Neutron removal device

Abstract

To improve core removal performance.SOLUTION: For core crushing, cores present in thin and long hole constituents 90b, 90b, 90b, and 90b are directly crushed by a drill 66, and then a cast compact 90 is struck by a hammer 64. Thus, even a core difficult to be crushed up by striking the cast compact 90 only with the hammer 64 like a core present in a thin and long hole can be effectively crushed. After the core crushing with the drill 66 and the hammer 64, a jig body 26 is oscillated to apply striking force (impact force) to the cast compact 90. Thus, the cores can be crushed more finely by bringing the cores peeled from an inner wall of the cast compact 90 or the crushed cores into collision with each other or bringing the peeled cores or the crushed cores into collision with the inner wall of the cast compact 90, and the cores can be shaken off (removed) from the cast compact 90.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a core removal device for removing a core from a casting body having a core. [Background technology]

[0002] Japanese Patent Publication No. 2017-192949 (Patent Document 1) describes a core removal device that includes a frame body, an impact unit fixed to the frame body, a vibration generating unit fixed to the frame body, and a control unit that controls the impact unit and the vibration generating unit, and that removes cores from a cast molded body by striking the cast molded body set on the frame body via a receiving stand with the impact unit while vibrating the cast molded body via the frame body with the vibration generating unit.

[0003] The core removal device uses an impact unit to crush the core and remove it from the inner wall of the cast molded body, and uses a vibration generating unit to collide the crushed cores with each other or with the inner wall of the cast molded body, so that the cores can be crushed into smaller pieces and properly removed from the cast molded body. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-192949 Summary of the Invention [Problem to be solved by the invention]

[0005] However, depending on the bonding condition between the cast molded body and the core, it may not be possible to properly remove the core from the cast molded body simply by striking and vibrating the core through the cast molded body, as in the core removal device described in the above-mentioned publication, and there is still room for improvement in terms of improving core removal performance.

[0006] The present invention has been made in view of the above, and aims to provide a technology that contributes to improving core removal performance. [Means for solving the problem]

[0007] The core removal device of the present invention employs the following means to achieve the above-mentioned object.

[0008] According to a preferred embodiment of the core removal device of the present invention, a core removal device for removing a core from a casting having a core is provided. The core removal device includes a drill, a striking unit, and a detection unit. The drill acts directly on the core to crush it. The striking unit includes: drill The core can be crushed by acting via the cast molding on the core, including the crushed core crushed by the crushing force. The detection unit has a base capable of detecting abnormalities in the drill and / or the striking unit, a swinging body supported on the base so as to be swingable between a first state and a second state, a spring connected to the base and the swinging body, and a swing detection unit capable of detecting the swinging of the swinging body. The swinging body has a first abutment portion against which the drill and / or the striking unit can abut. The spring is capable of maintaining the swinging body in the first state and has a spring force capable of returning the swinging body from the second state to the first state. Here, the "abnormality in the drill and / or the striking unit" in the present invention typically corresponds to bending or breaking of the drill and / or the striking unit, but preferably also includes a state in which the drill and / or the striking unit have been left attached (forgotten to be set).

[0009] According to the present invention, drill is applied directly to the core to crush it, and then the core is crushed by the casting molding. Striking section The drill Since the force acts on the cores, including the crushed cores, the cores can be crushed effectively, thereby improving the core removal performance. Furthermore, since only a drill is used, a structure that can directly act on the core and crush the core can be realized with a simple configuration. Also, by striking the casting body with the striking part, the core can be further crushed. This allows the core to be removed from the casting body more appropriately. Furthermore, drill and / or striking section This allows for the detection of abnormalities in drills where abnormalities have occurred. and / or striking section Crush the core by Ruko This can avoid the following: It is possible to prevent a decrease in the efficiency of core crushing work and a decrease in product quality. . Here, a detection unit capable of detecting abnormalities in the drill and / or striking unit, such as breakage of the drill and / or striking unit, or forgetting to attach the drill and / or striking unit, can be realized with a simple configuration.

[0016] drill and / or striking section According to a further embodiment of the core removal device of the present invention, which is provided with a detection unit capable of detecting abnormalities in the R L and / or striking section According to a further embodiment of the core removal device of the present invention, the first contact portion is provided with a detection portion capable of detecting an abnormality of the drill. and / or striking section The nozzle has a through hole through which the nozzle can enter.

[0017] According to this embodiment, the drill and / or striking section Abnormalities of drill and / or striking section A detection unit capable of detecting bending can be realized with a simple configuration.

[0020] According to a further embodiment of the core removal device of the present invention, the device further comprises a robot having a robot arm, and the drill and the striking unit are disposed on the robot arm.

[0021] According to this embodiment, the drill and the impact unit can be operated by a single robot, which can improve core removal performance while saving space. [Effects of the Invention]

[0028] According to the present invention, it is possible to improve the core removal performance. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a schematic diagram showing an outline of the configuration of a core removal device 1 according to an embodiment of the present invention. [Figure 2] 1 is a plan view of a core removal device 1 according to an embodiment of the present invention, viewed from above. [Figure 3] 1 is a view of a core removal device 1 according to an embodiment of the present invention, viewed from the upstream side in the conveying direction of a jig cart 4. FIG. [Figure 4] FIG. 2 is a side view of the jig cart 4 as seen from a direction perpendicular to both the conveying direction and the vertical direction. [Figure 5] 10 is an explanatory diagram showing the rotation of rails R, R arranged in a work area WA. FIG. [Figure 6] FIG. 2 is a front view of the jig carriage 4 as seen from the upstream side in the conveying direction. [Figure 7] FIG. 2 is a plan view of the jig carriage 4 seen from above. [Figure 8] FIG. 2 is a three-view diagram showing the jig carriage 4 supporting the cast body 90. [Figure 9] FIG. 2 is a side view of the working robot 6. [Figure 10] FIG. 2 is a plan view of the work robot 6. [Figure 11] FIG. 2 is an enlarged view of a main part of the robot arm 60. [Figure 12] 10A and 10B are three-view diagrams showing the outline of the configuration of a hammer chisel abnormality detection unit 17. [Figure 13] 2 is a three-view diagram showing the outline of the configuration of a drill abnormality detection unit 18. FIG. [Figure 14] FIG. 2 is a front view of the jig carriage 4 supporting the cast body 90, as viewed from the upstream side in the conveying direction. [Figure 15] 10 is an explanatory diagram showing the rotation of the sand receiving pan SP. FIG. [Figure 16] 10 is an explanatory view showing the state of engagement between a hook portion 62a and a hooking block 40a. FIG. [Figure 17] 10 is an explanatory view showing a state in which the jig body 26 is tilted. FIG. [Figure 18] 10 is an explanatory view showing the state of engagement between the hook portion 62a and the protruding piece 30c. FIG. [Figure 19] 10 is an explanatory view showing the state of engagement between a hook portion 62a and a pushing block 40b. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0030] Next, the best mode for carrying out the present invention will be described using examples. [Example]

[0031] The core removal device 1 according to an embodiment of the present invention is configured as an apparatus for removing cores from a casting molded body 90 containing a core, and as shown in Figures 1 to 3, comprises a frame 2 surrounding a work area WA, a pair of rails R, R laid inside and outside the frame 2 so as to penetrate the work area WA, a jig cart 4 arranged on the pair of rails R, R, a work robot 6 arranged adjacent to the work area WA within the frame 2, an abnormality detection unit 7 (shown only in Figure 2) arranged adjacent to the work robot 6 in the work area WA, lifters 8, 8 (shown only in Figures 1 and 3) arranged below the pair of rails R, R in the work area WA, a sand receiving pan SP (shown only in Figures 2 and 3) arranged below the pair of rails R, R in the work area WA, a sand discharge cart 10 (shown only in Figures 2 and 3) arranged adjacent to the work area WA within the frame 2, and a control unit 12 (shown only in Figure 1) that controls the entire device.

[0032] In this embodiment, for the sake of convenience, the upper side in the vertical direction (the upper side in FIG. 1) is defined as the "upper side" or "upper," and the lower side in the vertical direction (the lower side in FIG. 1) is defined as the "lower side" or "lower." Furthermore, the direction in which the jig cart 4 is transported from the setting area SA (described later) to the removal area TA via the working area WA (left direction in FIG. 1) is defined as the "transport direction." Furthermore, the right side (upper side in FIG. 2) facing the transport direction (left side in FIG. 2) is defined as the "right side" or "rightward," and the left side (lower side in FIG. 2) facing the transport direction (left side in FIG. 2) is defined as the "left side" or "leftward."

[0033] 1 and 2, a pair of rails R, R are laid inside and outside the frame 2 so that the jig cart 4 can be transported from the setting area SA outside the work area WA to the work area WA, and from the work area WA to the removal area TA outside the work area WA. The rails R, R are arranged at a predetermined height above the floor F by a plurality of supports (not shown). In other words, it can be said that there is a space below the pair of rails R, R.

[0034] As shown in Fig. 5, the rails R, R arranged in the work area WA have a fulcrum RS1 at the end on the upstream side (right side in Fig. 5) in the running direction (transport direction) of the jig cart 4, and are configured to be rotatable around the fulcrum RS1. The fulcrum RS1 extends in a direction perpendicular to both the extension direction of the rails R, R (the running direction (transport direction) of the jig cart 4) and the vertical direction.

[0035] Furthermore, a pair of beams Bm, Bm are arranged between the rails R, R arranged in the work area WA so as to connect the support columns (not shown) supporting the rails R, R (FIGS. 3 and 5). The beams Bm, Bm are arranged at a distance substantially equal to the length of the jig cart 4 along the traveling direction (transport direction, leftward in FIG. 5). More specifically, one beam Bm is arranged at a position corresponding to the front end (left end in FIG. 1) of a car body 40 (described later) of the jig cart 4, and the other beam Bm is arranged at a position corresponding to the rear end (right end in FIG. 1) of the car body 40. That is, when the jig cart 4 reaches the work area WA, one beam Bm is located directly below the front end of the car body 40, and the other beam Bm is located directly below the rear end of the car body 40. As shown in FIG. 14, the beams Bm, Bm each have a pair of stopper blocks SB1, SB2.

[0036] The stopper block SB1 is arranged on the rail R arranged on the left side (left side in FIG. 14) in the running direction (transport direction, direction perpendicular to the paper surface in FIG. 14) of the jig cart 4, i.e., on the side of the rail R with which a wheel 42L (described later) of the jig cart 4 engages, and the stopper block SB2 is arranged on the rail R arranged on the right side (right side in FIG. 14) in the running direction (transport direction, direction perpendicular to the paper surface in FIG. 14) of the jig cart 4, i.e., on the side of the rail R with which a wheel 42R (described later) of the jig cart 4 engages. The distance between the stopper blocks SB1 and SB2 is greater than the width dimension (left-right dimension in the running direction (transport direction) of the jig cart 4) of the car body 40 of the jig cart 4. The stopper blocks SB1 and SB2 have notches Nt1 and Nt2 on their surfaces facing each other. The notches Nt1, Nt2 have a substantially C-shape when viewed from the running direction (transport direction, a direction perpendicular to the paper surface in FIG. 14) of the jig cart 4, and penetrate in the running direction (transport direction, a direction perpendicular to the paper surface in FIG. 14) of the jig cart 4. The upper surfaces (upper surfaces in FIG. 14) of the notches Nt1, Nt2 are set at positions where stopper bars 41, 41 of the car body 40 (described later) come into contact when the wheels 42L, 42R of the jig cart 4 are disengaged from the rails R, R and the wheels 42L, 42R are spaced a predetermined distance from the rails R, R when the jig cart 4 is raised (upward in the vertical direction).

[0037] As shown in Figures 4, 6 to 8, the jig cart 4 has a body 40, four pairs of left and right wheels 42R, 42L rotatably supported on the body 40, and a jig 20 fixed to the body 40.

[0038] As shown in FIGS. 4, 6 to 8, the vehicle body 40 has a hooking block 40a and a pushing block 40b that can be engaged with a hooking portion 62a (described later) of the work robot 6, a front sand collection plate 40c, a rear sand collection plate 40d, and stopper bars 41, 41. The hooking block 40a is located at the front right corner in the running direction (transport direction) of the jig cart 4. The pushing block 40b is located at the rear right corner in the running direction (transport direction) of the jig cart 4. As shown in FIG. 4, the front sand collection plate 40c is inclined upward in the running direction (transport direction, leftward in FIG. 4) of the jig cart 4. The rear sand collection plate 40d is inclined downward in the running direction (transport direction, leftward in FIG. 4) of the jig cart 4. In other words, the front sand collection plate 40c and the rear sand collection plate 40d have a downward slope as they approach each other. As shown in FIGS. 4 and 8, the stopper bars 41 are fixed to the downward (downward in FIG. 4) surface (the surface facing the floor) of the vehicle body 40. The stopper bars 41 are located at the front end (the front end in the traveling direction (transport direction) of the jig cart 4) and the rear end (the rear end in the traveling direction (transport direction) of the jig cart 4) of the vehicle body 40, respectively. Furthermore, as shown in FIG. 6, the stopper bars 41 have a length greater than the width dimension (the dimension in the left-right direction in the traveling direction (transport direction) of the jig cart 4) of the vehicle body 40. In other words, the stopper bars 41 protrude beyond the vehicle body 40 when viewed from one side in the traveling direction (transport direction) of the jig cart 4.

[0039] 4, 6 and 7, jig 20 has a fixed plate 22, a plurality of elastic bodies (e.g., rubber) 24a, 24a, 24b, 24b, 24b integrated with fixed plate 22, and a jig main body 26 connected to fixed plate 22 via the elastic bodies (e.g., rubber) 24a, 24a, 24b, 24b, 24b. Jig 20 is an example of an embodiment corresponding to the "second core crushing unit" and "vibration unit" of the present invention.

[0040] As shown in FIGS. 4, 6, and 7, the fixed plate 22 is configured as a flat plate that is approximately rectangular in plan view, and is fixed to the vehicle body 40 by fastening members (not shown) such as bolts. The fixed plate 22 also has a stopper block 23. The stopper block 23 is fixed to the fixed plate 22 by fastening members (not shown) such as bolts. As shown in FIGS. 6 and 7, the stopper block 23 is located on the left side in the running direction (transport direction, left direction in FIG. 7) of the jig cart 4, and is disposed approximately in the center of the running direction (transport direction, left direction in FIG. 7) of the jig cart 4. The stopper block 23 has a stopper pin 23a. The stopper pin 23a protrudes to the right side in the running direction (transport direction, left direction in FIG. 7) of the jig cart 4. The stopper block 23 is an example of an embodiment corresponding to a "striking unit" in the present invention.

[0041] As shown in FIG. 6, the elastic bodies 24a, 24a, 24a are disposed at positions closer to the wheel 42L, and the elastic bodies 24b, 24b, 24b are disposed at positions closer to the wheel 42R.

[0042] 4, 6, and 7, the jig body 26 includes a base plate 28, a support arm 30, and a block body 32. The jig body 26 is an example of a feature that corresponds to a “support portion” of the present invention.

[0043] 4 and 6, the base plate 28 is configured as a flat plate that is generally rectangular in plan view. The base plate 28 is slightly smaller than the fixed plate 22 and is arranged on the fixed plate 22 so as to be generally concentric in plan view. The base plate 28 is connected to the fixed plate 22 via elastic bodies (e.g., rubber) 24a, 24a, 24a, 24b, 24b, 24b, and is able to swing relative to the fixed plate 22 within the elastic range of the elastic bodies 24a, 24a, 24a, 24b, 24b, 24b.

[0044] The support arm 30 has a front support arm 30a and a rear support arm 30b, and is fixed to the base plate 28 by fastening members (not shown) such as bolts. As shown in FIGS. 6 and 7, the front support arm 30a and the rear support arm 30b are arranged on the right side in the running direction of the jig cart 4 (transport direction, left direction in FIG. 7). The front support arm 30a is arranged on the front side in the running direction of the jig cart 4 (transport direction, left direction in FIG. 7), and the rear support arm 30b is arranged on the rear side in the running direction of the jig cart 4 (transport direction, left direction in FIG. 7). As shown in FIGS. 4 and 6, the support arm 30 has a protruding piece 30c that can be engaged with a hook portion 62a (described later) of the work robot 6.

[0045] As shown in Fig. 6, the block body 32 is configured so that a casting 90 can be placed on its upper end surface, and is fixed to the base plate 28 with fastening members (not shown) such as bolts. As shown in Figs. 6 and 7, the block body 32 is disposed on the left side in the running direction (transport direction, leftward in Fig. 7) of the jig cart 4, and approximately in the center of the running direction (transport direction, leftward in Fig. 7) of the jig cart 4. This positions the block body 32 opposite the stopper block 23, more specifically, the stopper pin 23a. The block body 32 is an example of a feature that corresponds to the "striking unit" of the present invention.

[0046] The jig cart 4 configured in this manner transports the cast molding 90 from outside the work area WA to the work area WA, and from the work area WA to outside the work area WA, while supporting the cast molding 90 with the support arm 30 and the block body 32, as shown in Figure 8.

[0047] As shown in Figures 9 and 10, the work robot 6 has a robot arm 60, and a hammer 64 and a drill 66 fixed to the robot arm 60 via a bracket 62. As shown in Figure 11, the bracket 62 has a hook portion 62a that is generally L-shaped in side view. As shown in Figures 10 and 11, the hammer 64 has a hammer chisel 64a. The work robot 6 corresponds to the "robot" and "vibration unit" of the present invention, and the hammer 64 is an example of an embodiment corresponding to the "second core crushing unit" and "striking unit" of the present invention. Furthermore, the drill 66 is an example of an embodiment corresponding to the "first core crushing unit" of the present invention.

[0048] As shown in Fig. 2, the abnormality detection unit 7 has a hammer chisel abnormality detection section 17 and a drill abnormality detection section 18. The abnormality detection unit 7 is disposed upstream (on the right side in Fig. 2) of the work robot 6 in the running direction (transport direction) of the jig cart 4. The drill abnormality detection section 18 is an example of an embodiment corresponding to the "detection section" of the present invention.

[0049] As shown in Figure 12, the hammer chisel abnormality detection unit 17 has a support plate 170, a rocking body 172 supported on the support plate 170 so that it can rock, a pair of coil springs SPR, SPR that connect the support plate 170 and the rocking body 172, and a proximity switch 174 fixed to the support plate 170.

[0050] The support plate 170 is a plate-like member having a main surface 170a and a back surface 170b, and is fixed to a base (not shown) installed on the floor F. The support plate 170 has a stopper pin 171a and a spring locking pin 171b. The stopper pin 171a is disposed on the main surface 170a. The stopper pin 171a is perpendicular to the main surface 170a. The spring locking pin 171b is disposed on the main surface 170a and the back surface 170b. In other words, it can be said that the spring locking pin 171b passes through the stopper pin 171a. The spring locking pin 171b is perpendicular to the main surface 170a and the back surface 170b.

[0051] As shown in FIG. 12, the rocker 172 has a contact portion 172a and a main body portion 172b integrated with the contact portion 172a, and is supported by the support plate 170 via a support shaft 173 so as to be rockable. The contact portion 172a has an insertion hole 1721a through which the hammer chisel 64a can be inserted. The main body portion 172b has a first extension piece 1721b and a second extension piece 1722b arranged parallel to the first extension piece 1721b and spaced a predetermined distance apart. The main body portion 172b has a generally U-shape in plan view and a generally inverted V-shape in side view (when viewed from one side in the axial direction of the support shaft 173). The first extension piece 1721b is longer than the second extension piece 1722b. The first extension piece 1721b has a spring locking pin 175a. The second extending piece 1722b has a spring locking pin 175b. The spring locking pins 175a, 175b are arranged closer to the extending ends (the ends opposite to the side where the abutting portion 172a is arranged) of the first extending piece 1721b and the second extending piece 1722b with respect to the support shaft 173. The abutting portion 172a is an example of a configuration that corresponds to the "first abutting portion" of this invention.

[0052] 12, the coil springs SPR, SPR are locked to spring locking pin 171b and spring locking pins 175a, 175b. Specifically, one end of one coil spring SPR is locked to spring locking pin 171b and the other end is locked to spring locking pin 175a, while one end of the other coil spring SPR is locked to spring locking pin 171b and the other end is locked to spring locking pin 175b. As a result, the coil springs SPR, SPR apply a spring force to the oscillator 172 in a direction that causes the oscillator 172 to swing clockwise.

[0053] 12, the proximity switch 174 is supported on the support plate 170 so that the detection surface 174a faces the first extension piece 1721b. As a result, when the oscillator 172 oscillates, the detection surface 174a faces the first extension piece 1721b.

[0054] When the hammer chisel abnormality detection unit 17 configured in this manner is set, i.e., before detecting an abnormality in the hammer chisel 64a, the coil springs SPR, SPR cause the first extension piece 1721b to swing until it abuts the stopper pin 171a, and the first extension piece 1721b does not face the detection surface 174a of the proximity switch 174. In other words, on a virtual projection plane when viewed from one side in the axial direction of the support shaft 173, the first extension piece 1721b and the detection surface 174a do not overlap (solid line in FIG. 12). In this state, the axial direction of the insertion hole 1721a is parallel to the vertical direction (solid line in FIG. 12).

[0055] The drill abnormality detection unit 18 basically has the same configuration as the hammer chisel abnormality detection unit 17, except that the oscillating body 172 is replaced with an oscillating body 182. Therefore, the same parts of the drill abnormality detection unit 18 as those in the hardware configuration of the hammer chisel abnormality detection unit 17 are given the same reference numerals, and detailed explanations thereof will be omitted.

[0056] 13, the drill abnormality detection unit 18 has a support plate 170, a swinging body 182 swingably supported on the support plate 170, a pair of coil springs SPR, SPR connecting the support plate 170 and the swinging body 182, and a proximity switch 174 fixed to the support plate 170. The support plate 170 corresponds to the "base" in the present invention, and the proximity switch 174 is an example of an embodiment corresponding to the "swing detection unit" in the present invention. Furthermore, the coil springs SPR, SPR are an example of an embodiment corresponding to the "spring" in the present invention.

[0057] 13, the oscillator 182 has an abutment portion 182a and a main body portion 172b integrated with the abutment portion 182a, and is supported by the support plate 170 via a support shaft 173 so as to be able to oscillate. The abutment portion 182a has an insertion hole 1821a through which the drill 66 can be inserted. In other words, it can be said that the oscillator 182 has the same configuration as the oscillator 172, except that the abutment portion 172a is replaced with the abutment portion 182a. The abutment portion 182a corresponds to the "drill entry portion" of the present invention, and the insertion hole 1821a is an example of an embodiment corresponding to the "through hole" of the present invention.

[0058] When the drill abnormality detection unit 18 configured as described above is in the set state, i.e., before detecting an abnormality in the drill 66, the coil springs SPR, SPR cause the first extension piece 1721b to swing until it abuts against the stopper pin 171a, and the first extension piece 1721b does not face the detection surface 174a of the proximity switch 174. That is, on a virtual projection plane viewed from one side in the axial direction of the support shaft 173, the first extension piece 1721b and the detection surface 174a do not overlap (solid line in FIG. 13). In this state, the axial direction of the insertion hole 1821a is parallel to the vertical direction (solid line in FIG. 13). The state of the oscillator 182 before detecting an abnormality in the drill 66 is an example of an embodiment corresponding to the “first state” of the present invention.

[0059] As shown in Fig. 14, each lifter 8 has a hydraulic cylinder 80 arranged on the beams Bm, a pair of guides 82 also arranged on the beams Bm, and an abutment plate 84 connected to the hydraulic cylinder 80 and the pair of guides 82. The lifters 8 are arranged between a pair of stopper blocks SB1, SB2. The guides 82 are arranged to sandwich the hydraulic cylinder 80. The abutment plate 84 can abut against the stopper bars 41 from below (below in Fig. 14).

[0060] As shown in FIG. 2, the sand receiving pan SP is disposed directly below the jig cart 4 set in the work area WA. As shown in FIG. 15, the sand receiving pan SP has a fulcrum RS2 at one end (the left end in FIG. 15) in the extension direction (the left-right direction in FIG. 15), and is configured to be rotatable around the fulcrum RS2. The fulcrum RS2 is disposed at the upper ends of a pair of support columns St, St (see also FIG. 2) disposed in the work area WA. The fulcrum RS2 extends parallel to the extension direction of the rails R, R (the running direction (transport direction) of the jig cart 4). The support columns St, St are disposed in a position corresponding to the front end of the sand discharge cart 10 set in the work area WA.

[0061] 2 and 15, the sand discharge cart 10 is placed in the work area WA with its front end abutting against the supports St, St. In other words, the supports St, St can be said to function as stoppers for the sand discharge cart 10.

[0062] The control unit 12 is configured as a microprocessor centered around a CPU, and in addition to the CPU, is equipped with a ROM for storing processing programs, a RAM for temporarily storing data, an input / output port, and a communication port. The control unit 12 receives, via the input port, an arrival signal from a sensor 70 that detects the arrival of the jig cart 4 in the work area WA, a setting completion signal indicating that the casting body 90 has been set on the jig cart 4, an on / off signal from a proximity switch 174, and a removal completion signal indicating that the casting body 90 has been removed from the jig cart 4. The control unit 12 also outputs, via the output port, drive signals for the work robot 6 and the lifters 8, 8.

[0063] Next, the operation of the core removal device 1 configured as described above will be described, particularly the operation when removing a core from a cast body 90 by swinging the jig 20. First, an operator sets the cast body 90 on the jig cart 4 arranged in the setting area SA (FIGS. 1 and 2). When the CPU of the control unit 12 receives a setting completion signal indicating that the cast body 90 has been set on the jig cart 4, it outputs a drive signal to the work robot 6 to retract the jig cart 4 on which the cast body 90 has been set from the setting area SA into the work area WA. Here, the setting completion signal may be output by the operator pressing a setting completion button when the setting of the cast body 90 on the jig cart 4 is complete, or by the operator closing the door of the setting area SA when the setting of the cast body 90 on the jig cart 4 is complete. The work robot 6 transports (pulls in) the jig cart 4 by engaging the hook portion 62a of the bracket 62 fixed to the robot arm 60 with the hook block 40a of the jig cart 4, as shown in FIG.

[0064] When the jig cart 4 on which the casting 90 is set is placed in the work area WA by the work robot 6, an arrival signal is output from the sensor 70. Upon receiving the arrival signal, the CPU of the control unit 12 outputs a drive signal to the lifters 8, 8 to raise the jig cart 4. The lifters 8, 8 raise the jig cart 4 until the stopper bars 41, 41 of the jig cart 4 abut against the upper surfaces of the notches Nt1, Nt2 of the stopper blocks SB1, SB2, as shown in FIG. 17. This fixes the jig cart 4 in a clamped state between the lifters 8, 8 (specifically, the abutment plate 84) and the stopper blocks SB1, SB2. As the jig cart 4 is raised in this manner, the wheels 42R, 42L are disengaged from the rails R, R.

[0065] Next, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to check for abnormalities in the hammer chisel 64a and the drill 66. This causes the work robot 6 to first operate so that the drill 66 abuts against the insertion hole 1821a of the drill abnormality detection unit 18. If the drill 66 is not broken or has not been left attached to the drill body, the drill 66 abuts against the abutment portion 182a. This causes the oscillating body 182 to swing counterclockwise until the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, turning on the proximity switch 174. As a result, it is possible to detect whether the drill 66 is broken or has been left attached to the drill body. On the other hand, if the drill 66 is broken or has been left attached to the drill body, the drill 66 does not abut against the abutment portion 182a, and the oscillating body 182 does not swing. Therefore, the proximity switch 174 remains off, which makes it possible to detect that the drill 66 has not broken or that the drill 66 has not been left attached to the drill body.

[0066] After checking whether the drill 66 is broken or whether the drill 66 has been left attached to the drill body, the work robot 6 operates to insert the drill 66 into the insertion hole 1821a. If the drill 66 is not bent, the drill 66 is inserted into the insertion hole 1821a and the swinging body 182 does not swing. Therefore, the proximity switch 174 remains off, which makes it possible to detect that the drill 66 is not bent. On the other hand, if the drill 66 is bent, the drill 66 is not inserted into the insertion hole 1821a and at least a portion of the drill 66 abuts, for example, against the abutment portion 182a. This causes the swinging body 182 to swing counterclockwise until the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, which turns on the proximity switch 174. As a result, it is possible to detect that the drill 66 is bent. The state in which the oscillator 182 is swung counterclockwise to a position where the first extension piece 1721b faces the detection surface 174a of the proximity switch 174 is an example of an embodiment corresponding to the "second state" of the present invention.

[0067] Once the drill abnormality detection unit 18 has completed detecting an abnormality in the drill 66, the work robot 6 then operates to bring the hammer chisel 64a into contact with the contact portion 172a of the hammer chisel abnormality detection unit 17. Here, if the hammer chisel 64a is not broken or has not been left attached to the hammer body, the hammer chisel 64a will come into contact with the contact portion 172a. This causes the oscillator 172 to oscillate counterclockwise to a position where the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, turning on the proximity switch 174. As a result, it is possible to detect whether the hammer chisel 64a is broken or has been left attached to the hammer body. On the other hand, if the hammer chisel 64a is broken or the hammer chisel 64a has been forgotten to be attached to the hammer body, the hammer chisel 64a will not come into contact with the abutment portion 172a and the swinging body 172 will not swing. Therefore, the proximity switch 174 will remain off, and it can be detected that the hammer chisel 64a has not been broken or forgotten to be attached to the hammer body.

[0068] After checking whether the hammer chisel 64a is broken or whether the hammer chisel 64a has been left attached to the hammer body in this way, the work robot 6 operates to insert the hammer chisel 64a into the insertion hole 1721a of the hammer chisel abnormality detection unit 17. If the hammer chisel 64a is not bent, the hammer chisel 64a is inserted into the insertion hole 1721a, and the swinging body 172 does not swing. Therefore, the proximity switch 174 remains off, which makes it possible to detect that the hammer chisel 64a is not bent. On the other hand, if the hammer chisel 64a is bent, the hammer chisel 64a is not inserted into the insertion hole 1721a, and at least a portion of the hammer chisel 64a comes into contact with, for example, the abutment portion 172a. As a result, the oscillator 172 is swung counterclockwise until the first extending piece 1721b faces the detection surface 174a of the proximity switch 174, turning on the proximity switch 174. As a result, it is possible to detect that the hammer chisel 64a is bent.

[0069] As described above, according to this embodiment, an abnormality in the drill 66 or the hammer chisel 64a is detected before the core crushing operation using the drill 66 or the hammer chisel 64a, so the core crushing operation will not be performed using the drill 66 or the hammer chisel 64a in which an abnormality has occurred. This makes it possible to prevent a decrease in the efficiency of the core crushing operation and a decrease in product quality.

[0070] After confirming that no abnormalities have occurred in the drill 66 or the hammer chisel 64a, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to cause the drill 66 and hammer 64 to crush the core of the cast compact 90. As a result, the work robot 6 first uses the drill 66 to drill the hole-forming portions 90b, 90b, 90b, 90b (see FIGS. 14 and 17) of the cast compact 90, and then uses the hammer 64 to strike the riser portions 90a, 90a, 90a, 90a (see FIGS. 14 and 17) that are provided in a convex shape on the cast compact 90. This crushes the core, allowing most of the core to be separated from the inner wall of the cast compact 90. In this way, cores present in elongated holes such as the hole forming portions 90b, 90b, 90a, 90b, 90b are directly crushed by the drill 66, and then the cast compact 90 is struck by the hammer 64. Therefore, even cores that cannot be crushed by simply striking the cast compact 90 with the hammer 64, such as cores present in elongated holes such as the hole forming portions 90b, 90b, 90b, 90b, can be effectively crushed. This improves core removal performance. Cores present in the hole forming portions 90b, 90b, 90b, 90b that are crushed by the drill 66 are an example of an embodiment that corresponds to a "crushed core" in this invention.

[0071] When core crushing by the drill 66 and hammer 64 is complete, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to check again for abnormalities in the drill 66 and hammer chisel 64a. Since the detection of abnormalities in the drill 66 and hammer chisel 64a has been described above, a description thereof will be omitted here.

[0072] After checking for any abnormalities in the drill 66 and the hammer chisel 64a in this way, a drive signal is output to the work robot 6 to tilt the jig body 26. As a result, the work robot 6 engages the hook portion 62a with the protruding piece 30c of the jig body 26, as shown in FIG. 18, and pulls the jig body 26 in a direction in which the block body 32 moves away from the stopper block 23 (FIG. 17). At this time, a tensile force acts on the elastic bodies 24a, 24a, 24a, and the elastic bodies 24a, 24a, 24a are stretched (FIG. 17). The pulling of the jig body 26 by the work robot 6 is performed within the elastic range of the elastic bodies 24a, 24a, 24a, 24b, 24b, 24b.

[0073] After the jig body 26 has been pulled in this manner until the block body 32 is a predetermined distance away from the stopper block 23, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to disengage the hook 62a from the protrusion 30c. This disengages the hook 62a from the protrusion 30c, and the restoring force of the elastic bodies 24a causes the block body 32 to swing toward the stopper block 23, i.e., the jig body 26 to return to its original position. At this time, the jig body 26 attempts to tilt beyond its original position due to inertia (in the opposite direction from the pulling direction by the work robot 6 relative to its original position), but this tilting is prevented by the collision of the block body 32 with the stopper block 23. Then, due to the reaction force of the collision of the block body 32 with the stopper block 23, the jig body 26 tilts again in the same direction as the pulling direction by the work robot 6. Thereafter, the swinging of the block body 32 accompanied by collision with the stopper block 23 is repeated until the vibration of the jig body 26 caused by the elastic bodies 24a converges. The swinging of the jig body 26 accompanied by this collision causes the cores peeled off from the inner wall of the cast compact 90 including the hole forming portions 90b, 90b, 90b, 90b, to collide with each other, or the peeled off cores and crushed cores to collide with the inner wall of the cast compact 90, thereby crushing the cores into smaller pieces and shaking off (removing) the cores from the cast compact 90.

[0074] Then, when the core removal operation from the casting molded body 90 by swinging the jig body 26 is completed, the CPU of the control unit 12 outputs a drive signal to the lifters 8, 8 to lower the jig cart 4. This engages the wheels 42R, 42L with the rails R, R. Next, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to push the jig cart 4 from the work area WA to the removal area TA. The transport (pushing) of the jig cart 4 by the work robot 6 is performed by pressing the push-out block 40b of the jig cart 4 with the hook portion 62a of the bracket 62 fixed to the robot arm 60, as shown in FIG.

[0075] When the jig cart 4 is placed in the take-out area TA by the work robot 6, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to dump the core sand collected in the sand receiving pan SP into the sand discharge cart 10. As a result, the work robot 6 first rotates the rails R, R arranged in the work area WA clockwise around fulcrum RS1 as shown in FIG. 5 (two-dot chain line in FIG. 5), and then rotates the sand receiving pan SP counterclockwise around fulcrum RS2 as shown in FIG. 15 (two-dot chain line in FIG. 15). In this way, the core sand in the sand receiving pan SP is dumped into the sand discharge cart 10. Once the dumping of the core sand into the sand discharge cart 10 is complete, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to perform the reverse operation of the operation used to dump the core sand collected in the sand receiving pan SP into the sand discharge cart 10. As a result, the work robot 6 rotates the sand receiving pan SP clockwise around fulcrum RS2 so that the sand receiving pan SP returns to its original position (solid line in FIG. 15), and then rotates the rails R, R arranged in the work area WA counterclockwise around fulcrum RS1 (solid line in FIG. 5). The cast compact 90 set on the jig cart 4 arranged in the removal area TA is removed by a worker and placed on a pallet (not shown).

[0076] According to the core removal device 1 of the embodiment of the present invention described above, cores present in elongated holes such as the hole forming portions 90b, 90b, 90b, 90b are directly crushed with the drill 66, and then the cast compact 90 is struck with the hammer 64. This makes it possible to effectively crush cores that cannot be crushed by simply striking the cast compact 90 with the hammer 64, such as cores present in elongated holes such as the hole forming portions 90b, 90b, 90b, 90b. Furthermore, after crushing the cores with the drill 66 and the hammer 64, the jig body 26 is swung to apply an impact force to the cast compact 90. This causes cores peeled off from the inner wall of the cast compact 90, crushed cores to collide with each other, or the peeled or crushed cores to collide with the inner wall of the cast compact 90, thereby crushing the cores into smaller pieces and shaking off (removing) the cores from the cast compact 90. This allows the cores to be crushed effectively, improving the core removal performance.

[0077] Furthermore, with the core removal device 1 according to the embodiment of the present invention, an abnormality in the drill 66 or hammer chisel 64a is detected before the core crushing operation using the drill 66 or hammer 64, so the core crushing operation will not be performed using the abnormal drill 66 or hammer chisel 64a. This makes it possible to prevent a decrease in the efficiency of the core crushing operation and a decrease in product quality.

[0078] Furthermore, according to the core removal device 1 of the embodiment of the present invention, the hammer chisel abnormality detection unit 17 and the drill abnormality detection unit 18 are composed of a support plate 170, swinging bodies 172, 182 supported on the support plate 170 so that they can swing, a pair of coil springs SPR, SPR connecting the support plate 170 and the swinging body 182, and a proximity switch 174 fixed to the support plate 170, so that abnormalities in the hammer chisel 64a and the drill 66 can be detected with a simple configuration.

[0079] In this embodiment, the drill 66 is used as the tool that acts directly on the core, but this is not limiting. For example, a chipping hammer may also be used.

[0080] In this embodiment, a setting area SA and an unloading area TA are provided, and the worker transports the cast body 90 from the setting area SA to the unloading area TA via the work area WA. However, this is not a limitation. For example, instead of the setting area SA and the unloading area TA of this embodiment, multiple setting and unloading areas may be provided, and the cast body 90 may be transported back and forth between the setting and unloading areas and the work area WA. That is, in the setting and unloading area, the cast body 90 is set on the jig cart 4, and the jig cart 4 with the cast body 90 set thereon is transported from the setting area SA to the work area WA. When the work in the work area WA (core removal work) is completed, the jig cart 4 with the cast body 90 set thereon is transported back to the setting and unloading area, and the cast body 90 is removed from the jig cart 4 in the setting and unloading area. In this case, while work (core removal work) is being performed in the work area WA, another cast molded body 90 may be set on another jig cart 4 in another set removal area, and the jig cart 4 that has completed work (core removal work) in the work area WA may be transported back to the original set removal area, and at the same time, another jig cart 4 with the cast molded body 90 set on it may be transported to the work area WA. With this configuration, the cast molded body 90 can be transported efficiently to the work area WA, thereby shortening the work time.

[0081] The present embodiment shows an example of a mode for carrying out the present invention, and therefore the present invention is not limited to the configuration of the present embodiment. [Explanation of symbols]

[0082] 1 Core removal device (core removal device) 2 frame 4 Jig cart 6. Working robot (robot, vibration part) 7 Anomaly Detection Unit 8 Lifter 10 Sand removal cart 12 Control Unit 17 Hammer chisel abnormality detection unit 18 Drill abnormality detection unit (detection unit) 20 Jig (second core crushing section, vibration section) 22 Fixing plate 23 Stopper block (striking part) 23a Stopper pin (striking part) 24a Elastic body 24b Elastic body 26 Jig body (support part) 28 Base Plate 30 Support Arm 30a Front support arm 30b Rear support arm 30c protruding piece 32 Block body (striking part) 40 Body 40a Hooking block 40b Extrusion block 40c Front sand collection plate 40d Rear sand collection plate 41 Stopper bar 42R wheels 42L wheels 60 Robot Arm (Robot Arm) 62 Bracket 62a Hook portion (engagement portion) 64 Hammer (second core crushing part, striking part) 64a Hammer Chisel 66 Drill (first core crushing part, drill) 70 sensors 80 Hydraulic Cylinder 82 Guide 84 Contact plate 90 Casting molding (casting molding) 90a Riser section 90b Hole component 170 Support plate (base) 170a surface 170b back side 171a Stopper pin 171b Spring locking pin 172 Oscillator (Oscillator) 172a Contact part 172b Main body 173 Support shaft 174 Proximity switch (oscillation detection unit) 174a Detection surface 175a Spring locking pin 175b Spring locking pin 182 Oscillator (Oscillator) 182a Contact part (1st contact part) 1721a Insertion hole 1721b 1st extension piece 1722b 2nd extension piece 1821a Insertion hole (through hole) WA Work Area SA Set Area TA removal area R rail SP Sand Pan F Floor RS1 fulcrum RS2 fulcrum Bm beam SB1 Stopper Block SB2 stopper block Nt1 notch Nt2 notch St pillar SPR coil spring

Claims

1. A core removal device for removing a core from a casting body having a core, a drill capable of directly acting on the core to break the core; a striking section that acts on the core, including the crushed core crushed by the drill, via the cast compact, thereby crushing the core; a detection unit capable of detecting an abnormality in the drill and / or the impact unit; Equipped with the detection unit includes a base, a swinging body supported on the base so as to be swingable between a first state and a second state, a spring connected to the base and the swinging body, and a swing detection unit capable of detecting swing of the swinging body, the swinging body has a first abutment portion with which the drill and / or the striking portion can abut, The spring has a spring force capable of maintaining the oscillator in the first state and returning the oscillator in the second state to the first state. Core removal device.

2. The first contact portion has a through hole through which the drill and / or the striking portion can enter. The core removal device of claim 1.

3. further comprising a robot having a robotic arm; The drill and the striking part are disposed on the robot arm. The core removal device according to claim 1 or 2.

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