Strainer mounting device

Abstract

To further improve work efficiency in a strainer mounting device that attaches strainers to multiple sprue outlets. [Solution] The vertical multi-axis articulated robot 2 first uses a holder setting hand 24 to obtain a strainer holder 80 from the holder supply unit 4 and set it in the holder setting unit 40 (steps S100-102). Next, using a strainer distribution hand, it obtains a strainer STR from the strainer holder 80 set in the holder setting unit 40 and places it on the strainer mounting unit 50 of the strainer placement jig 8 (steps S104-116). Finally, using a strainer setting hand 28, it obtains the four strainers STR, STR, STR, STR placed on the strainer mounting unit 50 and attaches them to the four sprues 70a, 70a, 70a, 70a (steps S118-126).

Description

Technical Field

[0001] The present invention relates to a strainer mounting device for mounting strainers on a plurality of pouring spouts of a mold having a plurality of pouring spouts for filling a cavity of the mold with molten metal.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2003-230942 (Patent Document 1) discloses a strainer mounting device for mounting strainers on a plurality of pouring spouts of a multi-gate mold having a plurality of pouring spouts for filling a cavity of the mold with molten metal. The strainer mounting device includes a plurality of holding cylinders that can hold the strainer by magnetism and are arranged so as to correspond to the positions of the plurality of pouring spouts, and a separating operation unit that can separate the strainer from the holding cylinder by weakening the magnetic force from the holding cylinder to the strainer.

[0003] In this strainer mounting device, after moving a plurality of holding cylinders holding the strainer by magnetism directly above a plurality of pouring spouts on the multi-gate mold, the strainer is separated from the holding cylinder by the separating operation unit and dropped, so that the strainer can be mounted on the plurality of pouring spouts of the multi-gate mold. Therefore, the working hours when mounting a strainer on a mold having a plurality of pouring spouts such as a multi-gate mold can be reduced.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the strainer mounting device described in the aforementioned publication requires manual labor by an operator when attaching strainers to multiple holding cylinders, and there is still room for improvement in terms of work efficiency.

[0006] The present invention has been made in view of the above, and aims to further improve work efficiency in a strainer mounting device that mounts strainers to multiple spouts. [Means for solving the problem]

[0007] The strainer mounting device of the present invention employs the following means to achieve the above-mentioned objectives.

[0008] The strainer mounting device according to the first invention is configured to mount strainers to a plurality of sprues in a mold, which has a plurality of sprues for filling the cavity of the mold with molten metal. The strainer mounting device comprises a holder arrangement section, a mounting preparation section, a first holding section, a plurality of second holding sections, and a control section. A strainer holder is arranged in the holder arrangement section, which houses a plurality of strainers stacked vertically. The mounting preparation section has a plurality of strainer mounting sections. The plurality of strainer mounting sections are arranged to accommodate strainers in accordance with the arrangement of the plurality of sprues. The first holding section can retrieve the uppermost strainer from the plurality of strainers in the strainer holder arranged in the holder arrangement section, and can also hold and release the retrieved strainer. The second holding section is arranged in accordance with the arrangement of the plurality of strainer mounting sections. Furthermore, the second holding unit can acquire multiple strainers placed on the strainer mounting section by the first holding unit, and can also hold and release the acquired strainers. The control unit controls the first holding unit to repeatedly acquire strainers from the holder placement section and place the acquired strainers on the strainer mounting section until strainers are placed on all of the multiple strainer mounting sections. When the first holding unit has completed placing strainers on all of the multiple strainer mounting sections, the control unit controls the second holding unit to acquire the multiple strainers placed on the multiple strainer mounting sections and to attach the acquired multiple strainers to the multiple sprue gates.

[0009] According to the first invention, the process from obtaining multiple strainers to attaching multiple strainers to multiple sprue openings can be automated, thereby reducing manual labor by operators in a strainer attachment device that attaches strainers to multiple sprue openings. This further improves work efficiency.

[0010] The strainer mounting device according to the second invention is the strainer mounting device according to the first invention, wherein the holder arrangement section has a separation section that can separate overlapping strainers.

[0011] According to the second invention, the first holding part makes it possible to suppress the inconvenience of obtaining multiple strainers when obtaining the strainer located at the top of the strainer holder.

[0012] The strainer mounting device according to the third invention is a strainer mounting device according to the second invention, wherein the separation unit separates overlapping strainers using magnetic force.

[0013] According to the third invention, overlapping strainers can be separated using a simple configuration that utilizes magnetic force.

[0014] The strainer mounting device according to the fourth invention is a strainer mounting device according to the second or third invention, wherein the separation unit separates overlapping strainers using vibration.

[0015] According to the fourth invention, overlapping strainers can be separated using a simple configuration that utilizes vibration.

[0016] The strainer mounting device according to the fifth invention is a strainer mounting device according to any one of the first to fourth inventions, wherein the holder placement unit has a position detection unit capable of detecting the position of a strainer placed at the uppermost position in the strainer holder. The control unit then controls the first holding unit to move it to the position detected by the position detection unit, and then to retrieve the strainer from the holder placement unit.

[0017] According to the fifth invention, the first holding part can be quickly moved to the position of the strainer located at the top of the strainer holder, thereby reducing working time.

[0018] The strainer mounting device according to the sixth invention is a strainer mounting device according to any one of the first to fifth inventions, wherein the first holding part and / or the second holding part have a first detection part capable of detecting whether or not a strainer is being held.

[0019] According to the sixth invention, it is possible to detect whether the first holding part or the second holding part is holding a strainer. This makes it possible to avoid the inconvenience of a strainer not being placed on the strainer mounting part or a strainer not being attached to the sprue.

[0020] The strainer mounting device according to the seventh invention is a strainer mounting device according to the sixth invention, wherein the first detection unit has a first contact portion positioned at a first position to which a strainer in the first holding portion and / or second holding portion can make contact, and a second contact portion positioned at a second position different from the first position to which a strainer in the first holding portion and / or second holding portion can make contact. The first detection unit supplies current to the first contact portion and detects whether the first holding portion and / or second holding portion are holding the strainer based on whether the current supplied to the first contact portion has flowed through the second contact portion.

[0021] According to the seventh invention, it is possible to detect whether the first holding part and the second holding part are holding the strainer with a simple configuration that detects electrical conductivity between the first contact part and the second contact part.

[0022] The strainer mounting device according to the eighth invention is a strainer mounting device according to any one of the first to seventh inventions, further comprising a second detection unit capable of detecting whether the holding of the strainer by the first holding unit and / or the second holding unit is appropriate. Here, "appropriate holding of the strainer" in the present invention preferably includes not only a state in which the strainer is not held in an inclined position by the first holding unit or the second holding unit, but also a state in which multiple strainers are not held in an overlapping state by the first holding unit or the second holding unit.

[0023] According to the eighth invention, it is possible to prevent the inconvenience of the strainer not being properly attached to the sprue opening due to the strainer being held in a tilted position in the first or second holding part, or multiple strainers being held in the first or second holding part in an overlapping position.

[0024] The strainer mounting device according to the ninth invention is the strainer mounting device according to the eighth invention, wherein the second detection unit includes a light emitter that emits laser light having a predetermined width in the vertical direction, and a light receiver that receives the laser light emitted by the light emitter. Then, after the first holding unit and / or the second holding unit holds the strainer, the control unit controls the first holding unit and / or the second holding unit so that the held strainer passes between the light emitter and the light receiver.

[0025] According to the ninth invention, it is possible to detect whether the holding of the strainer by the first holding unit and the second holding unit is appropriate with a simple configuration in which the strainer held by the first holding unit and the second holding unit is only passed between the light emitter and the light receiver.

[0026] The strainer mounting device according to the tenth invention is the strainer mounting device according to any one of the first to ninth inventions, wherein the first holding unit and / or the second holding unit acquires and holds the strainer by magnetic force.

[0027] According to the tenth invention, the strainer can be acquired and held with a simple configuration.

[0028] The strainer mounting device according to the eleventh invention is the strainer mounting device according to the tenth invention, wherein the first holding unit includes a magnet and an actuator. The actuator is capable of moving the magnet between an operating position where a magnetic force acts on the strainer and a non-operating position where no magnetic force acts on the strainer. Then, when acquiring and holding the strainer from the holder placement unit, the control unit controls the actuator so that the magnet is in the operating position, and when releasing the holding of the strainer, the control unit controls the actuator so that the magnet is in the non-operating position.

[0029] According to the eleventh invention, since the magnet is only moved between the operating position and the non-operating position, it is possible to simply realize the acquisition and holding of the strainer and the release of the holding.

[0030] The strainer mounting device according to the 12th invention is a strainer mounting device according to any one of the first to 11th inventions, further comprising a holder supply unit and a holder holding unit. The holder supply unit is capable of keeping multiple strainer holders on standby for supply to the holder placement unit. The holder holding unit is capable of acquiring strainer holders from the holder supply unit and of holding and releasing the acquired strainer holders. The control unit acquires strainer holders from the holder supply unit and controls the holder holding unit to place the acquired strainer holders in the holder placement unit.

[0031] According to the twelfth invention, the placement of strainer holders in the holder placement section can be automated. This further improves work efficiency.

[0032] The strainer mounting device according to the 13th invention is a strainer mounting device according to the 12th invention, further comprising a multi-axis articulated robot having a robot arm and a robot hand connected to the tip of the robot arm. The first holding part, the second holding part, and the holder holding part are integrated with the robot hand. The multi-axis articulated robot makes any of the first holding part, the second holding part, and the holder holding part usable by changing the orientation of the robot hand. Here, "usable state" in the present invention is defined as the state in which the first holding part can acquire and hold the strainer positioned at the top from the strainer holder and place it on the strainer mounting part, the state in which the second holding part can acquire and hold the strainer from the strainer mounting part and attach it to the sprue, and the state in which the holder holding part can acquire and hold the strainer holder from the holder supply part and place it on the holder placement part.

[0033] According to the 13th invention, the placement of strainer holders from the holder supply unit to the holder placement unit, the placement of strainers from the holder placement unit to the mounting preparation unit, and the mounting of strainers from the mounting preparation unit to the sprue can all be performed by a single multi-axis articulated robot, thereby enabling space saving in the work area. [Effects of the Invention]

[0034] According to the present invention, in a strainer mounting device that attaches strainers to multiple sprue outlets, the work efficiency can be further improved. [Brief explanation of the drawing]

[0035] [Figure 1] This is a schematic plan view showing the general configuration of the strainer mounting device 1 according to an embodiment of the present invention. [Figure 2] Figure 1 is a view taken from the direction of arrow T. [Figure 3] This is a perspective view showing the appearance of the robot hand 20. [Figure 4] This is a side view of the robot hand 20, seen from one side in a direction perpendicular to both the axial direction of the rod portion 26b and the extension direction of the holder-setting hand 24. [Figure 5] This is a plan view of the robot hand 20 as seen from one side in the axial direction of the rod portion 26b. [Figure 6] This is a bottom view of the robot hand 20, seen from the other side in the axial direction of the rod portion 26b. [Figure 7] Figure 5 is a cross-sectional view showing the BB section. [Figure 8] This is a cross-sectional view showing section AA in Figure 4. [Figure 9] Figure 6 is a cross-sectional view showing a cross-section of CC. [Figure 10] Figure 6 is a cross-sectional view showing the DD section. [Figure 11] This is a three-view drawing showing the schematic configuration of the holder supply unit 4. [Figure 12] This is a three-view drawing showing the schematic configuration of the strainer holder 80. [Figure 13] These are a plan view and a side view illustrating the general configuration of the strainer supply unit 6. [Figure 14] This is a view of the holder set section 40 from the direction of arrow V in Figure 13. [Figure 15] This is a view of the inspection unit 44 from the direction of arrow W in Figure 13. [Figure 16] This is a close-up view of the main part showing details of the inspection unit 44. [Figure 17] This is an explanatory diagram showing how to inspect the retention status of the strainer STR. [Figure 18] This is a three-view drawing showing a schematic configuration of the strainer placement jig 8. [Figure 19] This is an enlarged view of the main part showing details of the strainer mounting section 50. [Figure 20] This is a three-view drawing showing a schematic configuration of the strainer recovery unit 10. [Figure 21] This flowchart shows an example of a strainer installation processing routine executed by the control device 14 of the embodiment. [Modes for carrying out the invention]

[0036] Next, the best mode for carrying out the present invention will be described using examples. [Examples]

[0037] As shown in Figures 1 and 2, the strainer mounting device 1 according to an embodiment of the present invention is configured as a device for mounting strainers STR to a plurality of sprue ports 70a of a mold 70, and comprises a vertical multi-axis articulated robot 2, a holder supply unit 4, a strainer supply unit 6, a strainer placement jig 8, a strainer recovery unit 10, mold mounting tables 12, 12, and a control device 14 for controlling the entire strainer mounting device 1. The strainer STR is configured as an iron wire mesh that filters foreign matter such as dirt from the molten metal supplied to the sprue ports 70a, and has a roughly bowl shape (see Figures 8 to 10 and 12). The sprue ports 70a are supply ports for filling the cavity 71 (see Figure 2) of the mold 70 with molten metal, and in this embodiment, the mold 70 is configured to have four sprue ports 70a, 70a, 70a, 70a. The vertical multi-axis articulated robot 2 corresponds to the "multi-axis articulated robot" in the present invention, the strainer supply unit 6 corresponds to the "holder placement unit" in the present invention, and the strainer placement jig 8 is an example of an implementation configuration that corresponds to the "mounting preparation unit" in the present invention.

[0038] As shown in Figures 1 and 2, the vertical multi-axis articulated robot 2 has a robot arm 2a and a robot hand 20 attached to the tip of the robot arm 2a. It is configured as an industrial robot that can move the robot arm 2a and move the robot hand 20 to a desired position by driving the joints with power from a servo motor (not shown). As shown in Figure 1, the vertical multi-axis articulated robot 2 is located in an area enclosed by a holder supply unit 4, a strainer supply unit 6, a strainer placement jig 8, a strainer recovery unit 10, and mold mounting tables 12, 12.

[0039] As shown in Figures 3 and 4, the robot hand 20 includes a hand body 22, a holder setting hand 24, a strainer sorting hand 26, and a strainer setting hand 28. The holder setting hand 24 corresponds to the "holder holding part" in the present invention, the strainer sorting hand 26 and strainer holding part 26a correspond to the "first holding part" in the present invention, and the strainer setting hand 28 and strainer holding part 28b are examples of an implementation configuration that corresponds to the "second holding part" in the present invention.

[0040] As shown in Figures 3 and 4, the hand body 22 has a rectangular parallelepiped shape with its central portion removed. In other words, the hand body 22 can be said to have an annular rectangular parallelepiped shape. The hand body 22 also has a flange 22a, which is integrally fastened to the robot arm 2a. The flange 22a is integrally attached to one of a pair of surfaces corresponding to the small end of the hand body 22 (the surface with the smaller area among the surfaces extending in the longitudinal direction).

[0041] As shown in Figures 3 and 4, the holder set hand 24 is integrated with one of a pair of surfaces corresponding to the small end (the smaller surface area of ​​the longitudinally extending surface) of the hand body 22. In other words, the holder set hand 24 is positioned opposite the flange 22a. The holder set hand 24 extends in a direction perpendicular to the small end of the hand body 22. As shown in Figures 3, 5, and 6, the holder set hand 24 has a pair of clamping pieces 24a, 24a. The pair of clamping pieces 24a, 24a are configured to be openable and closable, allowing for clamping and releasing of the strainer holder 80, which will be described later.

[0042] As shown in Figures 3 and 4, the strainer distribution hand 26 has a strainer holding portion 26a and a rod portion 26b. The strainer distribution hand 26 is integrated with the other of a pair of surfaces corresponding to the longitudinal surface (a surface extending in the longitudinal direction that is perpendicular to both the end and the small end) of the hand body 22 via a mounting plate 22b, such that the axial direction of the rod portion 26b is perpendicular to the axial direction of the flange 22a and the extending direction of the holder set hand 24.

[0043] As shown in Figure 7, the strainer holding portion 26a is attached to the rod portion 26b via a spring member SPR so as to be extendable and retractable in the axial direction (up and down direction in Figure 7) of the rod portion 26b. As shown in Figures 3, 4, 7, and 8, the strainer holding portion 26a has a substantially frustoconical shape corresponding to the concave shape of the strainer STR. The strainer holding portion 26a acquires and holds the strainer STR at its tip. Furthermore, as shown in Figures 7 and 8, the strainer holding portion 26a includes a pair of magnets 30, 30, a pair of cylinder units 32, 32, and a holding sensor 34. The cylinder units 32, 32 are examples of an embodiment corresponding to the "actuator" in the present invention. The holding sensor 34 is also an example of an embodiment corresponding to the "first detection unit" in the present invention.

[0044] As shown in Figure 8, the pair of magnets 30, 30 are embedded inside the strainer holder 26a. The pair of magnets 30, 30 are integrally attached to the tips of the cylinder rods 32a, 32a of the pair of cylinder units 32, 32, and move linearly in the axial direction of the cylinder rods 32a, 32a together with the cylinder rods 32a, 32a, which extend and retract as the cylinder units 32, 32 are driven. As a result, the pair of magnets 30, 30 can move between a position away from the surface of the strainer holder 26a (a position on the inside of the strainer holder 26a; hereinafter referred to as the "non-operating position") and a position close to the surface of the strainer holder 26a (hereinafter referred to as the "operating position").

[0045] As shown in Figure 7, the holding sensor 34 has a pair of sensor terminals 60a, 61a, a pair of lead wires 60b, 61b electrically connected to the pair of sensor terminals 60a, 61a, and a power supply (not shown) electrically connected to the pair of lead wires 60b, 61b. As shown in Figure 5, the pair of sensor terminals 60a, 61a are arranged at different positions in the circumferential direction of the strainer holding portion 26a, and as shown in Figure 7, they are positioned to protrude slightly from the surface of the strainer holding portion 26a. The holding sensor 34 detects the holding of the strainer STR by the strainer holding portion 26a when the strainer holding portion 26a properly holds the strainer STR, by the current flowing due to the contact between the pair of sensor terminals 60a, 61a and the strainer STR. The pair of lead wires 60b, 61b are held by the strainer holding portion 26a via resin collars 60c, 61c. Sensor terminals 60a and 61a are examples of implementation configurations corresponding to the "first contact portion" and "second contact portion" in the present invention, respectively. The position in the strainer holding portion 26a where sensor terminal 60a is located corresponds to the "first position" in the present invention, and the position in the strainer holding portion 26a where sensor terminal 61a is located corresponds to an example of implementation configurations corresponding to the "second position" in the present invention.

[0046] As shown in Figures 3, 4, and 6, the strainer set hand 28 has a base plate 28a and four strainer holding parts 28b, 28b, 28b, 28b integrated with the base plate. The strainer set hand 28 is integrated with the other of a pair of surfaces corresponding to the longitudinal surface (a surface extending in the longitudinal direction and perpendicular to both the end and the small end) of the hand body 22, that is, the surface that is paired with the surface to which the strainer holding part 26a of the hand body 22 is integrated.

[0047] As shown in Figure 9, the strainer holding parts 28b, 28b, 28b, 28b have a substantially frustoconical shape corresponding to the concave shape of the strainer STR. The strainer holding parts 28b, 28b, 28b, 28b acquire and hold the strainer STR at their tips. The strainer holding parts 28b, 28b, 28b, 28b also have a pair of magnets 36, 36 and a holding sensor 38. The holding sensor 38 is an example of an implementation configuration corresponding to the "first detection unit" in the present invention.

[0048] As shown in Figure 9, the pair of magnets 36, 36 are embedded inside the strainer holder 28b. One end of the pair of magnets 36, 36 is positioned close to the surface of the strainer holder 28b.

[0049] As shown in Figure 10, the holding sensor 38 has a pair of sensor terminals 62a, 63a, a pair of lead wires 62b, 63b electrically connected to the pair of sensor terminals 62a, 63a, and a power supply (not shown) electrically connected to the pair of lead wires 62b, 63b. As shown in Figure 6, the pair of sensor terminals 62a, 63a are arranged at different positions in the circumferential direction of the strainer holding portion 28b, and as shown in Figure 10, they are positioned to protrude slightly from the surface of the strainer holding portion 28b. The holding sensor 38 detects the holding of the strainer STR by the strainer holding portion 28b when the strainer holding portion 28b properly holds the strainer STR, by the current flowing due to the contact between the pair of sensor terminals 62a, 63a and the strainer STR. The pair of lead wires 62b, 63b are held by the strainer holding portion 26a via resin collars 62c, 63c. Sensor terminals 62a and 63a are examples of implementation configurations corresponding to the "first contact portion" and "second contact portion" in the present invention, respectively. The position in the strainer holding portion 28b where sensor terminal 62a is located corresponds to the "first position" in the present invention, and the position in the strainer holding portion 28b where sensor terminal 63a is located corresponds to an example of implementation configurations corresponding to the "second position" in the present invention.

[0050] As shown in Figure 11, the holder supply unit 4 is capable of keeping multiple strainer holders 80 (see Figure 12), each containing multiple strainers STR, on standby. It includes a mounting area PA on which an operator places a strainer holder 80 containing multiple strainers STR, a supply area SA for supplying the strainer holder 80 containing multiple strainers STR to the robot hand 20, and an air-operated linear guide LG positioned from the mounting area PA to the supply area SA. After the operator has finished placing the strainer holder 80 on the mounting area PA, the holder supply unit 4 drives the air-operated linear guide LG to transport the strainer holder 80 from the mounting area PA to the supply area SA by pressing the mounting completion button. Here, as shown in Figure 12, the strainer holder 80 has a cylindrical shape with a part of its circumference cut out, and has a pair of flanges 80a, 80a at one end in the longitudinal direction. The strainer holder 80 is held by a pair of clamping pieces 24a, 24a of the holder setting hand 24 directly below a pair of flanges 80a, 80a.

[0051] As shown in Figure 13, the strainer supply unit 6 includes a holder set unit 40 into which the strainer holder 80 is set, a strainer presence confirmation unit 42 located adjacent to the holder set unit 40, and an inspection unit 44 located adjacent to the strainer presence confirmation unit 42. The strainer presence confirmation unit 42 corresponds to the "position detection unit" in the present invention, and the inspection unit 44 is an example of an implementation configuration corresponding to the "second detection unit" in the present invention.

[0052] As shown in Figure 14, the holder set section 40 includes a vibration generator 40a, a clamp 40b, and a magnetic floater 40c positioned on the vibration generator 40a. The vibration generator 40a generates vibrations that allow multiple strainers STR, which are stacked and housed within the strainer holder 80 along its longitudinal direction, to be separated one by one. The clamp 40b fixes the strainer holder 80 on the vibration generator 40a. The magnetic floater 40c is positioned to sandwich the clamp 40b and is configured to allow multiple strainers STR, which are stacked and housed within the strainer holder 80 in a vertical direction (longitudinal direction of the strainer holder 80), to be separated one by one by the magnetic pole action of the magnet. The vibration generator 40a and the magnetic floater 40c are examples of an embodiment corresponding to the "separation section" in the present invention.

[0053] As shown in Figure 15, the strainer presence confirmation unit 42 includes a slider-type electric cylinder 42a having a slider (not shown) and a laser sensor 42b integrated with the slider (not shown) of the slider-type electric cylinder 42a. The slider-type electric cylinder 42a is arranged so that the slider (not shown) can move linearly in the vertical direction (the longitudinal direction of the strainer holder 80 set in the holder set unit 40). The strainer presence confirmation unit 42 detects the height of the strainer STR housed in the strainer holder 80, that is, the position of the strainer STR located at the top of the longitudinal direction of the strainer holder 80, by moving the laser sensor 42b with the slider-type electric cylinder 42a while irradiating a laser from the laser sensor 42b toward the strainer holder 80.

[0054] As shown in Figures 16 and 17, the inspection unit 44 includes a pair of vertically extending support columns 44a and 44b, and a CCD through-beam laser sensor 45 positioned on the support columns 44a and 44b. As shown in Figure 13, the support columns 44a and 44b extend to a position higher than the tip of the strainer holder 80 set in the holder set unit 40 (the upper end in Figure 13). The CCD through-beam laser sensor 45 includes a light emitter 45a positioned on the support column 44a and a light receiver 45b positioned on the support column 44b. The light emitter 45a and the light receiver 45b are positioned at the extended ends of the support columns 44a and 44b (the upper ends in Figure 16), respectively. The light emitter 45a irradiates the light receiver 45b with a band-shaped laser beam Lb having a predetermined width in the vertical direction. As shown in Figure 17, the inspection unit 44 measures the thickness (vertical dimension) of the strainer STR when the strainer STR, held by the strainer holding units 26a and 28b, passes between the light emitter 45a and the light receiver 45b, i.e., within the band-shaped laser beam Lb. This allows the inspection unit 44 to detect whether the strainer STR is being held by the strainer holding units 26a and 28b, and if so, whether the holding state is appropriate. In this embodiment, the determination of whether the strainer STR is being held by the strainer holding units 26a and 28b, and whether the holding state is appropriate, is performed by first measuring the thickness (vertical dimension) of the strainer STR when the strainer STR is properly held by the strainer holding units 26a and 28b, storing it as a reference value, and comparing the measured thickness (vertical dimension) of the strainer STR with the reference value. Specifically, if the measured thickness (vertical dimension) of the strainer STR is smaller than the standard value, it is determined that the strainer STR is not being held. If the measured thickness (vertical dimension) of the strainer STR is larger than the standard value, it is determined that the strainer STR is not being held properly (multiple strainers STR are overlapping, or the strainer STR is being held at an angle).

[0055] As shown in Figure 18, the strainer placement jig 8 has four strainer mounting sections 50, 50, 50, 50. The strainer mounting sections 50, 50, 50, 50 are arranged to correspond to the multiple sprues 70a (see Figure 1) of the mold 70. As shown in Figure 19, each strainer mounting section 50 has a recess 50a that conforms to the bowl shape of the strainer STR. A photoelectric sensor 51 is also placed in each strainer mounting section 50. The photoelectric sensor 51 has a light emitter 51a that emits light and a light receiver 51b that receives the light emitted from the light emitter 51a. The photoelectric sensor 51 detects whether or not a strainer STR is placed in the recess 50a.

[0056] The strainer recovery unit 10 is configured as a device for removing and recovering strainers STR that are not properly held by the strainer holding units 26a and 28b. As shown in Figure 20, the strainer recovery unit 10 includes a mounting base 52, a recovery box 54 mounted on the mounting base 52, a support column 56 fixed to the mounting base 52, and a removal plate 58 integrated with the support column 56. The support column 56 extends vertically. The removal plate 58 has a rectangular shape and a substantially semicircular notch 58a at one end in the longitudinal direction. The other end of the removal plate 58 in the longitudinal direction is integrated with the tip of the support column 56 (the end opposite to the end fixed to the mounting base 52). The removal plate 58 extends horizontally from the support column 56, and when viewed from one side in the vertical direction, at least the notch 58a is located in the area inside the collection box 54. The removal plate 58 is used to remove the strainer STR from the strainer holder 28b when the strainer STR is not properly held in the strainer holder 28b. The removed strainer STR is collected in the collection box 54. If the strainer STR is not properly held in the strainer holder 26a, the strainer STR can be removed from the strainer holder 26a by operating the cylinder units 32, 32 on the collection box 54 to move the magnets 30, 30 to the non-operating position without using the removal plate 58.

[0057] The control device 14 is configured as a microprocessor centered on a CPU, and in addition to the CPU, it includes a ROM for storing processing programs, a RAM for temporarily storing data, and input / output ports (not shown). The control device 14 receives input signals from the holding sensors 34 and 38, a mounting completion signal from the holder supply unit 4, a position signal from the laser sensor 42b, a holding signal from the CCD transmissive laser sensor 45, a mounting signal from the photoelectric sensor 51, and data related to the operating status of the vertical multi-axis articulated robot 2 via input ports (not shown). The control device 14 also outputs control signals to the vertical multi-axis articulated robot 2, including opening and closing signals to the clamping pieces 24a, 24a and drive signals to the cylinder units 32, 32, control signals to the holder supply unit 4, including drive signals to the air-operated linear guide LG, and control signals to the strainer supply unit 6, including drive signals to the vibration generator 40a, clamp 40b, and magnet floater 40c, via output ports (not shown).

[0058] Next, the operation of the strainer mounting device 1 configured in this way, in particular, the operation when mounting the four strainers STR, STR, STR, STR to the four sprues 70a of the mold 70, will be described. When the strainer mounting processing routine is executed, the CPU of the control device 14 first performs a process to determine whether or not the placement completion button, which indicates that the worker has completed placing the strainer holder 80 on the placement area PA, has been pressed (step S100). If the placement completion button is pressed, that is, if the worker has completed placing the strainer holder 80 on the placement area PA, the CPU of the control device 14 performs a process to control the vertical multi-axis articulated robot 2 to acquire the strainer holder 80 from the holder supply unit 4 and to set the acquired strainer holder 80 in the holder set unit 40 of the strainer supply unit 6 (step S102). Specifically, the robot hand 20 is rotated so that the holder setting hand 24 faces downward in the vertical direction, and the clamping pieces 24a, 24a are opened and closed to acquire the strainer holder 80 from the holder supply unit 4. While holding the acquired strainer holder 80 with the clamping pieces 24a, 24a, the holder setting hand 24 is moved to the holder setting unit 40 of the strainer supply unit 6, and then the clamping pieces 24a, 24a are opened and the clamp 40b is driven. This completes the setting of the strainer holder 80 into the holder setting unit 40. On the other hand, if the placement completion button has not been pressed, that is, if the operator has not completed placing the strainer holder 80 into the placement area PA, the CPU of the control device 14 repeatedly executes the process of step S100 until the placement completion button is pressed, that is, until the operator has completed placing the strainer holder 80 into the placement area PA.

[0059] When the strainer holder 80 is set in the holder set section 40, the CPU of the control device 14 executes a process to drive and control the vibration generator 40a and the magnet floater 40c (step S104). As a result, the strainers STR, which are stacked in the strainer holder 80 along the longitudinal direction of the strainer holder 80, are separated one by one. In this state, the CPU of the control device 14 executes a process to control the vertical multi-axis articulated robot 2 so as to acquire the strainer STR located at the top of the strainer holder 80 (step S106). Specifically, the orientation of the robot hand 20 is changed so that the strainer distribution hand 26 faces downward in the vertical direction, and the cylinder units 32, 32 are driven and controlled to move the magnets 30, 30 to the working position. As a result, only the strainer STR located at the top of the strainer holder 80 can be acquired. Here, the strainer presence confirmation unit 42 detects the height of the strainer STR housed in the strainer holder 80, that is, the position of the strainer STR located at the top of the strainer holder 80. This allows the strainer holding unit 26a to be quickly moved to the position of the strainer STR located at the top of the strainer holder 80. This reduces the working time.

[0060] When the magnets 30, 30 are moved to the working position, the CPU of the control device 14 executes a process to determine whether the strainer holding unit 26a has held the strainer STR (step S108). This determination can be made using the energization signal from the holding sensor 34. If it is determined that the strainer holding unit 26a has held the strainer STR, that is, if there is an energization signal from the holding sensor 34, the CPU of the control device 14 executes a process to move the strainer holding unit 26a, which is holding the strainer STR, to the inspection unit 44 (step S110). Specifically, the CPU of the control device 14 controls the vertical multi-axis articulated robot 2 so that the strainer STR held by the strainer holding unit 26a passes through the band-shaped laser beam Lb from the CCD transmission laser sensor 45. Then, the CPU of the control device 14 executes a process to determine whether the holding of the strainer STR by the strainer holding unit 26a is appropriate (step S112).

[0061] On the other hand, if in step S108 the CPU of the control device 14 determines that the strainer holding unit 26a is not holding the strainer STR, that is, if there is no energizing signal from the holding sensor 34, the CPU of the control device 14 repeatedly executes the process in step S106, that is, the process of acquiring the strainer STR located at the top of the strainer holder 80, until the strainer holding unit 26a holds the strainer STR, that is, until there is an energizing signal from the holding sensor 34.

[0062] In step S112, if it is determined that the strainer STR is being held properly by the strainer holding unit 26a, the CPU of the control device 14 executes a process to control the vertical multi-axis articulated robot 2 so that it places the held strainer STR on the strainer mounting unit 50 of the strainer placement jig 8 (step S114). Specifically, the strainer supply unit 6 holding the strainer STR is moved to the desired strainer mounting unit 50 among the four strainer mounting units 50, 50, 50, 50, and then the cylinder units 32, 32 are driven to move the magnets 30, 30 to a non-working position. As a result, the strainer STR is placed on the desired strainer mounting unit 50. In this embodiment, the placement of the strainer STR on the strainer mounting unit 50 is performed by detecting a placement signal from the photoelectric sensor 51.

[0063] Then, the CPU of the control device 14 performs a process to determine whether or not the placement of strainers STR on all four strainer mounting sections 50, 50, 50, 50 has been completed (step S116). If it determines that it has been completed, it performs a process to control the vertical multi-axis articulated robot 2 to acquire the four strainers STR, STR, STR, STR placed on the four strainer mounting sections 50, 50, 50, 50 (step S118). Specifically, the robot hand 20 is rotated so that the strainer setting hand 28 faces downward in the vertical direction, and the robot hand 20 is moved so that the strainer holding sections 28b, 28b, 28b, 28b come into contact with the four strainers STR, STR, STR, STR placed on the strainer mounting sections 50, 50, 50, 50. As a result, the magnetic force of the magnets 36, 36 in each strainer holding section 28b, 28b, 28b, 28b causes the four strainers STR, STR, STR, STR to be acquired by the strainer holding sections 28b, 28b, 28b, 28b.

[0064] On the other hand, if in step S116 it is determined that the placement of the strainer STR to all four strainer placement sections 50, 50, 50, 50 has not been completed, the CPU of the control device 14 repeatedly executes the process in step S114, that is, the process of placing the strainer STR on the strainer placement section 50 of the strainer placement jig 8, until the placement of the strainer STR to all four strainer placement sections 50, 50, 50, 50 is completed.

[0065] Next, the CPU of the control device 14 performs a process to determine whether each strainer holding unit 28b,28b,28b,28b has held the strainer STR,STR,STR,STR (step S120). This determination can be made using the energization signal from each holding sensor 38. If it is determined that each strainer holding unit 28b,28b,28b,28b has held the strainer STR,STR,STR,STR, then, if there is an energization signal from each holding sensor 38, the CPU of the control device 14 performs a process to transport the acquired and held strainer STR,STR,STR,STR to the inspection unit 44 (step S122). Specifically, the CPU of the control device 14 controls the vertical multi-axis articulated robot 2 so that the strainers STR,STR,STR,STR held by each strainer holding unit 28b,28b,28b,28b pass through the band-shaped laser beam Lb from the CCD transmission laser sensor 45. Then, the CPU of the control device 14 performs a process to determine whether the holding of strainers STR,STR,STR,STR by each strainer holding unit 28b,28b,28b,28b is appropriate (step S124).

[0066] In step S124, if it is determined that the holding of the strainers STR,STR,STR,STR by each strainer holding unit 28b,28b,28b,28b is appropriate, the CPU of the control device 14 executes a process to control the vertical multi-axis articulated robot 2 so that the held strainers STR,STR,STR,STR are attached to each of the sprues 70a,70a,70a,70a of the mold 70 (step S126), and then terminates this processing routine. Specifically, the CPU of the control device 14 moves the strainer holding parts 28b, 28b, 28b, 28b, 28b, which hold the strainer STR, STR, STR, STR, to a position facing the four sprues 70a, 70a, 70a, 70a, and lowers the strainer setting hand 28 until the strainer STR, STR, STR, STR contacts the sprues 70a, 70a, 70a, 70a, and then raises the strainer setting hand 28. Here, when the strainer STR,STR,STR,STR comes into contact with the sprue 70a,70a,70a,70a, the strainer STR,STR,STR,STR is attached to the sprue 70a,70a,70a,70a, and the strainer STR,STR,STR,STR and the sprue 70a,70a,70a,70a are fitted together, so by simply raising the strainer setting hand 28, the holding of the strainer STR,STR,STR,STR by each strainer holding part 28b,28b,28b,28b is released (fitting force > magnetic force of magnets 36,36).

[0067] On the other hand, if in step S112 it is determined that the strainer STR is not being held properly by the strainer holding unit 26a, or if in step S124 it is determined that the strainers STR, STR, STR, STR are not being held properly by each strainer holding unit 28b, 28b, 28b, 28b, the CPU of the control device 14 executes a process to control the vertical multi-axis articulated robot 2 so as to retrieve the strainer STR held by the strainer holding unit 26a, or the strainers STR, STR, STR, STR held by each strainer holding unit 28b, 28b, 28b, 28b (step S128). Specifically, the CPU of the control device 14 moves the strainer distribution hand 26 or the strainer setting hand 28 to the strainer recovery unit 10, and uses the removal plate 58 to remove the strainer STR or strainer STR, STR, STR, STR from the strainer holding unit 26a or the strainer holding units 28b, 28b, 28b, 28b, and recovers the removed strainer STR or strainer STR, STR, STR, STR in the recovery box 54. After executing the process in step S128, the CPU of the control device 14 returns to step S106 and executes the processes from step S106 onward.

[0068] As described above, according to the strainer mounting device 1 according to the embodiment of the present invention, the vertical multi-axis articulated robot 2 first uses the holder setting hand 24 to obtain the strainer holder 80 from the holder supply unit 4 and set the obtained strainer holder 80 in the holder setting unit 40 of the strainer supply unit 6, then uses the strainer distribution hand to obtain the strainer STR from the strainer holder 80 set in the holder setting unit 40 and place the obtained strainer STR on the strainer mounting unit 50 of the strainer placement jig 8, and finally uses the strainer setting hand 28 to obtain the four strainer STR placed on the strainer mounting unit 50 and mount the four obtained strainer STR to the four sprues 70a, 70a, 70a, 70a. In other words, the work from obtaining the strainer STR from the strainer holder 80 to mounting the four strainer STR, STR, STR, STR to the four sprues 70a, 70a, 70a can be automated. This reduces the amount of manual work required by the operator in the strainer mounting device 1, which has four strainers STR, STR, STR, STR attached to four sprue ports 70a, 70a, 70a, 70a. As a result, work efficiency can be further improved.

[0069] Furthermore, according to the strainer mounting device 1 of the present invention, the configuration uses vibration from the vibration generator 40a and magnetic force from the magnet floater 40c to eliminate (separate) the overlapping of multiple strainers STR within the strainer holder 80. Therefore, when acquiring the uppermost strainer STR from the strainer holder 80, the inconvenience of acquiring multiple strainers STR can be suppressed. Moreover, since only vibration and magnetic force are used, overlapping strainers STR can be separated with a simple configuration.

[0070] Furthermore, according to the strainer mounting device 1 of the present invention, the strainer presence confirmation unit 42 is configured to detect the position of the strainer STR located at the uppermost part in the longitudinal direction of the strainer holder 80. Therefore, the strainer holding unit 26a can be quickly moved to the position of the strainer STR located at the uppermost part of the strainer holder 80. This makes it possible to shorten the working time.

[0071] Furthermore, according to the strainer mounting device 1 of the present invention, the holding sensors 34 and 38 are configured to detect whether or not the strainer holding parts 26a and 28b are holding the strainer STR. This avoids the inconvenience of the strainer STR not being placed on the strainer mounting part 50 or the strainer STR not being mounted on the sprue 70a. In addition, it is possible to detect whether or not the strainer holding parts 26a and 28b are holding the strainer STR with a simple configuration that detects the continuity of the sensor terminals 60a, 61a and sensor terminals 62a and 63a.

[0072] Furthermore, according to the strainer mounting device 1 of the present invention, the inspection unit 44 is configured to detect whether or not the strainer STR is held by the strainer holding units 26a and 28b, and if so, whether or not the holding state is appropriate. This prevents the strainer STR from being held in a tilted position by the strainer holding units 26a and 28b, or from multiple strainers STR being held in overlapping positions by the strainer holding units 26a and 28b. This prevents the inconvenience of the strainer STR not being properly mounted on the sprue 70a. In addition, since the strainer STR held by the strainer holding units 26a and 28b is simply passed through a band of laser light Lb from the CCD transmission type laser sensor 45, it is possible to easily detect whether or not the holding of the strainer STR by the strainer holding units 26a and 28b is appropriate.

[0073] Furthermore, according to the strainer mounting device 1 of the present invention, acquisition and holding of the strainer STR by the strainer holding part 26a, and release of holding can be achieved with a simple configuration that only involves moving the magnets 30, 30 between the working position and the non-working position.

[0074] Furthermore, according to the strainer mounting device 1 of the present invention, the strainer holder 80 is positioned in the holder setting section 40 by the holder setting hand 24, so the positioning of the strainer holder 80 in the holder setting section 40 can be performed automatically. This further improves work efficiency.

[0075] Furthermore, according to the strainer mounting device 1 of the present invention, the holder setting hand 24, the strainer distribution hand 26, and the strainer setting hand 28 are integrated into the robot hand 20. As a result, the placement of the strainer holder 80 from the holder supply unit 4 to the strainer supply unit 6 (holder setting unit 40), the placement of the strainer STR from the strainer supply unit 6 (holder setting unit 40) to the strainer placement jig 8 (strainer mounting units 50, 50, 50, 50), and the mounting of the strainers STR, STR, STR, STR from the strainer placement jig 8 (strainer mounting units 50, 50, 50, 50) to the sprue 70a, 70a, 70a can all be achieved by a single vertical multi-axis articulated robot 2. This makes it possible to save space in the work area.

[0076] In this embodiment, four sprues 70a, 70a, 70a are fitted with four strainers STR, STR, STR, STR, but the configuration is not limited to this. The number of sprues 70a and strainers STR can be any number, as long as there are two or more.

[0077] In this embodiment, the holder set hand 24 is configured to acquire and hold (clamp) and release (release from clamping) the strainer holder 80 using a pair of clamping pieces 24a, 24a, but is not limited to this configuration.

[0078] In this embodiment, the strainer holding section 26a and the strainer holding section 28b are configured to acquire and hold the strainer STR by the magnetic force of magnets 30, 30, 36, and 36, but the invention is not limited to this configuration. For example, the strainer holding section 26a and the strainer holding section 28b may be configured to acquire and hold the strainer STR by suction force.

[0079] In this embodiment, the magnets 30, 30 placed on the strainer holding part 26a are moved between the working position and the non-working position by the cylinder units 32, 32, but the embodiment is not limited to this. For example, the magnets 30, 30 placed on the strainer holding part 26a may be fixed in the working position, similar to the magnets 36, 36 placed on the strainer holding part 28b. In this case, it is preferable to provide a separate mechanism for releasing the held strainer STR. As a mechanism for releasing the held strainer STR, for example, an electromagnet may be used as the magnets 30, 30, and the holding may be released by stopping the current to the coil constituting the electromagnet.

[0080] In this embodiment, the holding of the strainer STR by the strainer holding part 28b is released by utilizing the fitting force of the strainer STR to the sprue 70a (fitting force > magnetic force of magnets 36, 36), but this is not the only configuration. For example, cylinder units 32, 32 may be placed in the strainer holding part 28b, similar to the magnets 30, 30 placed in the strainer holding part 26a, and the holding of the strainer STR by the strainer holding part 28b may be released by moving the magnets 36, 36 from the working position to the non-working position using the cylinder units 32, 32, or a separate mechanism may be provided for releasing the held strainer STR. As a mechanism for releasing the holding of the strainer STR, for example, electromagnets may be used as magnets 30, 30, and the holding may be released by stopping the current to the coil constituting the electromagnet.

[0081] In this embodiment, the configuration detects whether the strainer holding parts 26a and 28b are holding the strainer STR by detecting the continuity of the sensor terminals 60a and 61a and the sensor terminals 62a and 63a, but is not limited to this configuration.

[0082] In this embodiment, the vibration generated by the vibration generator 40a and the magnetic pole action of the magnet floater 40c are used to separate the multiple strainers STR, which are stacked and housed in the strainer holder 80, one by one. However, the embodiment is not limited to this configuration. For example, the vibration generated by the vibration generator 40a alone, or the magnetic pole action of the magnet floater 40c alone, may be used to separate the multiple strainers STR, which are stacked and housed in the strainer holder 80, one by one.

[0083] In this embodiment, the strainer presence confirmation unit 42 is configured to detect the position of the strainer STR located at the top of the strainer holder 80 in the longitudinal direction. However, the configuration may also be configured not to detect the position of the strainer STR located at the top of the strainer holder 80 in the longitudinal direction.

[0084] In this embodiment, the strainer STR, which is held by the strainer holding parts 26a and 28b, is passed through a band of laser light Lb from the CCD transmission laser sensor 45 to detect whether the strainer STR is properly held by the strainer holding parts 26a and 28b. However, the embodiment is not limited to this. For example, the embodiment may also use image processing to detect whether the strainer STR is properly held by the strainer holding parts 26a and 28b.

[0085] In this embodiment, the holder set hand 24, the strainer distribution hand 26, and the strainer set hand 28 are integrated into a single robot hand 20, but the configuration is not limited to this. For example, the holder set hand 24, the strainer distribution hand 26, and the strainer set hand 28 may each be integrated into separate robot hands 20, or two of the holder set hand 24, the strainer distribution hand 26, and the strainer set hand 28 may be integrated into the same robot hand 20, while the rest are integrated into other robot hands 20. In this case, each robot hand 20 may be attached to a separate vertical multi-axis articulated robot 2, or the same vertical multi-axis articulated robot 2 may select one of the robot hands 20 for each process and switch to the selected robot hand 20.

[0086] This embodiment illustrates one example of a configuration for carrying out the present invention. Therefore, the present invention is not limited to the configuration of this embodiment.

[0087] <Note> In view of the spirit of the invention described above, the strainer mounting device according to the present invention can be configured in the following embodiments. (Aspect 1) A strainer mounting device for mounting strainers to a plurality of sprues in a mold, which has a plurality of sprues for filling the cavity of the mold with molten metal, A holder arrangement section is provided where a strainer holder is arranged, which houses multiple strainers stacked vertically. A mounting preparation unit having a plurality of strainer mounting sections arranged in accordance with the arrangement of a plurality of sprue openings so that the strainer can be mounted, A first holding unit that can retrieve the uppermost strainer from among the multiple strainers in the strainer holder arranged in the holder arrangement unit, and can also hold and release the retrieved strainer, Multiple second holding units are arranged in accordance with the arrangement of multiple strainer mounting units, and are capable of acquiring multiple strainers placed on the strainer mounting units, as well as holding and releasing the acquired strainers. A control unit controls the first holding unit to repeatedly perform the operation of acquiring the strainer from the holder placement unit and placing the acquired strainer on the strainer placement unit until the strainer is placed on all of the multiple strainer placement units, and when the first holding unit has completed placing the strainers on all of the multiple strainer placement units, it acquires the multiple strainers placed on the multiple strainer placement units and controls the second holding unit to attach the acquired multiple strainers to the multiple sprue gates. A strainer mounting device equipped with [the following features]. (Aspect 2) "The holder arrangement section has a separation section that can separate the overlapping strainers." The strainer mounting device according to the above embodiment 1. (Aspect 3) "The separation unit separates the overlapping strainers using magnetic force." The strainer mounting device according to embodiment 2 described above. (Aspect 4) "The separation unit separates the overlapping strainers using vibration." The strainer mounting device according to embodiment 2 or 3. (Aspect 5) "The holder placement section has a position detection section that can detect the position of the strainer placed at the top of the strainer holder, The control unit moves the first holding unit to the position detected by the position detection unit, and then controls the first holding unit to retrieve the strainer from the holder placement unit. A strainer mounting device according to any one of the above embodiments 1 to 4. (Aspect 6) "The first holding unit and / or the second holding unit have a first detection unit capable of detecting whether or not it is holding the strainer. A strainer mounting device according to any one of the above embodiments 1 to 5. (Aspect 7) "The first detection unit has a first contact portion located at a first position accessible to the strainer in the first holding portion and / or the second holding portion, and a second contact portion located at a second position accessible to the strainer in the first holding portion and / or the second holding portion, different from the first position, and supplies current to the first contact portion, and detects whether the first holding portion and / or the second holding portion are holding the strainer based on whether the current supplied to the first contact portion has flowed through the second contact portion." The strainer mounting device according to embodiment 6 above. (Pattern 8) The system further comprises a second detection unit capable of detecting whether the holding of the strainer by the first holding unit and / or the second holding unit is appropriate. A strainer mounting device according to any one of claims 1 to 7. (Aspect 9) "The second detection unit includes a light emitter that emits laser light having a predetermined width in the vertical direction, and a light receiver that receives the laser light emitted by the light emitter." The control unit controls the first and / or second holding units to allow the held strainer to pass between the light emitter and the light receiver after the first and / or second holding units have held the strainer. The strainer mounting device according to embodiment 8. (Aspect 10) The first holding part and / or the second holding part acquire and hold the strainer by magnetic force. A strainer mounting device according to any one of the embodiments 1 to 9 described above. (Aspect 11) "The first holding part comprises a magnet and an actuator, The actuator is capable of moving the magnet between an operating position in which a magnetic force can be applied to the strainer and a non-operating position in which no magnetic force is applied to the strainer. The control unit controls the actuator so that the magnet is in the working position when acquiring and holding the strainer from the holder arrangement unit, and controls the actuator so that the magnet is in the non-working position when releasing the strainer. The strainer mounting device according to the above embodiment 10. (Aspect 12) A holder supply unit capable of keeping multiple strainer holders on standby for supplying to the holder placement unit, A holder holding unit that can acquire the strainer holder from the holder supply unit and also hold and release the acquired strainer holder, It also has the following features: The control unit retrieves the strainer holder from the holder supply unit and controls the holder holding unit to place the retrieved strainer holder in the holder placement unit. A strainer mounting device according to any one of the embodiments 1 to 11 described above. (Aspect 13) The robot further comprises a multi-axis articulated robot having a robot arm and a robot hand connected to the tip of the robot arm. The first holding portion, the second holding portion, and the holder holding portion are integrated with the robot arm. The multi-axis articulated robot makes any of the first holding part, the second holding part, and the holder holding part usable by changing the orientation of the robot hand. The strainer mounting device according to the above embodiment 12. [Industrial applicability]

[0088] The strainer mounting device disclosed herein is applicable to the art of mounting strainers to multiple sprues in a mold, which has multiple sprues for filling the mold cavity with molten metal. [Explanation of Symbols]

[0089] 1. Strainer mounting device (strainer mounting device) 2. Vertical multi-axis articulated robot (multi-axis articulated robot) 2a Robot arm (robot arm) 4. Holder supply unit (Holder supply unit) 6. Strainer supply section (holder placement section) 8. Strainer placement jig (preparation section for installation) 10. Strainer recovery section 12 Mold mounting stand 14 Control device (control unit) 20 Robot Hand (Robot Hand) 22 Hand Body 22a Flange 22b Mounting plate 24. Holder set handle (holder holding part) 24a Clamping piece 26 Strainer distribution handle (first holding part) 26a Strainer holding part (first holding part) 26b Rod section 28. Strainer set handle (second holding part) 28a Base plate 28b Strainer holding part (second holding part) 30 Magnets (magnets) 32 Cylinder Unit (Actuator) 32a Cylinder rod 34 Holding sensor (first detection unit) 36 Magnets (magnets) 38 Holding Sensor ((First Detection Unit)) 40 Holder Set Section 40a Vibration Generator (Separation Unit) 40b Clamp 40c Magnetic floater (separation part) 42. Strainer presence confirmation unit (location detection unit) 42a Slider-type electric cylinder 42b Laser Sensor 44. Inspection Department (Second Detection Department) 44a post 44b Post 45 CCD Transmissive Laser Sensor 45a Floodlight (Floodlight) 45b Photoreceiver (photoreceiver) 50 Strainer mounting section (strainer mounting section) 50a recess 51 Photoelectric Sensor 51a Floodlight 51b Receiver 52 Mounting platform 54 Collection Boxes 56 Pillar 58 Removable plate 58a Notch 60a Sensor terminal (first contact part) 60b Lead wire 60c resin color 61a Sensor terminal (second contact part) 61b Lead wire 61c resin color 62a Sensor terminal (first contact part) 62b Lead wire 62c resin color 63a Sensor terminal (second contact part) 63b Lead wire 63c resin color 70 Mold (casting mold) 70a Hot water spout (hot water spout) 71 Cavity (Cavity) 80 Strainer Holder (Strainer Holder) 80a Tsubabe STR Strainer (Strainer) SPR spring component PA mounting area SA supply area Lb laser light (laser light) LG Air-Powered Linear Guide

Claims

1. A strainer mounting device for mounting strainers to a plurality of sprues in a mold, which has a plurality of sprues for filling the cavity of the mold with molten metal, A holder arrangement section is provided where a strainer holder is arranged, which houses multiple strainers stacked vertically. A mounting preparation unit having a plurality of strainer mounting sections arranged in accordance with the arrangement of a plurality of sprue openings so that the strainer can be mounted, A first holding unit capable of retrieving the uppermost strainer from among a plurality of strainers in the strainer holder arranged in the holder arrangement unit, and also capable of holding and releasing the retrieved strainer, Multiple second holding units are arranged in accordance with the arrangement of multiple strainer mounting units, and are capable of acquiring multiple strainers placed on the strainer mounting units, as well as holding and releasing the acquired strainers. A control unit controls the first holding unit to repeatedly perform the operation of acquiring the strainer from the holder placement unit and placing the acquired strainer on the strainer placement unit until the strainer is placed on all of the multiple strainer placement units, and when the first holding unit has completed placing the strainers on all of the multiple strainer placement units, it acquires the multiple strainers placed on the multiple strainer placement units and controls the second holding unit to attach the acquired multiple strainers to the multiple sprue ports, A strainer mounting device equipped with the following features.

2. The holder arrangement section has a separation section that can separate the overlapping strainers. A strainer mounting device according to claim 1.

3. The separation unit separates the overlapping strainers using magnetic force. The strainer mounting device according to claim 2.

4. The separation unit separates the overlapping strainers using vibration. A strainer mounting device according to claim 2 or 3.

5. The holder placement unit has a position detection unit capable of detecting the position of the strainer positioned at the uppermost part of the strainer holder. The control unit moves the first holding unit to the position detected by the position detection unit, and then controls the first holding unit to retrieve the strainer from the holder placement unit. A strainer mounting device according to any one of claims 1 to 3.

6. The first holding unit and / or the second holding unit have a first detection unit capable of detecting whether or not they are holding the strainer. A strainer mounting device according to any one of claims 1 to 3.

7. The first detection unit has a first contact portion positioned at a first position that the strainer in the first holding portion and / or the second holding portion can contact, and a second contact portion positioned at a second position different from the first position that the strainer in the first holding portion and / or the second holding portion can contact. The detection unit supplies current to the first contact portion and detects whether the first holding portion and / or the second holding portion are holding the strainer based on whether the current supplied to the first contact portion has flowed through the second contact portion. The strainer mounting device according to claim 6.

8. The system further includes a second detection unit capable of detecting whether the holding of the strainer by the first holding unit and / or the second holding unit is appropriate. A strainer mounting device according to any one of claims 1 to 3.

9. The second detection unit includes a light emitter that emits laser light having a predetermined width in the vertical direction, and a light receiver that receives the laser light emitted by the light emitter. The control unit controls the first and / or second holding unit to allow the held strainer to pass between the light emitter and the light receiver after the first and / or second holding unit has held the strainer. The strainer mounting device according to claim 8.

10. The first holding part and / or the second holding part acquire and hold the strainer by magnetic force. A strainer mounting device according to any one of claims 1 to 3.

11. The first holding part includes a magnet and an actuator. The actuator is capable of moving the magnet between an operating position in which a magnetic force can be applied to the strainer and a non-operating position in which no magnetic force is applied to the strainer. The control unit controls the actuator so that the magnet is in the working position when acquiring and holding the strainer from the holder arrangement unit, and controls the actuator so that the magnet is in the non-working position when releasing the strainer. The strainer mounting device according to claim 10.

12. A holder supply unit capable of keeping multiple strainer holders on standby for supply to the holder placement unit, A holder holding unit that can acquire the strainer holder from the holder supply unit and also hold and release the acquired strainer holder, It also has the following features: The control unit retrieves the strainer holder from the holder supply unit and controls the holder holding unit to place the retrieved strainer holder in the holder placement unit. A strainer mounting device according to any one of claims 1 to 3.

13. The system further comprises a multi-axis articulated robot having a robotic arm and a robotic hand connected to the tip of the robotic arm. The first holding portion, the second holding portion, and the holder holding portion are integrated with the robot hand. The multi-axis articulated robot makes any of the first holding part, the second holding part, and the holder holding part usable by changing the orientation of the robot hand. The strainer mounting device according to claim 12.

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