Neutron removal device

Abstract

To effectively apply a striking force to an object to be struck.SOLUTION: A concave portion 167 is provided in a striking portion 168b of a hammer chisel 168. Accordingly, when striking feeder head portions 90a, 90a, 90a, 90a with the striking portion 168b, the slippage between the striking portion 168b and the feeder head portions 90a, 90a, 90a, 90a can be well suppressed. As a result, an impact force transmitted through the hammer chisel 168 can be effectively applied to the feeder head portions 90a, 90a, 90a, 90a.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present invention relates to a striking device for striking an object to be struck and a neutron removal device provided with the same.

Background Art

[0002] Japanese Patent Application Laid-Open No. 7-314125 (Patent Document 1) describes a striking device including a main body portion having a hollow portion, a piston disposed slidably in the hollow portion in the extending direction of the hollow portion, a chisel at least partially disposed slidably in the hollow portion in the extending direction of the hollow portion, and a chisel spring connecting the main body portion and the chisel.

[0003] The striking device presses the piston by pressurized air supplied to the hollow portion, and uses the pressing force of the pressed piston to push out the chisel, thereby striking the object to be struck through the chisel.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, when the chisel and the contact portion where the chisel of the object to be struck abuts can be in surface contact, the striking force from the chisel effectively acts on the object to be struck. However, when it is difficult for the chisel and the contact portion to be in surface contact, for example, when there is a convex portion on the contact portion, during striking, slippage may occur between the chisel and the contact portion, etc., and the striking force of the chisel may not effectively act on the object to be struck. The striking device described in the above-mentioned publication does not mention anything about this point, and there is still room for improvement in terms of effectively applying the striking force.

[0006] This invention has been made in view of the above, and aims to provide a technology that contributes to the effective application of striking force. [Means for solving the problem]

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

[0008] According to a preferred embodiment of the striking device of the present invention, Cast body having a convex riser portion A striking device is constructed to strike the object. The striking device comprises a main body having a hollow section, a piston slidably positioned in the hollow section in the direction of extension of the hollow section, and one end in the longitudinal direction. and having an end that can contact the pressing part, which can engage with the pressing part Having a recess In addition, at least a portion of the piston is positioned in a hollow section so that it can slide longitudinally based on the sliding motion of the piston. It is equipped with a chisel. .blood Zel, The device comprises a shaft portion having a male thread, a striking portion having a first female thread that can engage with the male thread, and a loosening prevention nut having a second female thread that can engage with the male thread. The first female thread has a first tapered surface at its opening. The loosening prevention nut has a projection that protrudes toward one side in the axial direction, and a single slit that penetrates the loosening prevention nut in the radial and axial directions. The projection has a second tapered surface that can contact the first tapered surface. The second tapered surface has an outer diameter greater than or equal to the inner diameter of the first tapered surface.

[0009] According to the present invention, the chisel has one end in the longitudinal direction of the chisel, that is, riser section of a cast body Because it has a recess at the end that can come into contact with it ,blood Zel Pressing part When striking, the concave part protrudes Pressed hot water Engage with the part, the chisel and Pressing part This suppresses the occurrence of slippage between the two parts. This reduces the impact force of the chisel. Pressing part It can be made to act effectively. Furthermore, since the striking part is detachable from the shaft, if the striking part wears out or breaks due to striking the object to be struck, only the striking part can be replaced, which is practical. Moreover, the anti-loosening nut effectively prevents the striking part from loosening relative to the shaft. Since only a first tapered surface is provided on the striking part and a slit and a second tapered surface are provided on the anti-loosening nut, the anti-loosening configuration of the striking part can be easily realized. In addition, since the striking part is the riser portion of the cast body that does not remain as a finished product, a deterioration in product quality can be prevented.

[0012] According to a preferred embodiment of the core removal device of the present invention, a core removal device is configured to remove a core from a cast body having a core. The core removal device is equipped with a striking device according to the present invention as described above. The core removal device is equipped with a chisel with one end in the longitudinal direction Pressing part The core is removed from the cast body by striking it.

[0013] According to the present invention, the striking device is equipped with any of the above-described embodiments of the present invention, and the chisel of the striking device strikes the cast body to remove the core from the cast body. Therefore, it is possible to achieve the same effects as the striking device according to the present invention in any of the above-described embodiments, for example, the effect of being able to effectively apply the striking force of the chisel to the cast body as the object to be struck. This makes it possible to properly remove the core from the cast body.

[0014] A further embodiment of the core removal device according to the present invention further includes a detection unit capable of detecting abnormalities in the chisel. Here, "abnormality in the chisel" in the present invention typically refers to bending or breaking of the chisel, but preferably includes a state in which the chisel is not attached to the main body (a state in which it is not set).

[0015] According to this embodiment, since abnormalities in the chisel can be detected, it is possible to prevent the cast body from being struck by a chisel with an abnormality. For example, if the abnormality of the chisel is a bend in the chisel, the reduction in the striking force against the cast body can be suppressed. As a result, the reduction in core removal performance can be suppressed. In addition, if the abnormality of the chisel is a break in the chisel or if the chisel is not attached to the main body, it is possible to prevent improper striking (miss) of the cast body.

[0016] A further embodiment of the core removal device according to the present invention, which includes a detection unit capable of detecting abnormalities in the chisel, comprises a base, a swinging body supported on the base so as to swing 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 contact portion to which the chisel can make contact. The spring has a spring force capable of maintaining the swinging body in the first state and returning the swinging body from the second state to the first state.

[0017] According to this embodiment, a detection unit capable of detecting abnormalities in the chisel, such as the chisel breaking or the chisel being left unattached to the main body, can be realized with a simple configuration.

[0018] According to a further aspect of the neutron removal device according to the present invention in an embodiment provided with a detection unit capable of detecting an abnormality of the chisel, the first contact portion has a through-hole into which the chisel can enter.

[0019] According to this embodiment, a detection unit capable of detecting the bending of the chisel among the abnormalities of the chisel can be realized with a simple configuration.

[0020] According to a further aspect of the neutron removal device according to the present invention, it further includes a robot having a robot arm. And the striking device is fixed to the robot arm.

[0021] According to this embodiment, the cast molded body can be automatically struck.

Effect of the Invention

[0024] According to the present invention, a striking force can be effectively applied to the object to be struck.

Brief Description of the Drawings

[0025] [Figure 1] It is a schematic configuration diagram showing the schematic configuration of the neutron removal device 1 according to an embodiment of the present invention. [Figure 2] It is a plan view of the neutron removal device 1 according to an embodiment of the present invention as viewed from above. [Figure 3] It is a view of the neutron removal device 1 according to an embodiment of the present invention as viewed from the upstream side in the transport direction of the jig carriage 4. [Figure 4] It is a side view of the jig carriage 4 as viewed from a direction orthogonal to both the transport direction and the vertical direction. [Figure 5] It is an explanatory diagram showing the state of rotation of the rails R, R arranged in the work area WA. [Figure 6] It is a front view of the jig carriage 4 as viewed from the upstream side in the transport direction. [Figure 7] It is a plan view of the jig carriage 4 as viewed from above. [Figure 8] It is a three-view drawing showing the jig carriage 4 in a state of supporting the cast molded body 90. [Figure 9] This is a side view of the work robot 6. [Figure 10] This is a plan view of the work robot 6. [Figure 11] This is a magnified view of the main parts of the robot arm 60. [Figure 12] This is a partial cross-sectional view showing the general configuration of the Hammer-64. [Figure 13] This is an explanatory diagram showing how piston 164 descends. [Figure 14] This is an explanatory diagram showing piston 164 reaching bottom dead center. [Figure 15] This is an explanatory diagram showing the protruding hammer chisel 168. [Figure 16] This is a schematic diagram showing the general configuration of the Hammer Chisel 168. [Figure 17] This is a cross-sectional view showing the cross-section of the striking portion 168b, cut by a plane passing through the axis. [Figure 18] This is a three-view drawing showing the structure of a loosening prevention nut. [Figure 19] This is a three-view diagram illustrating the schematic configuration of the hammer chisel anomaly detection unit 17. [Figure 20] This is a three-view drawing showing a schematic configuration of the drill anomaly detection unit 18. [Figure 21] This is a front view of the jig trolley 4, which supports the cast body 90, as seen from the upstream side in the transport direction. [Figure 22] This is an explanatory diagram showing the rotation of the sand receiving pan SP. [Figure 23] This is an explanatory diagram showing how the hook portion 62a and the hooking block 40a engage. [Figure 24] This is an explanatory diagram showing how the striking part 168b strikes the riser section 90a, 90a, 90a, 90a. [Figure 25] This is an explanatory diagram showing the jig body 26 in a tilted position. [Figure 26] This is an explanatory diagram showing how the hook portion 62a and the protruding piece 30c engage. [Figure 27]This is an explanatory diagram showing how the hook portion 62a and the extrusion block 40b engage. [Modes for carrying out the invention]

[0026] Next, the best mode for carrying out the present invention will be described using examples. [Examples]

[0027] The core removal device 1 according to an embodiment of the present invention is configured as a device for removing a core from a cast body 90 having a core, and as shown in Figures 1 to 3, it 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 trolley 4 positioned on the pair of rails R, R, a work robot 6 positioned inside the frame 2 adjacent to the work area WA, an abnormality detection unit 7 (shown only in Figure 2) positioned in the work area WA adjacent to the work robot 6, lifters 8, 8 (shown only in Figures 1 and 3) positioned below the pair of rails R, R in the work area WA, a sand receiving pan SP (shown only in Figures 2 and 3) positioned below the pair of rails R, R in the work area WA, a sand removal trolley 10 (shown only in Figures 2 and 3) positioned inside the frame 2 adjacent to the work area WA, and a control unit 12 (shown only in Figure 1) that controls the entire device. The cast body 90 is an example of an embodiment corresponding to the "object to be struck" in the present invention.

[0028] In this embodiment, for the sake of explanation, the vertically upward direction (upward direction in Figure 1) is defined as "upper side" or "upper," and the vertically downward direction (downward direction in Figure 1) is defined as "lower side" or "downward." Furthermore, the direction in which the jig trolley 4 is transported from the set area SA, described later, through the work area WA to the removal area TA (leftward direction in Figure 1) is defined as the "transportation direction." Also, the right side (upper side in Figure 2) relative to the transport direction (left side in Figure 2) is defined as "right side" or "rightward," and the left side (lower side in Figure 2) relative to the transport direction (left side in Figure 2) is defined as "left side" or "leftward."

[0029] As shown in Figures 1 and 2, the pair of rails R,R are laid both inside and outside the frame 2 to allow the jig trolley 4 to be transported from the set area SA (outside the work area WA) to the work area WA, and from the work area WA to the retrieval area TA (outside the work area WA). The rails R,R are positioned at a predetermined height above the floor surface F by a plurality of support columns (not shown). In other words, there is space below the pair of rails R,R.

[0030] As shown in Figure 5, the rails R,R located in the work area WA have a pivot point RS1 at the upstream end (right side in Figure 5) in the direction of travel (conveying direction) of the jig trolley 4, and are configured to be rotatable around this pivot point RS1. The pivot point RS1 extends in a direction perpendicular to both the direction of extension of the rails R,R (the direction of travel (conveying direction) of the jig trolley 4) and the vertical direction.

[0031] Furthermore, between the rails R, R located in the work area WA, a pair of beams Bm, Bm are positioned to connect the support columns (not shown) that support the rails R, R (Figures 3 and 5). The beams Bm, Bm are positioned at approximately the same distance as the length along the travel direction of the jig trolley 4 (transport direction, left direction in Figure 5). More specifically, one beam Bm is positioned at a location corresponding to the front end (left end in Figure 1) of the vehicle body 40 of the jig trolley 4, which will be described later, while the other beam Bm is positioned at a location corresponding to the rear end (right end in Figure 1) of the vehicle body 40. That is, when the jig trolley 4 reaches the work area WA, one beam Bm is directly below the front end of the vehicle body 40, and the other beam Bm is directly below the rear end of the vehicle body 40. As shown in Figure 21, each of the beams Bm, Bm has a pair of stopper blocks SB1, SB2.

[0032] Stopper block SB1 is positioned on the left side (left side in Figure 21) of the rail R in the direction of travel of the jig trolley 4 (transportation direction, direction perpendicular to the plane of the paper in Figure 21), that is, on the rail R side to which the wheels 42L of the jig trolley 4, which will be described later, engage. Stopper block SB2 is positioned on the right side (right side in Figure 21) of the rail R in the direction of travel of the jig trolley 4 (transportation direction, direction perpendicular to the plane of the paper in Figure 21), that is, on the rail R side to which the wheels 42R of the jig trolley 4, which will be described later, engage. The distance between stopper blocks SB1 and SB2 is greater than the width dimension of the body 40 of the jig trolley 4 (the left-right dimension in the direction of travel of the jig trolley 4 (transportation direction)). In addition, stopper blocks SB1 and SB2 have notches Nt1 and Nt2 on their faces that face each other. The notches Nt1 and Nt2 have a roughly C-shape when viewed from the direction of travel of the jig trolley 4 (the transport direction, the direction perpendicular to the plane of the paper in Figure 21), and penetrate in the direction of travel of the jig trolley 4 (the transport direction, the direction perpendicular to the plane of the paper in Figure 21). The upper surfaces of the notches Nt1 and Nt2 (the upper surfaces in Figure 21) are set to a position where, when the jig trolley 4 is raised (vertically upward), the wheels 42L and 42R of the jig trolley 4 are released from engagement with the rails R and R, and the distance between the wheels 42L and 42R and the rails R and R is a predetermined distance, the stopper bars 41 and 41 of the vehicle body 40, which will be described later, come into contact with them.

[0033] As shown in Figures 4, 6 to 8, the jig trolley 4 includes 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.

[0034] As shown in Figures 4, 6 to 8, the vehicle body 40 has a hooking block 40a and an extrusion block 40b that can engage with the hooking part 62a of the work robot 6 (described later), a front sand collection plate 40c and a rear sand collection plate 40d, and stopper bars 41, 41. The hooking block 40a is located at the front right corner in the direction of travel (conveying direction) of the jig trolley 4. The extrusion block 40b is located at the rear right corner in the direction of travel (conveying direction) of the jig trolley 4. As shown in Figure 4, the front sand collection plate 40c has an upward slope in the direction of travel (conveying direction, left in Figure 4) of the jig trolley 4. The rear sand collection plate 40d has a downward slope in the direction of travel (conveying direction, left in Figure 4) of the jig trolley 4. In other words, the front sand collection plate 40c and the rear sand collection plate 40d have a downward slope toward each other. The stopper bars 41, 41 are fixed to the downward-facing surface (the surface facing the floor) of the vehicle body 40, as shown in Figures 4 and 8. The stopper bars 41, 41 are positioned at the front end (the front end in the direction of travel (conveying direction) of the jig trolley 4) and the rear end (the rear end in the direction of travel (conveying direction) of the jig trolley 4), respectively. Also, as shown in Figure 6, the stopper bars 41, 41 have a length greater than the width dimension of the vehicle body 40 (the left-right dimension in the direction of travel (conveying direction) of the jig trolley 4). That is, when viewed from one side in the direction of travel (conveying direction) of the jig trolley 4, the stopper bars 41, 41 protrude beyond the vehicle body 40.

[0035] As shown in Figures 4, 6, and 7, the jig 20 includes a fixing plate 22, a plurality of elastic bodies (e.g., rubber) 24a, 24a, 24a, 24b, 24b, 24b integrated with the fixing plate 22, and a jig body 26 connected to the fixing plate 22 via the elastic bodies (e.g., rubber) 24a, 24a, 24a, 24b, 24b, 24b.

[0036] As shown in Figures 4, 6, and 7, the fixing plate 22 is configured as a flat plate with a roughly rectangular shape in plan view and is fixed to the vehicle body 40 by fastening members (not shown) such as bolts. The fixing plate 22 also has a stopper block 23. The stopper block 23 is fixed to the fixing plate 22 by fastening members (not shown) such as bolts. As shown in Figures 6 and 7, the stopper block 23 is located on the left side in the direction of travel of the jig trolley 4 (conveying direction, left direction in Figure 7) and is positioned approximately in the center in the direction of travel of the jig trolley 4 (conveying direction, left direction in Figure 7). The stopper block 23 has a stopper pin 23a. The stopper pin 23a protrudes to the right in the direction of travel of the jig trolley 4 (conveying direction, left direction in Figure 7).

[0037] As shown in Figure 6, the elastic bodies 24a, 24a, and 24a are positioned closer to the wheel 42L, while the elastic bodies 24b, 24b, and 24b are positioned closer to the wheel 42R.

[0038] As shown in Figures 4, 6, and 7, the jig body 26 includes a base plate 28, a support arm 30, and a block body 32.

[0039] As shown in Figures 4 and 6, the base plate 28 is configured as a flat plate with a roughly rectangular shape in plan view. The base plate 28 is slightly smaller than the fixing plate 22 and is positioned on the fixing plate 22 so as to be almost concentric in plan view. The base plate 28 is connected to the fixing plate 22 via elastic bodies (e.g., rubber) 24a, 24a, 24a, 24b, 24b, 24b, and is swingable relative to the fixing plate 22 within the elastic region of the elastic bodies 24a, 24a, 24a, 24b, 24b, 24b.

[0040] 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. The front support arm 30a and the rear support arm 30b are positioned on the right side in the direction of travel (conveying direction, left direction in Figure 7) of the jig trolley 4, as shown in Figures 6 and 7. The front support arm 30a is positioned on the front side in the direction of travel (conveying direction, left direction in Figure 7) of the jig trolley 4, and the rear support arm 30b is positioned on the rear side in the direction of travel (conveying direction, left direction in Figure 7) of the jig trolley 4. As shown in Figures 4 and 6, the support arm 30 has a protruding piece 30c that can be engaged with the hooking part 62a of the work robot 6, which will be described later.

[0041] As shown in Figure 6, the block body 32 is configured to allow the cast body 90 to be placed on its upper end surface and is fixed to the base plate 28 by fastening members (not shown) such as bolts. As shown in Figures 6 and 7, the block body 32 is positioned on the left side in the direction of travel of the jig trolley 4 (conveying direction, left direction in Figure 7) and approximately in the center in the direction of travel of the jig trolley 4 (conveying direction, left direction in Figure 7). As a result, the block body 32 faces the stopper block 23, and more specifically, the stopper pin 23a.

[0042] As shown in Figure 8, the jig trolley 4, configured in this way, supports the cast body 90 with the support arms 30 and the block body 32, and transports the cast body 90 from outside the work area WA to the work area WA, and from the work area WA to outside the work area WA.

[0043] As shown in Figures 9 and 10, the working robot 6 includes a robot arm 60 and a hammer 64 and a drill 66 according to an embodiment of the present invention, which are 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 substantially L-shaped in side view. The working robot 6 is an example of an embodiment corresponding to the "robot" in the present invention.

[0044] The hammer 64 can be, for example, an electric hammer, and as shown in Figure 12, it has a main body 160 having a hollow section 160a, a crank mechanism 162, a piston 164 and a striker 166 arranged in the hollow section 160a, and a hammer chisel 168. The hammer 64 is an example of an embodiment corresponding to the "striking device" in the present invention.

[0045] As shown in Figure 12, the crank mechanism 162 is a mechanism capable of converting rotational motion into linear motion, and includes a rotating body 162a connected to the rotation shaft of a motor (not shown), and a crank arm 162b eccentrically positioned on the rotating body 162a. One end of the crank arm 162b is pivotably connected to the rotating body 162a in the longitudinal direction, and the other end in the longitudinal direction is pivotably connected to a piston 164. The piston 164 has an outer diameter that is the same as or slightly smaller than the inner diameter of the hollow portion 160a, and is slidable in the axial direction of the hollow portion 160a.

[0046] As shown in Figure 12, the striker 166 has an outer diameter that is the same as or slightly smaller than the inner diameter of the hollow portion 160a, and is slidable in the axial direction of the hollow portion 160a. The striker 166 is positioned between the piston 164 and the hammer chisel 168.

[0047] As shown in Figure 12, the hammer chisel 168 has a shaft portion 168a, a striking portion 168b integrated with one axial end of the shaft portion 168a, a stopper portion 168c integrated with the axial middle portion of the shaft portion 168a, and a stopper portion 168d integrated with the other axial end of the shaft portion 168a (with respect to the stopper portion 168c, the end opposite to the side where the striking portion 168b is located). The hammer chisel 168 is an example of an embodiment corresponding to the "chisel" in the present invention.

[0048] As shown in Figure 16, the shaft portion 168a has a male screw Ms at one end in the axial direction (the lower end in Figure 16).

[0049] As shown in Figure 17, the striking portion 168b has a female thread Fs1 that can be screw-engaged with the male thread Ms, and a recess 167. As shown in Figure 16, the female thread Fs1 is positioned to open at one end in the axial direction (the upper end in Figure 17). As shown in Figure 17, the female thread Fs1 has a tapered surface Tp1. The tapered surface Tp1 is positioned at the opening of the female thread Fs1. As shown in Figure 16, the recess 167 is positioned to open at the other end in the axial direction (the lower end in Figure 17). As shown in Figure 16, the striking portion 168b is integrated with the shaft portion 168a by screw-engaging the female thread Fs1 with the male thread Ms of the shaft portion 168a. Here, as shown in Figure 16, a loosening prevention nut Nut is screw-engaged to the male screw Ms, and the loosening of the female screw Fs1 of the striking portion 168b and the male screw Ms of the shaft portion 168a is suppressed by the loosening prevention nut Nut. The female screw Fs1 corresponds to the "first female screw" in the present invention, and the tapered surface Tp1 is an example of an implementation configuration corresponding to the "first tapered surface" in the present invention.

[0050] As shown in Figure 18, the anti-loosening nut Nut has a female thread Fs2 that can be screw-engaged with the male thread Ms of the shaft portion 168a, a projection Pd that protrudes in one direction in the axial direction, and a slit Slt. The projection Pd has a tapered surface Tp2 on its outer circumference. The tapered surface Tp2 has an outer diameter that is slightly larger than the inner diameter of the tapered surface Tp1 of the striking portion 168b (i.e., the dimensional tolerance of the tapered surface Tp1 of the striking portion 168b is set to negative, while the dimensional tolerance of the tapered surface Tp2 of the projection Pd is set to positive), and has approximately the same taper angle. The slit Slt penetrates from the outer circumference of the anti-loosening nut Nut to the female thread Fs2 and also penetrates in the axial direction of the anti-loosening nut Nut. In other words, it can be said that the anti-loosening nut Nut has a roughly C-shape in plan view. The female thread Fs2 corresponds to the "second female thread" in the present invention, and the tapered surface Tp2 is an example of an implementation corresponding to the "second tapered surface" in the present invention.

[0051] The striking portion 168b, thus constructed, is assembled to the shaft portion 168a by the following procedure, as shown in Figure 16. First, the anti-loosening nut Nut is screw-engaged to the shaft portion 168a so that the projection Pd of the anti-loosening nut Nut faces the tip of the shaft portion 168a (one end of the shaft portion 168a in the axial direction, which is the lower end in Figure 16). Next, the striking portion 168b is screw-engaged to the shaft portion 168a. Then, when the striking portion 168b is positioned in the appropriate axial position of the shaft portion 168a, the anti-loosening nut Nut is screwed in toward the striking portion 168b (in the direction that the anti-loosening nut Nut is removed from the shaft portion 168a). At this time, the tapered surface Tp2 of the projection Pd of the anti-loosening nut Nut and the tapered surface Tp1 of the striking portion 168b come into contact. This causes deformation in the anti-loosening nut Nut in the radial direction, making the screw engagement between the anti-loosening nut Nut and the shaft portion 168a stronger. As a result, loosening of the screw engagement between the striking portion 168b and the shaft portion 168a can be effectively suppressed. Furthermore, since the striking portion 168b is detachable from the shaft portion 168a, even if wear or damage occurs to the striking portion 168b due to striking the cast body 90, only the striking portion 168b can be replaced, which is efficient. In addition, since only a tapered surface Tp1 is provided on the striking portion 168b and a slit Slt and tapered surface Tp2 are provided on the anti-loosening nut Nut, the anti-loosening configuration of the striking portion 168b can be easily realized.

[0052] As shown in Figure 12, the stopper portion 168c is positioned outside the hollow portion 160a and can come into contact with the main body portion 160. The stopper portion 168d is positioned in the hollow portion 160a, and a spring 169 is positioned between the stopper portion 168d and the main body portion 160.

[0053] As shown in Figure 12, the spring 169 applies a spring force to the hammer chisel 168 such that the stopper portion 168c remains in contact with the main body portion 160.

[0054] As shown in Figure 12, the hammer 64, as thus configured, has a piston 164 positioned at the upper end of the main body 160 and a stopper portion 168c of the hammer chisel 168 in contact with the main body 160 before operation. In this state, the crank mechanism 162 is rotated by a motor (not shown), causing the piston 164 to descend (Figure 13), and the air in the space AC between the piston 164 and the hammer chisel 168 is compressed. When the piston 164 reaches its bottom dead center (Figure 14), the pressure in space AC becomes maximum, and the striker 166 descends due to this air pressure and collides with the hammer chisel 168 (Figure 15). As a result, the hammer chisel 168 moves in a direction that protrudes from the main body 160, as shown in Figure 15. At this time, the cast body 90, positioned opposite the striking portion 168b, is struck. After striking the cast body 90, the hammer chisel 168 moves in a retracted direction due to the spring force (restoring force) of the spring 169 until the stopper portion 168c contacts the main body 160. During this time, the piston 164 is raised towards top dead center by the crank mechanism 162. When the hammer chisel 168 is retracted to its pre-operation state, the piston 164 is again lowered towards bottom dead center by the crank mechanism 162, compressing the space AC, causing the striker 166 to descend and collide with the hammer chisel 168 again, causing the hammer chisel to protrude from the main body 160. This operation is repeated, allowing the cast body 90 to be struck continuously.

[0055] As shown in Figure 2, the anomaly detection unit 7 includes a hammer chisel anomaly detection unit 17 and a drill anomaly detection unit 18. With respect to the work robot 6, the anomaly detection unit 7 is positioned on the upstream side (right side in Figure 2) in the travel direction (conveying direction) of the jig trolley 4. The hammer chisel anomaly detection unit 17 is an example of an implementation configuration corresponding to the "detection unit" in the present invention.

[0056] As shown in Figure 19, the hammer chisel abnormality detection unit 17 includes a support plate 170, a swinging body 172 swingably supported on the support plate 170, a pair of coil springs SPR, SPR connecting the support plate 170 and the swinging body 172, and a proximity switch 174 fixed to the support plate 170.

[0057] The support plate 170 is a plate-shaped member having a main surface 170a and a back surface 170b, and is fixed to a base (not shown) installed on the floor surface F. The support plate 170 has a stopper pin 171a and a spring locking pin 171b. The stopper pin 171a is located on the main surface 170a. The stopper pin 171a is perpendicular to the main surface 170a. The spring locking pin 171b is located on the main surface 170a and the back surface 170b. In other words, it can be said that the spring locking pin 171b penetrates the stopper pin 171a. The spring locking pin 171b is perpendicular to the main surface 170a and the back surface 170b.

[0058] As shown in Figure 19, the oscillating body 172 has a contact portion 172a and a main body portion 172b integrated with the contact portion 172a, and is pivotably supported on the support plate 170 via a support shaft 173. The contact portion 172a has an insertion hole 1721a through which the hammer chisel 168 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 at a predetermined distance apart. The main body portion 172b has a substantially U-shape in plan view and a substantially 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 also has a spring locking pin 175a. The second extension piece 1722b has a spring locking pin 175b. The spring locking pins 175a and 175b are positioned with respect to the support shaft 173, near the extension ends of the first extension piece 1721b and the second extension piece 1722b (the ends opposite to the side where the contact portion 172a is located). The support plate 170 corresponds to the "base" in the present invention, and the proximity switch 174 is an example of an implementation corresponding to the "oscillation detection unit" in the present invention. Furthermore, the contact portion 172a corresponds to the "first contact portion" in the present invention, and the through hole 1721a is an example of an implementation corresponding to the "through hole" in the present invention.

[0059] As shown in Figure 19, the coil springs SPR,SPR are locked to spring locking pins 171b and 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 oscillating body 172 in a direction that causes the oscillating body 172 to oscillate clockwise. The coil springs SPR,SPR are an example of an embodiment corresponding to the "spring" in the present invention.

[0060] As shown in Figure 19, the proximity switch 174 is supported on the support plate 170 such that the detection surface 174a faces the first extension piece 1721b. This ensures that when the oscillating body 172 oscillates, the detection surface 174a faces the first extension piece 1721b.

[0061] In the hammer chisel abnormality detection unit 17 configured in this way, in the set state, i.e., before detecting an abnormality in the hammer chisel 168, the coil springs SPR, SPR cause the first extension piece 1721b to oscillate until it contacts the stopper pin 171a, and the first extension piece 1721b and the detection surface 174a of the proximity switch 174 are not facing each other. 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 Figure 19). In this state, the axial direction of the insertion hole 1721a is parallel to the vertical direction (solid line in Figure 19). The state of the oscillating body 172 before detecting an abnormality in the hammer chisel 168 is an example of an embodiment corresponding to the "first state" in the present invention.

[0062] The drill abnormality detection unit 18 has basically 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 reference numerals are used for parts of the drill abnormality detection unit 18 that are the same as the hardware configuration of the hammer chisel abnormality detection unit 17, and their detailed explanation is omitted.

[0063] As shown in Figure 20, the drill abnormality detection unit 18 includes 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.

[0064] As shown in Figure 20, the oscillating body 182 has a contact portion 182a and a main body portion 172b integrated with the contact portion 182a, and is pivotably supported on the support plate 170 via a support shaft 173. The contact portion 182a has an insertion hole 1821a through which the drill 66 can be inserted. In other words, it can be said that the oscillating body 182 has the same configuration as the oscillating body 172, except that the contact portion 172a is replaced with another contact portion 182a.

[0065] In the set state, i.e., before checking for any abnormality in the drill 66, the drill abnormality detection unit 18 is in a state where the first extension piece 1721b is oscillating by the coil springs SPR, SPR until it contacts the stopper pin 171a, and the first extension piece 1721b and the detection surface 174a of the proximity switch 174 are not facing each other. 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 Figure 20). In this state, the axial direction of the insertion hole 1821a is parallel to the vertical direction (solid line in Figure 20).

[0066] As shown in Figure 21, each lifter 8,8 has a hydraulic cylinder 80 positioned on beams Bm,Bm, a pair of guides 82,82 also positioned on beams Bm,Bm, and a contact plate 84 connected to the hydraulic cylinder 80 and the pair of guides 82,82. The lifters 8,8 are positioned between a pair of stopper blocks SB1,SB2. The guides 82,82 are positioned to sandwich the hydraulic cylinder 80. The contact plate 84 can contact the stopper bars 41,41 from below (below in Figure 21).

[0067] As shown in Figure 2, the sand receiving pan SP is positioned directly beneath the jig trolley 4 set in the work area WA. Furthermore, as shown in Figure 22, the sand receiving pan SP has a pivot point RS2 at one end (the left end in Figure 22) in its extending direction (left-right direction in Figure 22), and is configured to rotate around this pivot point RS2. This pivot point RS2 is located at the upper ends of a pair of support columns St,St (see also Figure 2) located in the work area WA. The pivot point RS2 extends parallel to the extending direction of the rails R,R (the direction of travel (conveying direction) of the jig trolley 4). The support columns St,St are positioned corresponding to the front ends of the sand removal trolley 10 set in the work area WA.

[0068] As shown in Figures 2 and 22, the sand removal cart 10 is positioned in the work area WA with its front end in contact with the support columns St, St. In other words, the support columns St, St can be said to function as stoppers for the sand removal cart 10.

[0069] The control unit 12 is configured as a microprocessor centered on a CPU, and in addition to the CPU, it includes a ROM for storing processing programs, a RAM for temporarily storing data, input / output ports, and communication ports. The control unit 12 receives signals via its input ports, such as an arrival signal from the sensor 70 that detects when the jig trolley 4 arrives at the work area WA, a set completion signal indicating that the cast body 90 has been set on the jig trolley 4, an on / off signal from the proximity switch 174, and a removal completion signal indicating that the cast body 90 has been removed from the jig trolley 4. The control unit 12 also outputs drive signals to the work robot 6 and drive signals to the lifters 8, 8 via its output ports.

[0070] Next, the operation of the core removal device 1 configured in this way, in particular, the operation when removing the core from the cast body 90 by swinging the jig 20, will be described. First, the operator sets the cast body 90 on the jig trolley 4 located in the set area SA (Figures 1 and 2). When the CPU of the control unit 12 receives a set completion signal indicating that the cast body 90 has been set on the jig trolley 4, it outputs a drive signal to the work robot 6 to pull the jig trolley 4 with the cast body 90 set on it from the set area SA to the work area WA. Here, the set completion signal may be output when the operator presses the set completion button when the cast body 90 has been set on the jig trolley 4, or it may be output when the operator closes the door of the set area SA when the cast body 90 has been set on the jig trolley 4. As shown in Figure 23, the transport (retraction) of the jig trolley 4 by the work robot 6 is performed by engaging the hook portion 62a of the bracket 62 fixed to the robot arm 60 with the hook block 40a of the jig trolley 4.

[0071] Then, when the jig trolley 4, on which the cast body 90 is set, is placed in the work area WA by the work robot 6, an arrival signal is output from the sensor 70. When the CPU of the control unit 12 receives the arrival signal, it outputs a drive signal to the lifters 8,8 to raise the jig trolley 4. The lifting of the jig trolley 4 by the lifters 8,8 continues until the stopper bars 41,41 of the jig trolley 4 contact the upper surfaces of the notches Nt1,Nt2 of the stopper blocks SB1,SB2, as shown in Figure 25. As a result, the jig trolley 4 is fixed in a state where it is sandwiched between the lifters 8,8 (specifically, the contact plate 84) and the stopper blocks SB1,SB2. When the jig trolley 4 is raised in this way, the engagement between the wheels 42R,42L and the rails R,R is released.

[0072] 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 168 and the drill 66. As a result, the work robot 6 first operates to bring the drill 66 into contact with the contact portion 182a of the drill abnormality detection unit 18. At this point, if the drill 66 is not broken or has not been forgotten to be attached to the drill body, the drill 66 will come into contact with the contact 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, and the proximity switch 174 is turned on. As a result, it is possible to detect whether the drill 66 is broken or has not been forgotten to be attached to the drill body. On the other hand, if the drill 66 is broken or has not been forgotten to be attached to the drill body, the drill 66 will not come into contact with the contact portion 182a, and therefore the oscillating body 182 will not swing. Therefore, the proximity switch 174 remains off, which allows for the detection of whether the drill 66 has broken or has been forgotten to be attached to the drill body.

[0073] After confirming whether the drill 66 is broken or has been forgotten to be 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 will be inserted into the insertion hole 1821a, and the oscillating body 182 will not oscillate. Therefore, the proximity switch 174 will remain off, and thus it is possible to detect that the drill 66 is not bent. On the other hand, if the drill 66 is bent, the drill 66 will not be inserted into the insertion hole 1821a, and at least a part of the drill 66 will come into contact with, for example, the contact portion 182a. As a result, the oscillating body 182 will oscillate counterclockwise until the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, and the proximity switch 174 will turn on. As a result, it is possible to detect that the drill 66 is bent.

[0074] Once the drill abnormality detection unit 18 has finished detecting an abnormality in the drill 66, the work robot 6 then operates to bring the hammer chisel 168 into contact with the contact portion 172a of the hammer chisel abnormality detection unit 17. At this point, if the hammer chisel 168 is not broken or has not been forgotten to be attached to the main body 160, the hammer chisel 168 will come into contact with the contact portion 172a. As a result, the oscillating body 172 is swung counterclockwise until the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, and the proximity switch 174 is turned on. As a result, it is possible to detect if the hammer chisel 168 is broken or has not been forgotten to be attached to the main body 160. On the other hand, if the hammer chisel 168 is broken or has not been attached to the main body 160, the hammer chisel 168 will not come into contact with the contact portion 172a, and therefore the oscillating body 172 will not oscillate. Consequently, the proximity switch 174 will remain off, and this allows detection that the hammer chisel 168 is not broken or has not been attached to the main body 160.

[0075] After confirming whether the hammer chisel 168 is broken or has been forgotten to be attached to the main body 160, the work robot 6 operates to insert the hammer chisel 168 into the insertion hole 1721a of the hammer chisel abnormality detection unit 17. If the hammer chisel 168 is not bent, the hammer chisel 168 will be inserted into the insertion hole 1721a, and the oscillating body 172 will not oscillate. Therefore, the proximity switch 174 will remain off, and thus it is possible to detect that the hammer chisel 168 is not bent. On the other hand, if the hammer chisel 168 is bent, the hammer chisel 168 will not be inserted into the insertion hole 1721a, and at least a part of the hammer chisel 168 (for example, the striking part 168b) will come into contact with, for example, the contact part 172a. As a result, the oscillating body 172 is swung counterclockwise until the first extension piece 1721b faces the detection surface 174a of the proximity switch 174, and the proximity switch 174 is turned on. This makes it possible to detect that bending has occurred in the hammer chisel 168. The state in which the oscillating body 172 is swung counterclockwise until at least 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" in the present invention.

[0076] Thus, according to this embodiment, since abnormalities in the drill 66 or hammer chisel 168 are detected before the core crushing operation using the drill 66 or hammer chisel 168, the core crushing operation is not performed with the drill 66 or hammer chisel 168 that has malfunctioned. This makes it possible to suppress a decrease in the efficiency of the core crushing operation and a decrease in product quality.

[0077] After confirming that there are no abnormalities in the drill 66 or hammer chisel 168, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to crush the core of the cast body 90 using the drill 66 and hammer 64. As a result, the work robot 6 first drills holes in the hole components 90b, 90b, 90b, 90b (see Figures 21 and 25) of the cast body 90 using the drill 66, and then strikes the risers 90a, 90a, 90a, 90a (see Figures 21 and 25) that are provided in a convex shape on the cast body 90 using the hammer 64. This crushes the core and allows most of the core to be removed from the inner wall of the cast body 90. Here, since the striking portion 168b of the hammer chisel 168 has a recess 167, when the striking portion 168b contacts the riser portions 90a, 90a, 90a, 90a, the recess 167 can engage with the riser portions 90a, 90a, 90a, 90a. This effectively suppresses slippage between the striking portion 168b and the riser portions 90a, 90a, 90a, 90a when the striking portion 168b strikes the riser portions 90a, 90a, 90a, 90a. This allows the striking force mediated by the hammer chisel 168 to be effectively applied to the riser portions 90a, 90a, 90a, 90a. The riser portions 90a, 90a, 90a, 90a are examples of embodiments corresponding to the "second contact portion" and "riser" in the present invention.

[0078] Once the 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 again to check for any abnormalities in the drill 66 and hammer chisel 168. As the detection of abnormalities in the drill 66 and hammer chisel 168 has been described above, the explanation is omitted here.

[0079] After confirming the abnormalities of the drill 66 and hammer chisel 168, 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 and pulls the jig body 26 in a direction that moves the block body 32 away from the stopper block 23, as shown in Figure 26 (Figure 25). At this time, a tensile force acts on the elastic bodies 24a, 24a, 24a, and these elastic bodies 24a, 24a, 24a are stretched (Figure 25). Note that the pulling of the jig body 26 by the work robot 6 is performed within the elastic region of the elastic bodies 24a, 24a, 24a, 24b, 24b, 24b.

[0080] After the jig body 26 has been pulled 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 release the engagement of the hook portion 62a with the protruding piece 30c. As a result, the engagement of the hook portion 62a with the protruding piece 30c is released, and the restoring force of the elastic bodies 24a, 24a, 24a causes the block body 32 to swing in the direction toward the stopper block 23, that is, in the direction toward the jig body 26 returning to its original position. At this time, the jig body 26 will try to tilt beyond its original position (in the opposite direction to the pulling direction by the work robot 6 with respect to its original position) due to inertia, but this tilting is prevented by the block body 32 colliding with the stopper block 23. Then, due to the reaction force of the block body 32 colliding 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 jig body 26 will repeatedly oscillate, with the block body 32 colliding with the stopper block 23, until the vibration of the jig body 26 caused by the elastic bodies 24a, 24a, 24a, 24b, 24b subsides. This oscillation of the jig body 26 with collisions causes the cores that have detached from the inner wall of the cast body 90, including the hole components 90b, 90b, 90b, 90b, to collide with each other, or with the inner wall of the cast body 90, thereby further crushing the cores and shaking them off (removing) them from the cast body 90.

[0081] Then, once the core removal operation from the cast body 90 by oscillating the jig body 26 is complete, the CPU of the control unit 12 outputs a drive signal to the lifters 8, 8 to lower the jig trolley 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 trolley 4 from the work area WA to the removal area TA. The transport (extrusion) of the jig trolley 4 by the work robot 6 is performed by pressing the extrusion block 40b of the jig trolley 4 with the hook portion 62a of the bracket 62 fixed to the robot arm 60, as shown in Figure 27.

[0082] When the jig cart 4 is positioned in the extraction area TA by the work robot 6, the CPU of the control unit 12 outputs a drive signal to the work robot 6 to load the core sand collected in the sand receiving pan SP into the sand removal cart 10. As a result, the work robot 6 first rotates the rails R,R located in the work area WA clockwise around the pivot point RS1, as shown in Figure 5 (dotted line in Figure 5), and then rotates the sand receiving pan SP counterclockwise around the pivot point RS2, as shown in Figure 22 (dotted line in Figure 22). In this way, the core sand in the sand receiving pan SP is loaded into the sand removal cart 10. Once the loading of the core sand into the sand removal 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 loading the core sand collected in the sand receiving pan SP into the sand removal cart 10. As a result, the work robot 6 rotates the sand receiving pan SP clockwise around the pivot point RS2 so that the sand receiving pan SP returns to its original position (solid line in Figure 22), and then rotates the rails R, R located in the work area WA counterclockwise around the pivot point RS1 (solid line in Figure 5). The cast molded body 90, which is set on the jig trolley 4 located in the removal area TA, is removed by the worker and placed on a pallet (not shown).

[0083] According to the core removal device 1 equipped with a hammer 64 in the embodiment of the present invention described above, since the hammer chisel 168 has a recess 167, when the striking part 168b strikes the risers 90a, 90a, 90a, 90a, slippage between the striking part 168b and the risers 90a, 90a, 90a, 90a can be effectively suppressed. As a result, the striking force via the hammer chisel 168 can be effectively applied to the risers 90a, 90a, 90a, 90a. As a result, the core can be properly removed from the cast body 90.

[0084] Furthermore, according to the core removal device 1 of the present invention, since the striking part 168b is detachable from the shaft part 168a, even if wear or damage occurs to the striking part 168b due to striking the cast body 90, only the striking part 168b can be replaced, which is rational. In addition, the anti-loosening nut Nut effectively prevents the striking part 168b from loosening relative to the shaft part 168a. Moreover, since only a tapered surface Tp1 is provided on the striking part 168b and a slit Slt and tapered surface Tp2 are provided on the anti-loosening nut Nut, the anti-loosening configuration of the striking part 168b can be easily realized.

[0085] Furthermore, according to the core removal device 1 of the present invention, an abnormality in the drill 66 or hammer chisel 168 is detected before the core crushing operation using the drill 66 or hammer chisel 64, so that the core crushing operation is not performed with the drill 66 or hammer chisel 168 that has malfunctioned. This makes it possible to suppress a decrease in the efficiency of the core crushing operation and a decrease in product quality.

[0086] Furthermore, according to the core removal device 1 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, oscillating bodies 172 and 182 that are pivotably supported on the support plate 170, a pair of coil springs SPR, SPR that connect the support plate 170 and the oscillating body 182, and a proximity switch 174 fixed to the support plate 170. As a result, abnormalities in the hammer chisel 168 and the drill 66 can be detected with a simple configuration.

[0087] In this embodiment, a detailed explanation of the shape of the recess 167 of the striking portion 168b has been omitted, but it does not need to be a recess; it can be any shape, such as a circular shape, a cross shape, or a square shape in plan view.

[0088] In this embodiment, a set area SA and an unloading area TA are provided, and the cast body 90 is transported from the set area SA to the unloading area TA via the work area WA. However, the system is not limited to this configuration. For example, instead of the set area SA and unloading area TA in this embodiment, multiple set and unloading areas may be provided, and the cast body 90 may be transported back and forth between the set and unloading areas and the work area WA. That is, in the set and unloading area, the cast body 90 is set on the jig trolley 4, the jig trolley 4 with the cast body 90 set on it is transported from the set and unloading area to the work area WA, and when the work (core removal work) in the work area WA is completed, the jig trolley 4 with the cast body 90 set on it is transported back to the set and unloading area, where the cast body 90 is removed from the jig trolley 4. In this case, while the work (core removal) is being carried out in the work area WA, another cast body 90 may be set on a separate jig trolley 4 in a separate set removal area. When the jig trolley 4 that has completed the work (core removal) in the work area WA is transported back to the original set removal area, the other jig trolley 4 with the other cast body 90 set on it may also be transported back to the work area WA. This configuration allows for efficient transport of the cast body 90 to the work area WA, thereby shortening the work time.

[0089] In this embodiment, an electric hammer is used, but the system is not limited to this. For example, an air hammer may also be used.

[0090] This embodiment illustrates one example of a configuration for carrying out the present invention. Therefore, the present invention is not limited to the configuration of this embodiment. [Explanation of Symbols]

[0091] 1 Core removal device (core removal device) 2 frame 4. Jig trolley 6. Work robots (robots) 7 Anomaly detection unit 8 Lifters 10 Sand Removal Cart 12 Control Unit 17. Hammer Chisel Anomaly Detection Unit (Detection Unit) 18 Drill Anomaly Detection Unit 20 jigs 22 Fixing plate 23 Stopper Block 23a Stopper pin 24a Elastic body 24b Elastic body 26. Jig body 28 Base Plate 30 Support Arms 30a Front support arm 30b Rear support arm 30c protruding piece 32 block letters 40 car bodies 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 Arms (Robot Arms) 62 brackets 62a Hook part 64 Hammer (striking device) 66 Drills 70 sensors 80 Hydraulic Cylinders 82 Guide 84 Contact Plate 90 Cast body (object to be struck, cast body) 90a Pusher section (second contact section, pusher) 90b Hole component 160 Main body (Main body) 160a Hollow part (Hollow part) 162 Crank mechanism 162a Rotating body 162b Crank Arm 164 Piston (Piston) 166 Striker 167 Recess (Recess) 168 Hammer Chisel (Chisel) 168a Shaft 168b Hitting Section 168c Stopper part 169 Spring 170 Support plate (base) 170a surface 170b back side 171a Stopper pin 171b Spring locking pin 172 Oscillating body (Oscillating body) 172a Contact part (Abutment 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 182a Contact part 1721a Through hole (through hole) 1721b 1st extension piece 1722b 2nd extension piece 1821a Through hole WA work area SA Set Area TA retrieval area R Rail SP Sand Receiving Pan F Floor RS1 fulcrum RS2 fulcrum Bm beam SB1 Stopper Block SB2 Stopper Block Nt1 Notch Nt2 notch St pillar SPR Coil Spring (Spring) Ms Male Screw (Male Screw) Nut (Anti-loosening nut) Fs1 Female thread (first female thread) Fs2 Female Thread (Second Female Thread) Slt Slit Tp1 Tapered surface (first tapered surface) Tp2 Tapered surface (second tapered surface) Pd protrusion (protrusion)

Claims

1. A striking device for striking a cast molded body having a convex riser portion, A main body having a hollow section, A piston is disposed in the hollow portion so as to be slidable in the direction of extension of the hollow portion, A chisel having a recess at one end in the longitudinal direction that can contact the riser portion and that can engage with the riser portion, and at least a portion of which is positioned in the hollow portion so that it can slide in the longitudinal direction based on the sliding of the piston, Equipped with, The chisel comprises a shaft portion having a male thread, a striking portion having a first female thread that can be screw-engaged with the male thread, and a loosening prevention nut having a second female thread that can be screw-engaged with the male thread. The first female thread has a first tapered surface at its opening. The anti-loosening nut has a protruding portion that extends toward one side in the axial direction, and a slit that penetrates the anti-loosening nut in the radial and axial directions. The aforementioned protrusion has a second tapered surface that can contact the first tapered surface, The second tapered surface has an outer diameter greater than or equal to the inner diameter of the first tapered surface. Striking device.

2. A core removal device for removing a core from a cast body having a core, The striking device is provided as described in claim 1, The core is removed from the cast body by striking the riser portion with one end of the chisel in the longitudinal direction. Core removal device.

3. The system further comprises a detection unit capable of detecting abnormalities in the chisel. The core removal device according to claim 2.

4. The detection unit comprises 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 the swinging of the swinging body. The oscillating body has a first contact portion to which the chisel can make contact, The spring has a spring force capable of maintaining the oscillating body in the first state and returning the oscillating body from the second state to the first state. The core removal device according to claim 3.

5. The first contact portion has a through hole into which the chisel can enter. The core removal device according to claim 4.

6. The robot further includes a robot arm, The striking device is fixed to the robot arm. The core removal device according to any one of claims 2 to 5.

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