JPH0440107B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a weir folding method for separating a product from other risers, runners, and vertical sprues in castings, and particularly to a weir folding method using a teaching playback robot.

Traditionally, weir folding work in the casting manufacturing process was done manually using a mallet or a hammer. However, this work is difficult because the temperature of the molded castings is quite high, so the radiant heat of the castings causes high heat, and there is also a lot of dust from the molding sand and additives in the molding sand adhering to the castings. The work was done under a difficult environment. Moreover, the weir folding work when a large number of cast products are placed per frame requires concentration to aim at a small target and speed to process within a limited time. In addition, weir folding of heavy castings required heavy muscle work with a high degree of fatigue.

In order to eliminate the drawbacks caused by this operation, a method of using a folding device such as a rotating drum or a vibrating conveyor is known as a method of folding after demolding, but there is a limit to the shape and size of the product.

SUMMARY OF THE INVENTION An object of the present invention is to provide a weir folding method that is an improvement over the conventional method, particularly an automatic weir folding method using a teaching playback robot.

The present invention provides that the cast product after casting can be easily folded by impacting the riser, and that teaching the robot the location and direction of impact to the riser is a method of mold making. This was done with the focus on the fact that accurate teaching can be achieved by using a model that will be used during the actual training.

The present invention teaches in advance the position and direction of impact of an impact hammer, which is a weir folding tool, on the riser of a cast product by using a model used when molding the cast product, and uses these teaching data. is stored in a storage device, these teaching data are read out when performing weir folding, and an impact hammer, which is a weir folding tool of a weir folding robot, hits the feeder of the cast product after casting. It is.

Hereinafter, the present invention will be explained based on examples. Figures 1 and 2 show a method for teaching the position and direction of impact of the impact hammer, which is the weir folding tool of the weir folding robot, on each riser after casting when performing weir folding using a model. It is a diagram.

In the figure, 1 is a model used when making a mold. This model 1 is equipped with a model 2, which will become a casting assembly, and risers 3a, 3b, 3c, . . . . 4 is a fixed plate for setting the model 1 in a fixed position on the base 5 of the teaching device. The model 1 is fixed to the fixed plate 4 by a pin 6.

7 is a teaching arm, and a striking position teaching arm 8 is attached to the end thereof. The teaching arm 7 is capable of three-dimensional movement along the X, Y, and Z axes and rotation R about the Z axis in a plane parallel to the XY plane by manual operation of the handle 9. From the reference position (origin) of the teaching arm 7 to the X-axis, Y-axis,
The amount of movement in the Z-axis direction and the amount of rotation θ of the Z-axis can be measured using a rotary encoder or the like (shown in FIG. 2). The impact position teaching arm 8 is attached at an angle α with respect to the Z axis. Note that S1, S2, S3, and S4 are feeders 3a and 3.
This is a weir connecting model 2, which will become a cast product, with parts b, 3c, and 3d.

As explained above, the teaching device is used exclusively for teaching, and includes a base 5, a teaching arm 7, a striking position teaching arm 8, a manually operable handle 9, and rotary encoders 10, 11, 12, 1.
3, each rotary encoder is mechanically connected, and each rotary encoder is electrically connected to a microcomputer 15.

The microcomputer 15 includes a numeric keypad T, an external storage device 17, and a teaching completion push button 16.
and the weir folding robot A, respectively, so that they can be electrically connected.

That is, the teaching device dedicated to teaching is electrically connected to the weir folding robot A via the microcomputer 15, so it is a separate body independent of the weir folding robot A, and the teaching device can be placed at any location. It can be installed.

Next, a teaching method for weir folding will be explained based on FIG. In the figure, 10, 11, 1
2 and 13 are rotary encoders for measuring the amount of movement of the teaching arm 7 in the X-axis, Y-axis, and Z-axis directions and the amount of rotation θ in the R direction.

First, the cast product name (or product code, etc.) of the model 1 is input using the numeric keypad T and is stored in the microcomputer 15. Next, operate the handle 9 to move the teaching arm 7 to the weir folding robot A.
impact hammer (indicated by reference numeral 28 in Figure 3)
The riser 3a is struck first by the weight protruding from the
Move it to the vicinity of. Then, align the tip of the striking position teaching arm 8 with the impact hammer hitting position Pa regarding the riser 3a, and
In order to determine the appropriate direction of impact, the teaching arm 7 is rotated in the R direction by an angle θa. Next, when the teaching pushbutton 14 is pressed, the coordinate data of the X-axis, Y-axis, and Z-axis of the impact point Pa of the feeder 3a and the rotation angle θa are displayed.
is stored in the storage device of the microcomputer 15.

Next, the teaching arm 7 is moved to the vicinity of the riser 3b that the impact hammer hits second, and the impact point Pb of this riser 3b is performed in the same manner as above.
teach the following. In this way, all feeders 3 of model 1
When the teaching of the striking points of the impact hammer for a, 3b, 3c, . Then, the microcomputer 15 stores all teaching data regarding this cast product in the external storage device 17. In this way, the impact points of each riser are taught in advance for the models of all cast products to be subjected to weir folding, and stored in an external storage device.

In the above teaching method, the order in which the striking points of each feeder are taught is determined in consideration of the casting method of the model so that the amount of movement of the impact hammer is reduced. Furthermore, the direction of impact of the impact hammer is set in the direction in which the weir is more likely to break when the riser is hit, based on the casting method.

Furthermore, in the present invention, linear interpolation or circular interpolation can be adopted as a method of moving the impact hammer from one impact point of a riser to the next impact point of a riser.

Next, the weir folding robot A will be explained. Third
The figure shows a state in which a teaching playback type weir folding robot A is used to perform a weir folding operation. In the figure, 18 is a support, 19a,
19b is a frame. A rail 20 is provided on the frame 19a extending in the Y-axis direction, and a Y-axis table 22 can be moved on this rail 20 by operation of a drive device 21. The Y-axis table 22 is provided with a rail 23 extending in the X-axis direction. The drive device 2
4, the X-axis table 25 can be moved.

The X-axis table 25 has a main shaft 2 extending in the Z-axis direction.
6 is attached rotatably in the R direction by a drive device 27. Further, the main shaft 26 can be moved in the vertical direction by a drive device (not shown).

An impact hammer 28 operated by air pressure is provided at the lower end of the main shaft 26. The impact hammer 28 is attached at an angle α with respect to the Z-axis direction, similar to the teaching device shown in FIG.

In a continuous casting line, after pouring molten metal into the formed sand mold and removing the upper mold, the lower mold 29
The chisel is conveyed below the impact hammer 28 in the direction of the arrow by a conveyor (not shown).
At this time, each riser 3A, 3B, 3C of the lower mold 29
Since the upper mold has been removed, the upper part, that is, the part that will be the impact point of the impact hammer 28, is exposed from the casting sand as shown in FIG. 3. When the lower mold 29 comes to a fixed position below the main shaft 26, the lower mold 29 is stopped for a certain period of time for the weir folding operation. The drive devices 21, 24, 27 and the impact hammer 28 are controlled by a microcomputer 15. Therefore, the impact hammer 28 is operated on the X-axis, Y-axis, Z-axis, and Z-axis according to the instructions from the microcomputer 15.
It is possible to rotate in the R direction around the axis in a plane parallel to the XY plane.

Next, weir folding work will be explained. First, the second
Enter the name of the casting product to be subjected to weir folding by operating the numeric keypad device T shown in the figure. Then, the microcomputer 15 reads out the teaching data of this product stored in the external storage device 17 using the storage device of the microcomputer 15 .

After casting this product on a continuous casting line, the upper mold is removed and the lower mold 29 is moved to a fixed position below the main shaft 26 of the weir folding robot shown in FIG.
This lower mold 29 is temporarily stopped for weir folding.
The stop position of the lower mold 29 is determined by the impact hammer 28 for each riser 3A, based on the teaching data described above.
Set the striking points of 3B and 3C to the positions where you can strike normally. Subsequently, the microcomputer 15 controls each drive device 21, 24, 27 based on the teaching data.
etc., the impact hammer 28 is operated from its original position, and each riser 3A, 3B, 3C...
impact hammer 2 in the order in which you taught the impact point of
Hit with 8. In this way, impact hammer 28
Weir folding can be performed by the impact force of . The impact hammer 28 returns the mold to its original position after all the risers have struck the mold.

The weir folding robot performs the above operation every time the lower mold is temporarily stopped at a fixed position below the main shaft 26 while continuously moving on the conveyor (or repeating advance and stop). Then, the lower mold 29 that has undergone the weir folding is sequentially conveyed to a mold release device.

If the casting product name changes due to setup changes, input the casting product name using the numeric keypad T and input the teaching data to the microcomputer 15.
It is possible to continue folding the next casting product by calling the machine.

In addition, in the description of the above embodiment, the angle α that the striking position teaching arm 8 makes with the Z-axis direction is constant, but this angle α is also variable and the angle α is also taught for each riser as teaching data, so that the weir folding It is also possible to have the microcomputer 15 control the angle α during operation.

Further, in the above embodiment, an example was explained in which the cast product held in the upper flask is folded on the conveyor, but the present invention is capable of positioning the as-cast product, which has been demolded after casting, at a fixed location. It can also be applied to a method of weir folding.

The present invention described above has the following effects.

(1) Since the impact point of the riser for weir folding is taught using the model used for mold making (upper mold model), the position can be taught accurately. Then, when the lower mold for casting is accurately stopped at the weir folding position for reproducing the teaching data, the weir folding can be performed accurately as taught.

(2) Since the optimum impact point and impact direction for weir folding can be taught for each feeder, reliable weir folding can be performed.

(3) It is possible to provide a fully automatic weir folding device that operates in synchronization with the casting line and can immediately respond to setup changes.

(4) If there are multiple models for the same casting product name, teaching can be done for each model surface plate, so
Even if the casting method is different, there will be no problem when performing the weir folding work.

(5) Since teaching is carried out using a model, teaching can be carried out efficiently in a place with a good environment outside the casting line and without being affected by the casting work.

[Brief explanation of drawings]

Fig. 1 is a front view showing a method of teaching the impact point of a riser using a model in the present invention, Fig. 2 is a perspective view showing an overview of the teaching device, and Fig. 3 is an overview of a weir folding robot. FIG. 1: model, 3a, 3b, 3c, 3d: riser,
7: Teaching arm, 8: Hitting position teaching arm, 1
5: Microcomputer, 28: Impact hammer, 29: Lower flask.

Claims (1)

[Claims] 1 Using a teaching device exclusively for teaching, which has a striking position teaching arm, a teaching arm, and a handle that can be manually operated, a plurality of striking points on a model are sequentially taught, and the teaching data is stored in an external storage device. The mold with the riser is moved, the mold is temporarily stopped at the fixed position of the weir folding robot with the impact hammer, the teaching data stored in the external storage device is read out, and the teaching device separate from the weir folding robot is struck. A weir folding method characterized in that an impact hammer of the weir folding robot impacts the feeder of the mold in the order of a plurality of impact points taught on a model by a position teaching arm.