the metal mesh held by the pin 774 is disengaged, it is disposed and seated at the outlet portion of the spout.

Here, the core gripper 600 and the take-out and gold mesh gripper 700 may be stored in the gripper holder 800 in a seated state before or after the casting molding operation. Such, the gripper holder 800 is coupled to the plurality of storage seating plate 810 arranged side by side in the vertical / vertical direction to the edge of the storage seating plate 810 to support the storage seating plate 810 connected to the vertical It includes a plurality of storage pillars 820. Here, a pin insertion groove 811 is formed on the upper surface of the storage seating plate 810 in which the core gripper is seated in the storage seating plate 810 so that the positioning pin 810 of the core gripper 600 is inserted. And, the upper surface of the storage seating plate 810 in which the take-out and gold gripper 700 is placed and placed in the groove (not shown) formed on the bottom surface of the spout connection frame 400, a plurality of hooking projection bars ( 812 is vertically coupled.

Referring to the casting molding operation using the casting device for a cylinder head of an embodiment having such a configuration as follows.

First, the plurality of cores 10 are manually assembled on the core assembly jig 500.

Thereafter, the robot 100 is operated to connect the core gripper 600 positioned on the gripper holder 800 and then move. That is, after the core charging robot connection frame 610 is connected to the arm end of the robot 100, the core gripper 610 is positioned above the core 10. And the clamping means 660 is arrange | positioned so that it may be inserted in the holding | gripping tool 11 of the core 10. FIG. In more detail, the positioning pin 631 of the positioning frame 630 is inserted and disposed corresponding to the positioning groove of the core assembly jig 500. Thereafter, when the elevating cylinder 650 is operated to cause the core clamping frame 640 to move downward, a portion of the expansion bag 663 of the clamping means 660 is inserted into the grip hole 11 of the core 10.

Thus, when the portion of the expansion bag 663 of the clamping means 660 is inserted into the grip hole 11 of the core 10, the outer portion of the expansion bag 663, the air supply passage 662 of the clamping shaft 661 of the clamping means 660 To supply air. Then, as the air enters into the expansion bag 663 through the air supply passage 662, the expansion bag 663 expands, and the expansion bag 663 maintains the core 10 in a gripped state. .

Thereafter, the robot 100 is operated again to move the core 10 held by the expansion bag 663 of the clamping means 660 to rest on the upper portion of the lower mold 200, and then lift the expansion bag 663. The cold air is discharged again to the outside, thereby releasing the state in which the core 10 is held by the expansion bag 663. Then, when the elevating cylinder 650 is operated again so that the core clamping frame 640 is moved upward, the portion of the expansion bag 663 of the clamping means 660 is inserted into the gripper 11 of the core 10. Departure is made from the state to the outside.

Then, the core 10 is disposed in a seated state on the upper lower mold 200, and the robot 100 is operated so that the core gripper 600 is seated on the storage seat plate 810 of the gripper storage box 800 again. Move it.

In addition, the upper mold 300 is moved downward by the mold driving cylinder 400, and the lower mold 200 is combined with the lower mold 200. Cooling is made after being injected into the core 10 located between the).

Thereafter, the upper mold 300 is moved upward by the mold driving cylinder 400, and at this time, the upper mold 300 is coupled to the core 10 and the extraction target material 20 to which the cast molding is coupled. Will be moved to.

As such, after the upper mold 300 is moved upward, the robot 100 is operated to connect the take-out and gold-mesh grippers 700 that are seated and disposed on the storage seating plate 810 of the gripper holder 800. Let it move That is, after the gold mesh installation robot connecting frame 710 is connected to the arm end of the robot 100, it is arranged to be inserted between the upper mold 300 and the lower mold 300. Thereafter, when the ball check confirmation cylinder 760 is operated to move the ball check frame 750 downward, the ball check confirmation tip 754 of the ball check confirmation unit 752 is inserted into the ball and penetrates through the outlet portion of the ball. Check whether or not. At this time, when it is determined that the outlet portion of the tap is cleanly passed and the diameter of the flow path is maintained stably, the operation of installing the metal net is performed, and a lot of molten residue is stuck inside the outlet part of the tap. If it is determined that the narrow state, the operation of the hot water ball by the operator.

Here, it is determined that the outlet portion of the hot water flows cleanly, so that the diameter of the flow path is maintained stably, and when the metal mesh is installed, the gold mesh setting bar 773 is positioned to correspond to the hot water upward. The position of the gold mesh installation frame 770 is adjusted by 100. In this case, before the gold mesh installation robot connecting frame 710 is disposed between the upper mold 300 and the lower mold 200, the metal mesh disposed in the gold mesh catching hole of the core assembly jig 500 may be connected to the gold mesh input portion 772. It is installed in a locked state on the gold mesh locking pin (774).

Subsequently, when the metal mesh installation frame 770 moves downward through the operation of the metal mesh installation cylinder 780, the lower end of the gold mesh locking pin 774 of the gold mesh input part 772 contacts the lower mold 200, the metal mesh is The gold mesh locking pin 774 is separated from and placed in the mouthpiece.

In this way, after the installation of the metal mesh in the hot water ball, the gold mesh installation robot connecting frame 710 is disposed adjacent to the upper mold 300 through the robot 100. Thereafter, the material seating cylinder 720 is operated to move the material seating plate 721 to be placed in contact or proximate state under the material to be taken out 20. Then, the material to be taken out 20 separated from the upper mold 300 through the operation of the separation ejector is placed on the upper part of the material seating plate 721, and again, the material seating cylinder 720 is operated to operate the material seating plate. Let 721 be moved downward.

Subsequently, the clamp arm 734 is rotated by operating the material clamping cylinder 733 of the material clamping part 732, and the clamp tip 736 transmits the pressing force in contact with the upper surface of the material to be taken out 20. The fixing of the material to be taken out 20 is completed.

In this way, after the material to be taken out 20 is fixed to the material clamping unit 732 in a state of being placed and placed on the material seating plate 721, the gold mesh installation robot connecting frame 710 through the operation of the robot 100 again. ) Is separated out between the upper mold 300 and the lower mold (200).

As such, in the casting apparatus for the cylinder head according to the embodiment, the core clamping frame 640 is accurately positioned on the core assembly jig 500 in a state in which the core 10 is assembled to the core assembly jig 500. The clamping means 660 is precisely inserted into the gripper 11 of the core 10 and grips the core 10 so that the clamping means 660 is lowered to the core gripper 600 which moves according to the operation of the robot 100. The core 10 can be easily seated in the correct position in the assembled state on the mold 200.

Also, the ball tang confirmation unit 752 of the ball tang confirmation frame 750 in a state where the take-out and gold mesh gripper 700 moving according to the operation of the robot 100 is positioned between the lower die 200 and the upper die 300. And check whether the ball is penetrated through the operation of the ball check confirmation cylinder 760, and install the metal net on the ball through the operation of the gold mesh input unit 772 and the gold mesh installation cylinder 780 of the gold mesh installation frame 770. To be able. In addition, the material to be taken out 20 disposed while being separated from the upper mold 300 by the material seating plate 721 of the material seating cylinder 720 is pressed by the material clamping part 732 of the material clamping frame 730. Bar clamped in a state, it is possible to easily perform the take-out operation of the material to be taken out 20.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: core 20: material to be taken out
100: robot 200: lower mold
300: upper mold 400: mold driving cylinder
500: core assembly jig 600: core gripper
610: core charging robot connection frame 611: buffer guide
620: base frame 621: base guide
622: buffer spring 630: positioning frame
631: positioning pin 632: auxiliary positioning groove
640: core clamping frame 641: shock absorber
650: lifting cylinder 660: clamping means
661: clamping shaft 663: expansion bag
670: air discharge pipe 700: blowout and gold mesh gripper
710: gold network installation robot connection frame 711: lifting guide hole
720: material seating cylinder 721: material seating plate
730: material clamping frame 731: buffer guide bar
732: material clamping portion 740: tang connection frame
750: Tanggu confirmation frame 751: Tanggu insertion guide bar
752: Tanggu check unit 760: Tanggu check cylinder
770: gold mesh mounting frame 771: gold mesh mounting guide bar
772: gold mesh input portion 780: gold mesh mounting cylinder
800: gripper rack

Claims (11)

A multi-joint robot composed of a plurality of arms;
A lower mold having a pouring hole for injecting molten metal;
An upper mold installed to be slidably moved upward and downward in a state in which the upper mold is disposed above the lower mold, and provided with a separate ejector for separating a cast-out material to be cast;
A mold driving cylinder connected to the upper mold to generate a driving force to slide the upper mold in a vertical direction;
A core assembly jig assembled with a plurality of cores to be installed in the lower mold, and having a positioning groove formed on an upper surface thereof;
A core gripper detachably installed on an arm of the robot and clamping the core assembled on the core assembly jig while moving by the robot, and then installing the core on the lower mold; And
Removably installed on the arm of the robot, while moving by the robot to take out the object to be taken out of the upper mold by the separation ejector fixedly and check the hot and cold water in the lower mold and install the metal mesh in the hot water Casting device for a cylinder head comprising a take-out and gold mesh gripper. The method according to claim 1,
The core gripper is,
A core charging robot connection frame connected to an arm end of the robot and having a plurality of buffer guides extending vertically downward;
A base frame which is installed to be slidably movable in the up / down direction to the shock absorbing guide, and has a shock absorbing spring on the upper surface, the base frame having a plurality of base guides extending vertically downward;
It is fixedly coupled to the lower end of the base guide, the insertion portion is provided so as to penetrate in the up / down direction to insert the assembled core, the bottom of the positioning pin corresponding to the positioning groove of the core assembly jig downwards A positioning frame formed to protrude,
A core clamping frame connected to the base guide so as to slide in an up / down direction between the base frame and the positioning frame;
A lifting cylinder installed in the base frame, the rod end being connected to a core clamping frame to generate a driving force to move the core clamping frame in an up / down direction;
A plurality of clamping means installed on the core clamping frame to face downward, and holding a core while being expanded by air supplied from the outside when inserted into a grip hole formed in the core while the lower end moves downward through the operation of the lifting cylinder; Casting device for a cylinder head comprising a. The method according to claim 2,
An auxiliary positioning pin is further formed to protrude upward from an upper surface of the core assembly jig, and an auxiliary positioning groove is further formed on the bottom of the positioning frame to correspond to the auxiliary positioning pin. The method according to claim 2,
The clamping means,
A clamping shaft coupled to the core clamping frame so as to extend vertically downward, and having an air supply passage formed therein;
Connected to the lower end of the clamping shaft, the casting device for a cylinder head including an expansion bag made of an elastic material to expand by the air supplied from the outside through the air supply passage of the clamping shaft. The method according to claim 2,
It is connected to the positioning frame, the bottom surface is formed with a plurality of air discharge holes are spaced apart from each other, the core is installed in the lower mold after the air supplied from the outside through the air discharge hole to the core and the inside of the mold Casting device for cylinder head having an air discharge pipe for removing foreign matters. The method according to claim 1,
The drawout and gold mesh gripper,
Gold network installation robot connecting frame for connecting to the arm end of the robot,
A material seating cylinder coupled to the upper surface of the gold mesh installation robot connecting frame and installed at a rod end, and having a material seating plate coupled to the rod end to support the material to be taken out from the upper mold;
A material clamping frame connected to an upper portion of the gold mesh installation robot connecting frame so as to be slidably movable in an upper / lower direction, and a material clamping part provided on an upper surface thereof to clamp a material to be taken out and placed on a material seating plate;
Tanggu connecting frame fixedly coupled to the bottom surface of the gold mesh installation robot connecting frame,
A balling confirmation frame which is connected to the lower portion of the taping connection frame so as to be slidably moved in an up / down direction, and has a balling confirmation unit inserted into the taping hole and checking a penetration state of the taping hole at the bottom;
The ball fitting confirmation cylinder is coupled to the vertically connected to the ball connecting frame, the rod end is connected to the ball checking frame, generating a driving force to slide the ball checking frame in the up / down direction;
A gold mesh installation frame which is connected to the lower portion of the hot water connecting frame so as to be slidably movable in the up / down direction, and has a gold mesh inserting portion for installing a metal mesh on the bottom surface thereof;
The installation apparatus coupled to the vertically connected to the hot-melting connection frame, the rod end is connected to the gold mesh installation frame, the casting device for a cylinder head including a gold mesh installation cylinder for generating a driving force to slide the gold mesh installation frame in the vertical direction. The method according to claim 6,
The upper surface of the material seating plate has a cylinder head casting device having a pair of hooks formed with a locking guide groove for positioning the bottom surface of the material to be taken out in a locked state. The method according to claim 6,
The material clamping unit has a pair of opposed to the upper surface of the material clamping frame,
The material clamping unit,
A material clamping cylinder coupled to and installed perpendicular to an upper surface of the material clamping frame;
A clamp arm rotatably hinged to one end of the rod end of the material clamping cylinder,
One end rotatably hinged to the material clamping cylinder, the other end rotatably hinged to one side of the clamp arm, and
Coupling to the other end of the clamp arm, when the clamp arm is rotated in accordance with the operation of the material clamping cylinder, the cylinder head casting comprising a clamp tip for transmitting the pressing force while contacting the upper surface of the material to be taken out seated disposed on the material seating plate Device. The method according to claim 6,
It is further connected to the hot water check cylinder, and further comprising a hot water detector for measuring the repulsive force when the rod of the hot water check cylinder moves downward,
The mouth ball confirmation unit,
Tanggu confirmation bar that is coupled to extend in the vertical downward to the bottom of the molten confirmation frame,
Includes a ball check tip coupled to the bottom of the ball check bar,
Casting device for the cylinder head to check the penetrating state of the ball, while measuring the repelling force transmitted to the ball check cylinder when the ball check confirmation tip is inserted into the ball through the operation of the ball check confirmation cylinder. The method according to claim 6,
The gold mesh input unit,
A gold mesh setting bar coupled to extend downwardly and vertically to the bottom of the hot water check frame;
Combined to extend downward to the bottom of the gold mesh setting bar, the casting device for a cylinder head having a plurality of gold mesh locking pins to be mounted in a locked state on the lower portion of the gold mesh setting bar. The method according to claim 10,
The lower end of the gold mesh setting bar is a cylinder head casting device further comprising a magnetic member for attaching a magnetic force to the metal mesh.

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