Hole Forming Device and Hole Forming Method

Abstract

To form a hole according to a mold even when a plurality of types of molds are mixed.SOLUTION: A hole formation device 3 includes: an acquisition unit for acquiring mold information about a mold M; a drive unit 34 for driving a cutting tool 41 for forming a hole; a robot 33 for supporting the drive unit 34 and moving the drive unit 34; and a control unit 40 for controlling the robot 33. The control unit 40 selects the cutting tool 41 based on the mold information, determines a position of the hole formation in the mold M, and controls the robot 33 to form the hole at the position of the hole formation by the cutting tool 41.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a hole forming device and a hole forming method.

Background Art

[0002] Devices for forming holes such as vent holes in a mold are known. For example, Patent Document 1 describes a drilling device in which drilling tools are attached to the tips of a plurality of support pipes provided on a mounting plate, and the mounting plate is lowered by a cylinder device to form holes in the mold.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the drilling device described in Patent Document 1, since the drilling tools are pre-attached to the plurality of support pipes, holes are formed at the same positions with respect to the mold. However, when a plurality of types of molds are manufactured in one line, the position where the holes are formed can be changed according to the type of the mold. In this technical field, it is desired to form holes according to the mold to be formed even when a plurality of types of molds are mixed.

[0005] The present disclosure describes a hole forming device and a hole forming method capable of forming holes according to a mold even when a plurality of types of molds are mixed.

Means for Solving the Problems

[0006] A hole forming device according to an aspect of the present disclosure includes an acquisition unit that acquires mold information regarding a mold, a drive unit that drives a tool for forming a hole in the mold, a moving unit that supports the drive unit and moves the drive unit, and a control unit that controls the moving unit. The control unit selects a tool based on the mold information, determines a hole formation position in the mold, and controls the moving unit to form a hole at the hole formation position with the tool.

[0007] In this hole forming device, based on the mold information regarding the mold, a tool is selected and the hole formation position in the mold is determined. Therefore, a hole is formed at the hole formation position corresponding to the mold with a tool corresponding to the mold. As a result, even when a plurality of types of molds are mixed, it is possible to form holes according to the molds.

[0008] The above hole forming device may further include a cleaning unit for removing dust generated when a hole is formed in the mold. The cleaning unit may remove dust while the hole is being formed by the tool. According to this configuration, hole formation and dust removal are performed in parallel. Therefore, the production efficiency can be improved as compared with a configuration in which dust is removed after the hole is formed.

[0009] The cleaning unit may include a first nozzle extending in the axial direction of the tool. The first nozzle may have an opening provided at the tip of the first nozzle. The cleaning unit may remove dust using the first nozzle while the hole is being formed. When a hole is formed at the hole formation position by the tool, dust is generated at the hole formation position. Since the first nozzle extends in the axial direction of the tool, the opening of the first nozzle can be brought close to the hole formation position in the mold when the mold is being cut by the tool. Therefore, it is possible to effectively remove the dust generated by the formation of the hole.

[0010] The cleaning unit may further include a dust collection box for collecting dust. The first nozzle may scatter the dust toward the dust collection box by injecting air from the opening of the first nozzle. In this case, while removing the dust from the mold by the air, the removed dust can be collected in the dust collection box. Therefore, it is possible to suppress the dust from scattering around the hole forming device.

[0011] The first nozzle may suck the dust from the opening of the first nozzle. According to this configuration, since the dust is sucked, it is possible to more reliably suppress the dust from scattering around the hole forming device.

[0012] The cleaning unit may further include a second nozzle extending in a direction different from the axial direction of the cutting tool. The second nozzle may have an opening provided at the tip of the second nozzle. The cleaning unit may remove the dust using the second nozzle after the hole is formed. Since the second nozzle extends in a direction different from the axial direction of the cutting tool, the opening of the second nozzle can be brought close to the mold without the mold interfering with the cutting tool. Therefore, the dust remaining on the mold can be effectively removed.

[0013] The hole forming device may further include an imaging unit that generates an imaging image by imaging the surface of the mold where the hole is to be formed. The control unit may determine the formation position of the hole based on the imaging image. In order to form a hole in the mold with a cutting tool, the mold is fixed. At this time, even if the fixing position of the mold is displaced from the predetermined position, the formation position of the hole in the mold can be determined by using the imaging image. Therefore, it is possible to accurately form a hole in the mold.

[0014] The hole forming device may further include a tool stand that houses a plurality of types of cutting tools. The control unit may control the moving unit to cause the driving unit to mount a cutting tool from the plurality of types of cutting tools. According to this configuration, by controlling the moving unit, a cutting tool corresponding to the mold is mounted on the driving unit. Therefore, since it is not necessary for an operator to mount the cutting tool, the labor of the operator can be reduced.

[0015] A hole forming method according to another aspect of the present disclosure includes a step of acquiring mold information regarding a mold, a step of selecting a tool for forming a hole in the mold based on the mold information, a step of determining a hole forming position in the mold based on the mold information, and a step of forming a hole at the hole forming position using the tool.

[0016] In this hole forming method, based on the mold information regarding the mold, a tool is selected and the hole forming position in the mold is determined. Therefore, a hole is formed at the hole forming position corresponding to the mold by the tool corresponding to the mold. As a result, even when a plurality of types of molds are mixed, it becomes possible to form holes according to the molds.

Advantages of the Invention

[0017] According to each aspect and each embodiment of the present disclosure, even when a plurality of types of molds are mixed, holes can be formed according to the molds.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the description of the drawings, the same reference numerals are assigned to the same elements, and duplicate descriptions are omitted.

[0020] FIG. 1 is a configuration diagram schematically showing a casting system including a hole forming device according to an embodiment. The casting system 1 shown in FIG. 1 is a system for manufacturing a casting. The casting system 1 includes a molding site 2, a hole forming device 3, an alignment device 4, a pouring machine 5, a conveying line 6, a line controller 7 (control unit), and a mold removing device 8.

[0021] In the molding site 2, a mold M is manufactured by filling kneaded sand into a casting mold F placed on a surface plate B. The mold M is, for example, a self-hardening mold and is an upper mold or a lower mold. The kneaded sand contains a chemical solution (resin and hardener) and casting sand and hardens over time. In the molding site 2, a plurality of types of molds M are arbitrarily manufactured. The casting mold F is attached with a tag that holds mold information regarding the mold M manufactured in the casting mold F. The mold information may include, for example, the type of the mold M, the size of the mold M (dimensions in the vertical, horizontal, and height directions), identification information that can uniquely identify CAM (Computer Aided Manufacturing) data, and identification information that can uniquely identify CAD (Computer Aided Design) data. Examples of tags include RFID (Radio Frequency Identification) tags, QR codes (registered trademarks), and barcodes. The mold M manufactured in the molding site 2 is sent out to the conveying line 6.

[0022] The mold removing device 8 is a device that removes the mold M from the pattern. In other words, the mold removing device 8 separates the pattern from the mold M and the casting mold F. When the mold M is removed from the pattern by the mold removing device 8, a surface Ma on which the surface shape of the pattern is transferred is formed on the mold M. The mold removing device 8 is provided between the molding site 2 and the hole forming device 3. The surface Ma defines a cavity that is a space corresponding to the product shape. The mold M removed from the pattern by the mold removing device 8 is conveyed toward the hole forming device 3 by the conveying line 6.

[0023] The hole forming device 3 is a device for forming holes in the mold M (target mold). Examples of the holes formed in the mold M include a sprue, a riser, a gas hole, and a flash. The hole forming device 3 is provided between the mold removing device 8 and the alignment device 4. The hole forming device 3 is communicably connected to the line controller 7. Details of the hole forming device 3 will be described later.

[0024] The alignment device 4 is a device for aligning a pair of upper and lower molds. The alignment device 4 is provided between the hole forming device 3 and the pouring machine 5. The alignment device 4 may set a core between the upper and lower molds. The alignment device 4 may be operated by an operator.

[0025] The pouring machine 5 is a device for pouring molten metal into the mold M. The pouring machine 5 is communicably connected to the line controller 7. When the pouring machine 5 receives a frame feed completion signal from the line controller 7, it pours molten metal into the mold M located in the pouring area as the pouring target (performs pouring). The pouring machine 5 identifies the type of the mold M to be poured based on the information received from the line controller 7 and performs pouring according to the type of the mold M. The poured mold M is conveyed to an area where subsequent processes are performed by the conveying line 6.

[0026] The transfer line 6 is a facility for transferring the mold M in a state where the mold frame F is placed on the surface plate B. The transfer line 6 receives the mold M from the molding shop 2 and transfers the mold M toward the pouring machine 5. The transfer line 6 has, for example, rails (not shown). The rails extend linearly from the molding shop 2 toward the pouring machine 5. The transfer line 6 sequentially transfers a plurality of mold frames F arranged at equal intervals (pitches) on the rails from the molding shop 2 toward the pouring machine 5. The transfer line 6 is driven intermittently and transfers each mold frame F by one pitch at a time. The transfer line 6 includes, for example, a pusher device arranged on the molding shop 2 side and a cushion device arranged on the pouring machine 5 side. The transfer line 6 is communicably connected to the line controller 7. When the transfer line 6 receives a frame feed signal from the line controller 7, it transfers each mold frame F by one pitch. When the transfer of one pitch is completed, the transfer line 6 fixes the mold frame F with a clamp (not shown) and transmits a frame feed completion signal to the line controller 7. The transfer line 6 may have a roller conveyor instead of the rails.

[0027] The line controller 7 is a controller that overall controls the casting system 1. The line controller 7 is, for example, a PLC (Programmable Logic Controller). The line controller 7 may be configured as a computer system including a processor such as a CPU (Central Processing Unit), memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory), an input device such as a touch panel, a mouse, and a keyboard, an output device such as a display, and a communication device such as a network card. The functions of the line controller 7 are realized by operating each hardware under the control of the processor based on a computer program stored in the memory.

[0028] The line controller 7 is provided with a mold management table that manages each mold M. The mold management table stores data that associates, for each mold M, a "mold ID", a "pattern code", and a "position". The "mold ID" is information that can uniquely identify the mold M. The "pattern code" is information that uniquely indicates the molding pattern used to manufacture the mold M identified by the mold ID. The "position" indicates the position on the transport line 6 where the mold M identified by the mold ID is arranged. The line controller 7, for example, each time it receives a frame feed completion signal from the transport line 6, advances the "position" of each data by one and adds new data to the mold management table.

[0029] Next, with reference to FIGS. 2 to 4, the details of the hole forming device 3 will be described. FIG. 2 is a configuration diagram schematically showing the hole forming device shown in FIG. 1. FIG. 3 is a cross-sectional view taken along line III-III of FIG. 2. FIG. 4 is a diagram schematically showing the inspection device. As shown in FIGS. 2 to 4, the hole forming device 3 includes a reading device 31 (acquisition unit; see FIG. 1), a clamping device 32, a robot 33 (moving unit), a driving device 34 (driving unit), a tool stand 35, an imaging device 36 (imaging unit), a cleaning device 37 (cleaning unit), an inspection device 38, and a control device 40 (control unit). In FIG. 1, for convenience of explanation, the reading device 31 is arranged outside the hole forming device 3.

[0030] The reading device 31 is a device that acquires mold information. In the present embodiment, the reading device 31 is a device (reader) that reads the mold information held in a tag attached to the mold frame F. The tag may be attached to the surface plate B. The reading device 31 is arranged upstream of the hole forming station where hole forming is performed. The reading device 31 is provided, for example, on the side of the transport line 6 (the side perpendicular to the transport direction of the transport line 6). The reading device 31 may be arranged above the transport line 6 or may be arranged at the hole forming station. The reading device 31 transmits the read mold information to the control device 40.

[0031] The clamping device 32 is a device that removes the mold M conveyed to the hole forming station from the conveying line 6 and fixes the mold M at a predetermined position. For example, the clamping device 32 sandwiches the mold frame F on the conveying line 6 with a robot hand, lifts it above the conveying line 6, and changes the orientation of the mold frame F so that the surface Ma of the mold M faces the robot 33. The surface Ma is the surface to be subjected to hole forming processing.

[0032] The robot 33 supports the drive device 34 and is a device that moves the drive device 34 to form holes in the mold M. As the robot 33, a multi-axis robot with three or more axes is used to form holes in a plurality of types of molds M. Examples of the robot 33 include a Cartesian robot, an articulated robot, a parallel link robot, and a scalar robot. In the present embodiment, an articulated robot will be described as an example of the robot 33. The robot 33 includes a plurality of links connected in series via joint mechanisms. Each joint mechanism rotatably connects two adjacent links around the axis of the joint mechanism. The link 33a located at the tip of the plurality of links is configured to be rotatable around the axis of the link 33a.

[0033] The drive device 34 is a device that drives a tool 41 for forming holes. In the present embodiment, the drive device 34 is a device that rotationally drives the tool 41 around the axis of the tool 41. The drive device 34 is attached to the tip of the link 33a of the robot 33. The drive device 34 includes a motor. The drive device 34 has a mounting hole into which the base end portion of the tool 41 is fitted, and detachably holds the tool 41. The drive device 34 incorporates, for example, an automatic attachment / detachment mechanism using air. The automatic attachment / detachment device is a device for fixing the tool 41 to the drive device 34. The automatic attachment / detachment device grips the base end portion of the tool 41 fitted into the mounting hole by the pressure of air, thereby fixing the tool 41 to the drive device 34. The automatic attachment / detachment device can remove the tool 41 from the drive device 34 by releasing the air pressure. The tool 41 is fixed to the drive device 34 in a state where the axis of the tool 41 and the rotation axis of the motor are aligned by this automatic attachment / detachment mechanism.

[0034] The tool stand 35 accommodates a plurality of types of tools 41. Examples of the tool 41 include drills (including core drills) and end mills. For forming holes having a constant hole diameter such as a sprue and a gas hole, a drilling tool such as a drill is used. For forming holes with a varying hole diameter such as a sprue and a lift, a cutting tool such as an end mill is used. Even for the same type of tool 41, a plurality of tools 41 are prepared according to the hole diameter.

[0035] The imaging device 36 is a device that generates an imaging image by imaging the surface Ma of the mold M. The imaging device 36 is, for example, a three-dimensional (3D) camera. The imaging device 36 is attached to the side surface of the driving device 34. The lens of the imaging device 36 faces the same direction as the rotation axis of the motor.

[0036] The cleaning device 37 is a device that removes dust generated when holes are formed in the mold M. Examples of the cleaning device 37 include a suction-type cleaning device and a blow-type cleaning device. In the present embodiment, the cleaning device 37 is a blow-type cleaning device. The cleaning device 37 removes dust while the holes are being formed by the tool 41, and removes the dust remaining on the mold M after the holes are formed. The cleaning device 37 includes a nozzle 37a (first nozzle), a nozzle 37b (second nozzle), and a dust collection box 37c.

[0037] The nozzle 37a extends in the axial direction of the tool 41. Specifically, the nozzle 37a is disposed directly above the driving device 34 and extends along the rotation axis of the motor included in the driving device 34. The nozzle 37a has an opening provided at the tip of the nozzle 37a. The nozzle 37a injects air from the opening. The nozzle 37a removes dust from the mold M and scatters the dust toward the dust collection box 37c by injecting air from the opening toward the surface Ma of the mold M while the hole forming process by the tool 41 is being performed. The direction (injection direction) and injection pressure of the nozzle 37a are adjusted so that the dust removed from the mold M scatters toward the dust collection box 37c.

[0038] Nozzle 37b extends in a direction different from the axial direction of the cutting tool 41. Specifically, nozzle 37b is disposed directly above the drive device 34 and extends in a direction intersecting (for example, orthogonal to) nozzle 37a. Nozzle 37b extends to the side opposite to the imaging device 36 in plan view. Nozzle 37b has an opening provided at its tip. Nozzle 37b injects air from the opening. After the hole forming process is completed, nozzle 37b injects air toward the surface Ma of the mold M to remove the dust remaining on the mold M from the mold M and scatter the dust toward the dust collection box 37c (secondary cleaning). The orientation (injection direction) and injection pressure of nozzle 37b are adjusted so that the dust removed from the mold M scatters toward the dust collection box 37c.

[0039] The dust collection box 37c is a box for collecting the dust removed from the mold M. The dust collection box 37c is provided under the mold M fixed by the clamp device 32.

[0040] The inspection device 38 is a device for inspecting the cutting tool 41. The inspection device 38 inspects, for example, the wear of the cutting tool 41. As the inspection device 38, for example, a projection image measuring instrument is used. The inspection device 38 is disposed in the vicinity of the robot 33.

[0041] The control device 40 is a controller that comprehensively controls the hole forming device 3. The control device 40 is, for example, a PLC. The control device 40 may be configured as a computer system including a processor such as a CPU, a memory such as a RAM and a ROM, an input device such as a touch panel, a mouse, and a keyboard, an output device such as a display, and a communication device such as a network card. The functions of the control device 40 are realized by operating each hardware under the control of the processor based on the computer program stored in the memory. The control device 40 selects the cutting tool 41 based on the mold information, determines the hole forming position (hereinafter referred to as "hole forming position") in the mold M, and controls the robot 33 to form a hole at the hole forming position with the cutting tool 41.

[0042] Next, with reference to FIGS. 5 to 7, a hole forming method performed by the hole forming apparatus 3 will be described. FIG. 5 is a flowchart showing an example of the hole forming method performed by the hole forming apparatus shown in FIG. 1. FIG. 6 is a diagram for explaining the hole forming process. FIG. 7 is a diagram for explaining the secondary cleaning. The series of processes shown in FIG. 5 is started, for example, when the control device 40 receives a hole forming command from the line controller 7. Here, focusing on one mold M that is the target for forming holes, a series of steps for one mold M will be described.

[0043] First, a step S1 of acquiring mold information regarding the mold M is performed. In step S1, first, the reading device 31 reads mold information regarding the mold M manufactured in the mold frame F from the tag attached to the mold frame F. Then, the reading device 31 transmits the read mold information to the control device 40, and the control device 40 receives (acquires) the mold information from the reading device 31. Then, the control device 40 associates the mold information received from the reading device 31 with the mold at the position where the reading device 31 is provided in the mold management table provided in the line controller 7.

[0044] Subsequently, a step S2 of fixing the mold M is performed. In step S2, the clamping device 32 removes the mold frame F from the transfer line 6 by sandwiching the mold frame F conveyed to the hole forming station with the robot hand and lifting it above the transfer line 6. Then, the clamping device 32 changes the orientation of the mold frame F so that the surface Ma of the mold M faces the robot 33, and fixes the mold frame F (mold M) at a predetermined position.

[0045] Subsequently, step S3 of selecting a tool 41 for forming a hole is performed. In step S3, based on the mold information, the tool 41 is selected. Specifically, the control device 40 extracts the mold information associated with the mold at the position of the hole forming station from the mold management table. Then, the control device 40 acquires the CAM data of the mold M based on the mold information. In the CAM data, the tool 41 used for hole formation is preset (defined) in advance. Therefore, the control device 40 selects the tool 41 used for hole formation of the mold M based on the CAM data. Then, the control device 40 controls the robot 33 to move the drive device 34 to the tool stand 35.

[0046] Then, the control device 40 controls the robot 33 to mount the selected tool 41 on the drive device 34 from the plurality of tools 41 housed in the tool stand 35. Here, in the tool stand 35, the housing position where each tool 41 is housed is determined in advance, and information indicating the housing position of each tool 41 is set in the control device 40. Therefore, the control device 40 moves the drive device 34 to the housing position where the selected tool 41 is housed, and mounts the tool 41 housed in that housing position on the drive device 34. At this time, the drive device 34 grips the tool 41 by the automatic attachment / detachment mechanism with the axis of the tool 41 and the rotation axis of the motor aligned. Thereby, the tool 41 is mounted on the drive device 34.

[0047] Note that the tool 41 may be attached with a tag that holds identification information capable of uniquely identifying the tool 41. Each housing position of the tool stand 35 may be attached with a tag that holds identification information capable of uniquely identifying the tool 41 housed in that housing position. In these cases, the selected tool 41 may be specified by reading the identification information held in the tag with a reading device.

[0048] Subsequently, step S4 of determining the hole formation position is performed. In step S4, based on the mold information, the hole formation position in the mold M is determined. Specifically, first, the control device 40 causes the imaging device 36 to image the mold frame F and the mold M from a predetermined imaging position. Since the surface Ma of the mold M faces the robot 33, the imaging image includes the image of the surface Ma and the mold frame F surrounding the surface Ma. Then, the imaging device 36 transmits the imaging image to the control device 40.

[0049] Then, the control device 40 determines the hole formation position based on the imaging image. Specifically, the control device 40 recognizes the reference position from the imaging image. As the reference position, the position of the uneven mark formed on the surface Ma is used. As the reference position, the position of any one of the four corners of the outer edge of the mold frame F when the mold frame F is viewed in plan may be used. For example, when the uneven mark formed on the surface Ma is used as the reference position, the control device 40 recognizes the mark in the imaging image using pattern matching or the like. The control device 40 calculates the coordinates of the mark (reference position) in the real space from the coordinates of the mark in the imaging image. Since the fixed position of the mold M and the imaging position of the imaging device 36 are determined, the conversion from the coordinates in the imaging image to the coordinates in the real space is performed by a known method.

[0050] Then, the control device 40 acquires the CAD data of the mold M based on the mold information. Then, the control device 40 converts the CAD data and the CAM data into coordinates in the 3D shape data and specifies the coordinates of the hole formation position. The coordinates in the 3D shape data are set with, for example, the coordinates of the reference position as the origin. Then, the control device 40 calculates the coordinates of the hole formation position in the real space based on the coordinates of the reference position in the real space. For example, the control device 40 calculates the coordinates of the hole formation position in the real space by adding the coordinates of the hole formation position in the 3D shape data to the coordinates of the reference position in the real space. Thus, the hole formation position is determined.

[0051] Subsequently, a step S5 of forming a hole is performed. In step S5, a hole is formed at the hole formation position in the mold M using the tool 41. Specifically, the control device 40 controls the robot 33 to move the drive device 34 (tool 41) so as to form a hole at the coordinates in the real space of the hole formation position. The control device 40, for example, aligns the formation direction of the hole with the axis of the tool 41 and moves the tool 41 until the tip of the tool 41 is separated from the hole formation position on the surface Ma by a certain distance.

[0052] Then, the control device 40 injects air from the opening of the nozzle 37a and moves (enters) the tool 41 in the hole formation direction toward the surface Ma while the nozzle 37a is injecting air. Dust such as chips is generated when the mold M is cut by the tool 41. While the hole formation process by the tool 41 is being performed, air is injected from the nozzle 37a toward the surface Ma of the mold M, so the dust is removed from the mold M, and the removed dust is collected in the dust collection box 37c. In other words, the cleaning device 37 removes dust using the nozzle 37a while the hole is being formed.

[0053] Then, when the control device 40 detects that the hole formation process is completed, the control device 40 withdraws the tool 41 from the mold M by retracting the tool 41 in the axial direction. The control device 40 detects that the hole formation process is completed, for example, when the tip of the tool 41 has entered the surface Ma by a predetermined distance. The predetermined distance is calculated, for example, by adding a predetermined value to the thickness of the mold M at the hole formation position. The predetermined distance may be set to a fixed value according to the deepest hole among the plurality of types of molds M handled in the casting system 1. The control device 40 acquires the thickness of the mold M or the depth of the hole at the hole formation position from the 3D shape data. The mold information may include the thickness of the mold M or the depth of the hole at the hole formation position. In this case, the control device 40 may acquire the thickness of the mold M or the depth of the hole at the hole formation position from the mold information.

[0054] The control device 40 may detect that the hole forming process is completed when the current value applied to the tool 41 becomes smaller than a predetermined value. The control device 40 may detect that the hole forming process is completed when the rotational torque of the tool 41 or the torque for pushing the tool 41 in the axial direction of the tool 41 becomes smaller than a predetermined value.

[0055] Subsequently, a step S6 of performing secondary cleaning is carried out. The secondary cleaning is carried out to remove the dust remaining in the mold M from the mold M. In step S6, the cleaning device 37 uses the nozzle 37b to remove the dust remaining in the mold M after the holes are formed. Specifically, the control device 40 rotates the link 33a of the robot 33 around the axis of the link 33a so that the tip of the nozzle 37b faces the surface Ma of the mold M. Then, the control device 40 injects air from the opening of the nozzle 37b and, while the nozzle 37b is injecting air, controls the robot 33 to move the nozzle 37b so that air is blown onto the entire surface of the surface Ma. With this configuration, the dust is removed from the mold M, and the removed dust is collected in the dust collection box 37c.

[0056] Subsequently, a step S7 of inspecting the tool 41 is carried out. In step S7, the control device 40 controls the robot 33 to move the drive device 34 to the inspection device 38 with the tool 41 mounted. Then, the inspection device 38 inspects the wear of the tool 41 and transmits the inspection result to the control device 40. The inspection result indicates the degree of wear of the tool 41.

[0057] Subsequently, a step S8 of returning the tool 41 is carried out. In step S8, the control device 40 controls the robot 33 to move the drive device 34 to the tool stand 35. Then, the control device 40 moves the drive device 34 to the accommodation position where the tool 41 was accommodated, and at that accommodation position, the tool 41 is removed from the drive device 34 by the automatic attachment / detachment mechanism. Thereby, the tool 41 is returned to the tool stand 35.

[0058] As described above, a series of processes of the hole forming method is completed. When a plurality of holes are formed in the mold M, the above series of processes is repeated for each hole. And when all the holes are formed in the mold M, the clamping device 32 returns the mold frame F (mold M) onto the transport line 6.

[0059] Note that the step S6 may be omitted. The step S7 does not have to be performed every time, and may be performed each time the number of times the tool 41 has been used since the tool 41 was last inspected reaches a predetermined number. In the step S7, the control device 40 may determine whether or not it is necessary to replace the tool 41 based on the inspection result. In this configuration, when it is determined that the replacement of the tool 41 is unnecessary, the step S8 is performed. On the other hand, when it is determined that the replacement of the tool 41 is necessary, the tool 41 is replaced. The replacement of the tool 41 may be performed manually, or may be automatically performed by the control device 40 controlling the robot 33.

[0060] The above hole forming method may be implemented by the line controller 7 instead of the control device 40. At this time, the series of processes shown in FIG. 5 may be started when the line controller 7 receives a frame feed completion signal from the transport line 6.

[0061] In the hole forming apparatus 3 and the hole forming method described above, based on the mold information regarding the mold M, the tool 41 is selected and the hole forming position in the mold M is determined. Therefore, a hole is formed at the hole forming position corresponding to the mold M by the tool 41 corresponding to the mold M. As a result, even when a plurality of types of molds M are mixed, it is possible to form holes according to the mold M to be the object of hole forming. Since the holes are automatically formed by the hole forming apparatus 3, labor saving is possible. Furthermore, since it is not necessary to use a sprue bar to form a hole in the mold M, a storage place for the sprue bar is not required. Therefore, space saving is possible.

[0062] The cleaning device 37 removes dust while the hole is being formed by the cutting tool 41. According to this configuration, the formation of the hole and the removal of dust are performed in parallel. Therefore, the production efficiency can be improved as compared with the configuration in which dust is removed after the hole is formed.

[0063] When the hole is formed at the hole formation position by the cutting tool 41, dust is generated at the hole formation position. The cleaning device 37 removes dust using the nozzle 37a while the hole is being formed. Since the nozzle 37a extends in the axial direction of the cutting tool 41, the opening of the nozzle 37a can be brought close to the hole formation position in the mold M when the mold M is being cut by the cutting tool 41. Therefore, it is possible to effectively remove the dust generated by the formation of the hole.

[0064] The cleaning device 37 scatters dust toward the dust collection box 37c by injecting air from the opening of the nozzle 37a. According to this configuration, while removing dust from the mold M by air, the removed dust can be collected in the dust collection box 37c. Therefore, it is possible to suppress the dust from scattering around the hole forming device 3.

[0065] The cleaning device 37 removes dust using the nozzle 37b after the hole is formed. Since the nozzle 37b extends in a direction different from the axial direction of the cutting tool 41, the opening of the nozzle 37b can be brought close to the mold M without the mold M interfering with the cutting tool 41. Therefore, it is possible to effectively remove the dust remaining in the mold M.

[0066] In order to form a hole in the mold M by the cutting tool 41, the mold M is fixed. At this time, even if the fixing position of the mold M is displaced from the predetermined position, the hole formation position in the mold M can be determined by using the captured image obtained by imaging the surface Ma. Therefore, it is possible to accurately form a hole in the mold M.

[0067] The control device 40 controls the robot 33 to cause the driving device 34 to mount a tool 41 corresponding to the mold M from a plurality of types of tools 41. According to this configuration, by controlling the robot 33, the tool 41 corresponding to the mold M is mounted on the driving device 34. Therefore, since it is not necessary for an operator to mount the tool 41, the labor of the operator can be reduced.

[0068] Note that the hole forming device according to the present disclosure is not limited to the above embodiment.

[0069] In the above embodiment, the mold M is a self-hardening mold, but the mold M is not limited to a self-hardening mold. The mold M may be a thermosetting mold or a gas hardening mold.

[0070] In the above embodiment, the mold removing device 8 separates the pattern, the mold M, and the mold frame F, but the pattern and the mold frame F and the mold M may be separated. In this case, the hole forming device 3 forms a hole in the frameless mold M.

[0071] The mold management table may store data in which mold information is further associated with each mold M. In this case, the control device 40 may acquire the mold information from the line controller 7. Specifically, the communication device of the control device 40 functions as an acquisition unit that acquires the mold information regarding the mold M. Therefore, the hole forming device 3 may not include the reading device 31.

[0072] An operator may mount the tool 41 selected by the control device 40 on the driving device 34. In this case, the hole forming device 3 may not include the tool stand 35.

[0073] The mold information may include the coordinates of the hole forming position with the coordinates of the reference position as the origin. The control device 40 may calculate the coordinates of the hole forming position in the real space by adding the coordinates of the hole forming position included in the mold information to the coordinates of the reference position in the real space. In this case, the hole forming device 3 may not include the imaging device 36.

[0074] The hole forming device 3 does not necessarily remove dust in parallel with hole formation. In this case, the hole forming device 3 does not necessarily include the cleaning device 37.

[0075] Secondary cleaning does not necessarily need to be performed. In this case, the cleaning device 37 does not necessarily include the nozzle 37b.

[0076] The nozzle 37a may suck dust from the opening of the nozzle 37a. In this case, the opening of the nozzle 37a is arranged, for example, in the vicinity of the tool 41. Similarly, the nozzle 37b may suck dust from the opening of the nozzle 37b. According to the above configuration, since dust is sucked, it is possible to more reliably suppress the scattering of dust around the hole forming device 3. When the nozzles 37a and 37b are suction nozzles, the cleaning device 37 does not necessarily include the dust collection box 37c.

[0077] The hole forming device 3 does not necessarily need to inspect the tool 41. In this case, the hole forming device 3 does not necessarily include the inspection device 38.

Explanation of reference numerals

[0078] 3... Hole forming device, 7... Line controller (control unit), 31... Reading device (acquisition unit), 32... Clamping device, 33... Robot (moving unit), 34... Driving device (driving unit), 35... Tool stand, 36... Imaging device (imaging unit), 37... Cleaning device (cleaning unit), 37a... Nozzle (first nozzle), 37b... Nozzle (second nozzle), 37c... Dust collection box, 38... Inspection device, 40... Control device (control unit), 41... Tool, F... Casting frame, M... Mold, Ma... Surface.

Claims

1. An acquisition unit that acquires mold information regarding a mold; A drive unit that drives a tool for forming a hole in the mold; A moving unit that supports the drive unit and moves the drive unit; A cleaning unit for removing dust generated when the hole is formed in the mold; A control unit that controls the moving unit; Comprising: Based on the mold information, the control unit selects the tool, determines the formation position of the hole in the mold, controls the moving unit to form the hole at the formation position with the tool, The moving unit includes a link that supports the drive unit, The cleaning unit: A first nozzle attached to the drive unit and extending in the axial direction of the tool; A second nozzle attached to the drive unit and extending in a direction different from the axial direction, and includes: The first nozzle has an opening provided at the tip of the first nozzle; The second nozzle has an opening provided at the tip of the second nozzle; After the hole is formed, the control unit turns the first nozzle and the second nozzle together with the drive unit around the axis of the link so that the tip of the second nozzle faces the mold; The cleaning unit removes the dust using the first nozzle while the hole is being formed by the tool, and removes the dust using the second nozzle after the hole is formed. A hole forming device.

2. The cleaning unit further includes a dust collection box for collecting the dust, The first nozzle scatters the dust toward the dust collection box by injecting air from the opening of the first nozzle. The hole forming device according to claim 1.

3. The first nozzle sucks the dust from the opening of the first nozzle. The hole forming device according to claim 1.

4. Further comprising an imaging unit that generates an imaging image by imaging the surface of the mold where the hole is formed, The control unit determines the formation position based on the imaging image. The hole forming device according to any one of claims 1 to 3.

5. Further comprising a tool stand that houses a plurality of types of tools, The control unit controls the moving unit to attach the tool to the drive unit from the plurality of types of tools. The hole forming device according to any one of claims 1 to 4.

6. A step of acquiring mold information regarding a mold; A step of selecting a tool for forming a hole in the mold based on the mold information; A step of determining a formation position of the hole in the mold based on the mold information; A step of forming the hole at the formation position using the cutting tool; A step of removing dust remaining in the mold from the mold; comprising; In the step of forming the hole, while the hole is being formed by the cutting tool, dust generated when the hole is formed in the mold is removed using a first nozzle extending in the axial direction of the cutting tool; In the step of removing the dust, after the hole is formed, the first nozzle and a second nozzle extending in a direction different from the axial direction are rotated around the axis of a link that supports the drive unit that drives the cutting tool, so that the tip of the second nozzle faces the mold, and the dust is removed using the second nozzle; The first nozzle has an opening provided at the tip of the first nozzle; The second nozzle has an opening provided at the tip of the second nozzle, a hole forming method.

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