JP2641272B2 - Casting product extraction method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to the field of casting technology, and more particularly, to a method of extracting a casting from a sand mold in a casting flask by a handling device such as a robot hand.

[Prior art] Conventionally, in various casting methods such as the vanishing model casting method, a molten metal is poured into a sand mold in a can-shaped flask, cooled, and then the can-shaped flask is turned sideways to discharge sand. The cast product was manually pulled out of the can-shaped flask.

[Problems to be Solved by the Invention] However, in the above-described cast product extraction work by manual power, the burden on the operator is large due to sand grains, high heat, and the like, and the burden on the operator is particularly large when the cast product is heavy. There was something.

It is also possible to extract castings using a handling device such as a robot hand, but if the weight of the castings is large, special production of a large robot is required, and its design, manufacture and arrangement are not easy. Was.

The present invention has been made in view of such problems,
It is an object of the present invention to provide a method of extracting a casting, which can hold a casting accurately and extract it from a sand mold with a relatively small force.

[Means for Solving the Problems] The method for extracting a cast product according to the present invention is characterized in that a long cast product in which at least a part is buried in a sand mold in a can-shaped casting frame having one end opened horizontally is provided on the opening side. A holding step of holding one end by a holding tool of the extraction device; and, while holding the can-shaped casting flask in the sideways state, moving the holding tool in a lateral direction away from the opening, thereby the other end of the casting. Drawing out most of the cast product from the opening until it reaches the vicinity of the opening in the can-shaped flask; and rotating the can-shaped flask in an upward direction of the opening and holding the can. A late withdrawal step of raising the casting with the other end of the casting as a fulcrum by moving a tool, and a lifting step of lifting the raised casting upward. age There.

[Embodiment] An embodiment of the method for extracting a cast product of the present invention will be described below with reference to the drawings.

First, the can-shaped casting flask 100, the casting 200, and the casting removal device 300 used in the present embodiment will be described.

As shown in FIG. 1, the can-shaped flask 100 has an opening 101 at one end.
A pair of support shafts 102 and 103 are provided at positions opposite to the outer peripheral portion of the cylinder so as to project rearward from each other.

As shown in FIG. 1, the cast product 200 has a large cylindrical portion 201.
And the lower shaft portion 202 having a small diameter extending from the bottom center of the cylindrical portion 201.
And an upper shaft portion 203 having a small diameter extending from the center of the top of the columnar portion 201, and has a long shape as a whole. Also,
The upper shaft portion 203 has a slightly larger engagement portion 2 located at the center thereof.
04, a neck 208 between the cylindrical portion 201 and the engaging portion 204, and a tip portion 207 extending from the engaging portion 204 to the tip. Upper shaft 203
The tip of the tip portion 207 has a burr 2 formed during the injection of the molten metal.
05 is attached.

As shown in FIGS. 6 to 8, the casting product extraction device 300 includes a robot hand 310 and an extraction tool 400 fixed to the disk-shaped tip portion 311 of the robot hand 310.
The robot hand 310 is coupled to a robot body (not shown) so as to rotate and move three-dimensionally. Extractor 400
Is a thick disk-shaped substrate portion 410 which is bolted to the tip 311 of the robot hand 310, an arc-shaped fork portion 420 which is curved and extends from the outer peripheral portion of the substrate portion 410, and extends inward and upward from the arc-shaped fork portion 420. The stopper 430 is a skew stopper. The arc-shaped fork portion 420 is composed of a pair of bars 425 and 426 that are curved in parallel to each other as shown in FIGS. 7 and 8, and the pair of bars 425 and 426 are partially shown in FIG. Respectively, the roots 421, 421 and the center 422, 422
And the tip portions 423, 423. The roots 421 extend from the outer periphery of the substrate 410 at right angles to the axis 600 of the robot hand 310. From the tips of the roots 421, 421, central portions 422, 422 extend in a direction substantially parallel to the axis 600 and away from the robot hand 310, respectively. The distal ends 423, 423 extend in a curved manner from the distal ends of the central portions 422, 422, and are symmetrically arranged on both sides of the axis 600. In addition, the portion near the tip of the tip 423, 423 is the shaft center
It extends to intersect at right angles with 600.

The anti-skid stopper 430 is formed of a bar bent in a U-shape, and both ends of the stopper 430 are the pair of tips 423 and 4.
23 are individually welded.

Next, with reference to FIGS. 1 to 5, a method of extracting a casting according to the present embodiment will be described.

First, after the molding process of the casting 200, the description of which is omitted,
The can-shaped casting flask 100 is conveyed to a predetermined position close to the casting extraction device 300 (see FIG. 6) by a conveyor device (not shown). The can-shaped flask 100 conveyed to the position is the first
It is opened upward as shown in the figure,
0 is formed. In the center of the sand mold 110, a long, axially shaped casting 200 is formed. Also, at the gate at the center of the upper end of the sand mold 110, a burr 205 projects laterally from around the upper shaft portion 203 of the casting 100.

Next, the can-shaped casting frame 100 having the support shaft portions 102 and 103 fixed to each other at positions opposite to the outer peripheral portion so that the support shaft portions 102 and 103 can be rotated by a rotating device (not shown). It is supported and rotated about 110 degrees about the spindle portions 102 and 103 (see FIG. 1) (see FIG. 2). By this rotation, the sand mold 110
The upper part collapses, and part of the sand is discharged from the can-shaped flask 100,
The upper shaft 203 of the casting 200 is exposed. However, at this point most of the casting 200 is still in the sand mold 110,
At this point, the relative positional relationship between the casting 200 and the can-shaped flask 100 is almost unchanged.

Next, the extraction device 300 is driven, the extraction tool 400 of the extraction device 300 is inserted into the can-shaped casting frame 100, and the extraction tool 400 sandwiches the neck 208 of the casting 200 (see FIG. 2). That is, the arc-shaped fork portion 420 of the extraction tool 400 is
0, and is inserted below the casting 200 (in the X direction in FIG. 2) along the inner peripheral lower surface of the can-shaped casting flask 100 while approaching the falling edge 108 of the can. It is moved toward the center of the frame 100 (Y direction shown in FIG. 2),
The pair of tips 423 of the 420 sandwich the neck 208 of the casting 200. At this time, the stopper 430 comes into contact with the tip portion 207 from below, and as a result, the cast product 200 extracts two points on both sides of the neck portion 208 and one point on the upper shaft portion in front of the engaging portion 204. Fixture 400
It is held so that it can swing freely.

Next, as shown in FIG.
By rotating the mold once, most of the remaining sand in the can-shaped flask 100 is discharged from the drop-off end 108. At this time, in order to make the sand fall easily, it is also possible to vibrate the can-shaped casting frame 100 by, for example, an external vibration device. After the sand is discharged, the casting 200 located at the center of the can-shaped flask 100 sinks due to its own weight, and one end 218 of the cylindrical portion 201 (see FIG. 3) is almost completely removed. Move to the lower surface of the inner circumference of.

Next, the extraction tool 400 is moved in a direction away from the opening of the can-shaped flask 100, that is, in the direction opposite to the X direction, and the casting 200 is dragged out of the can-shaped flask 100 (see FIG. 4).
At this time, the end 209 of the lower shaft 202 or the end 2 of the column 201
Reference numeral 18 slides on the inner peripheral surface of the can-shaped flask 100 with sand interposed therebetween. During this sliding, one half of the load of the casting 200 is borne by the can-shaped flask 100, so the load torque borne by the extraction device 300 is reduced. Subsequently, subsequently, the casting 200 is drawn obliquely upward from the can-shaped casting flask 100, and the end portion of the lower shaft portion 202 is removed.
The 218 is moved to a position close to the drop-off end 108 of the can 100. In this case, the long direction of the casting 200 is oblique at 45 degrees with respect to the substantially vertical direction.

Next, as shown in FIG. 5, the can-shaped flask 100 is rotated by a predetermined angle in the reverse direction so that the bottom of the can-shaped flask 100 faces down. Then, simultaneously with the rotation of the can-shaped flask 100 or after the rotation of the can-shaped flask 100, the extracting device 300 is driven to raise the casting 200 with the vicinity of the sand-dropping end 108 as a fulcrum. In this raising operation, as shown in FIG. 5, the extraction tool 400 moves in an arc in the reverse diagonally upward direction N, and as a result, the casting 200 is almost upright. Upright casting 200
Is lifted gently without coming into contact with the can-shaped flask 100 and without swinging.

According to the casting extraction device of the present embodiment described above, there are the following four advantages.

(A) In the present embodiment, the cast product is not moved by the lateral placement of the can-shaped flask 100 (relative movement of the cast product 200 with respect to the can-shaped flask 100), and a part of the cast product 200 (preferably A part of the sand is discharged so that the engaging portion 204) with the extracting tool 400 is exposed, and the exposed neck portion 208 of the casting 200 is held by the extracting device 300. Next, the can-shaped flask 100 is rotated to further discharge the sand, and the extraction device 3 is used when the casting 100 is extracted.
The load torque applied to 00 is reduced.

That is, in the present embodiment, since there are two stages of sand discharging steps and a casting holding step between them, the casting 200
Of the casting 200 can be reduced while ensuring the holding of the casting 200. Since the extraction device 300 only needs to hold the casting at a predetermined position, the holding operation can be simplified.

(B) In the present embodiment, since the engaging portion 204 of the casting 200 is swingably held in the vertical direction, when the casting 200 is extracted from the horizontally placed can-shaped casting frame 100, the casting 200 End 209 or 218 can slide on the inner peripheral surface of the can-shaped flask 100, thereby reducing the load on the extracting device 300 when the casting 200 is extracted from the can-shaped flask 100. be able to.

(C) In the present embodiment, the casting 100 is rotated around the one end of the casting 100 located in the vicinity of the open end of the can-shaped flask 200 as a center point (FIG. 4). That is, in the present embodiment, once raised at the open end of the can-shaped casting frame 100 and then lifted, the shaking of the casting 100 during lifting can be reduced, and the swinging of the cast product 100 takes place with the unloading device 300. The increase in dynamic load can be reduced. In addition, the danger in the operation due to the shaking can be reduced.

(D) In the present embodiment, after raising the casting 100 around the one end 209 of the casting 100, the can-shaped casting flask 100 is inverted by a predetermined angle in a direction opposite to the rotating direction for the sand removal. The casting is turned and, at the same time or afterwards, the casting is further turned to stand upright. Therefore, can-shaped flask 100
Even if is rotated significantly, the casting 100 can be reversely rotated to stand upright by the above-described reverse rotation of the can-shaped flask 100 that is additionally performed thereafter. Upright casting 10
When 0 is raised (when the lifting position of the center of gravity coincides with the vertical direction), there is no increase in the dynamic load due to the above-mentioned unevenness, so that the load on the robot hand 310 is small, and even if the weight of the cast product is large, A commercially available small robot can be used.

[Effects of the Invention] As described above, the method for extracting a cast product according to the present invention provides a method for extracting a cast product by holding one end of a cast product in a horizontally placed can-shaped casting frame with a holder and dragging the cast product. The other end is located near the open end of the can-shaped flask. Since the cast product is lifted up beforehand with the other end of the cast product as the center, (a) it is possible to reduce the wetting of the cast product at the time of lifting, and to increase the dynamic load caused by the wool. As a result, the required torque for lifting can be reduced.

(B) Since at least a part of the weight of the casting at the time of pulling out the casting is borne by the inner peripheral surface of the can-shaped casting frame in contact with the casting, the driving torque of the holder can be reduced.

[Brief description of the drawings]

1, 2, 3, 4, and 5 show a cast product 20.
FIG. 8 is an explanatory view for sequentially explaining steps for explaining a method of extracting 0 from the can-shaped casting flask 100. FIG. 6 is an enlarged side view of the extraction tool 400 in a state where the casting 200 is lifted, and FIG.
FIG. 8 is a rear view of the extraction tool 400 omitting the illustration of FIG.
The figure is a front view of the extraction tool 400 in a state where the casting 200 is lifted.

Continuation of the front page (56) References JP-A-56-9356 (JP, A) JP-A-56-86599 (JP, U) JP-B-60-26628 (JP, B2)

Claims (1)

(57) [Claims] 1. A holding step of holding one end on the opening side of a long casting at least partly buried in a sand mold in a laterally open one-sided can-shaped flask with a holder of an extraction device. The other end of the casting reaches the vicinity of the opening in the can-shaped flask by moving the holder in the lateral direction away from the opening while holding the can-shaped flask in the lying state. And a second withdrawal step of dragging most of the casting from the opening up to the other end of the casting by rotating the can-shaped casting frame in the upward direction of the opening and moving the holder. A casting product extracting method, comprising: sequentially performing a late drawing step of starting up the cast product with a fulcrum as a fulcrum, and a lifting process of lifting the cast product up.