JP6756415B2 - Holding equipment and casting member manufacturing equipment - Google Patents

Description

One aspect of the present invention relates to a casting member holding device and a casting member manufacturing apparatus used in a lead storage battery.

The core metal or lattice body as a current collector used in a lead storage battery is manufactured by casting lead (lead alloy). The casting member manufactured by the casting machine is taken out and transferred from the casting machine by the holding device. For example, Patent Document 1 discloses a transfer device including a hand portion for holding a cast member.

Japanese Unexamined Patent Publication No. 6-344118

Casting members such as core metal or lattices used in lead-acid batteries are manufactured by casting lead alloys, and therefore have the property of being generally soft and easily deformed. The conventional hand portion is not considered to hold a cast member having such a property. For this reason, the deformed cast member cannot be held firmly and is dropped, or the cast member cannot be held firmly due to the deformation of the cast member when the cast member is held, and the cast member is dropped. There was something. Such a fall of the cast member has been a cause of lowering the productivity.

Therefore, an object of one aspect of the present invention is to provide a holding device and a casting member manufacturing device capable of suppressing breakage or dropping when holding a cast member.

The holding device according to one aspect of the present invention is a holding device used for a lead storage battery and holds a cast member extending along a plane parallel to the first direction and the second direction orthogonal to each other, and is a main body portion. When the main body is arranged so as to face the casting member in the third direction orthogonal to the plane, the pair of chucks arranged on the casting member side of the main body and the pair of chucks are placed on a flat surface. When the direction of approaching each other along the plane is the approaching direction and the direction of separating from each other along the plane is the separation direction, the pair of chuck portions includes a drive unit for moving the pair of chuck portions in the approach direction and the separation direction. Is formed with a pair of chuck surfaces recessed in the approaching direction on the dorsal surfaces facing each other, and the pair of chuck surfaces are both ends of the chuck surface in the third direction in the moving direction of the pair of chuck portions. It has a holding portion formed on the approaching direction side from the portion and a tapered portion connecting both ends of the chuck surface and both ends of the holding portion in the third direction, and the main body portion is placed in the third direction. When arranged so as to face the cast member, the center position of the holding portion in the third direction is arranged closer to the cast member than the center position of the chuck surface in the third direction.

In the holding device having this configuration, a tapered portion connected to the holding portion is formed on the chuck surface held by the cast member. Therefore, when the pair of chuck portions move in the separation direction, the cast member comes into contact with the holding portion or the tapered portion. When the cast member comes into contact with the holding portion, the holding portion holds the cast member as it is. When the cast member comes into contact with the tapered portion, the tapered portion guides the cast member to the holding portion, and then the holding portion holds the cast member. As a result, the cast member is not held in an abnormal state where it is held at a portion other than the holding portion. Further, in the holding device having this configuration, when the casting member is gripped, the center position of the holding portion in the third direction is located closer to the main body portion than the center position of the chuck surface in the third direction. A long distance between the main body and the cast member can be secured. As a result, contact between the main body and the cast member can be suppressed. As a result, it is possible to suppress breakage (including deformation) or drop when holding the cast member.

The holding device according to one aspect of the present invention is a holding device used for a lead storage battery and holds a cast member extending along a plane parallel to the first direction and the second direction orthogonal to each other, and is a main body portion. When the main body is arranged so as to face the casting member in the third direction orthogonal to the plane, the pair of chucks arranged on the casting member side of the main body and the pair of chucks are placed on a flat surface. When the direction of approaching each other along the plane is the approaching direction and the direction of separating from each other along the plane is the separation direction, the pair of chuck portions includes a drive unit for moving the pair of chuck portions in the approach direction and the separation direction. Is formed with a pair of chuck surfaces recessed in the direction of separation from the facing surfaces facing each other, and the pair of chuck surfaces are formed from both ends of the chuck surface in the third direction in the moving direction of the pair of chuck portions. Also has a holding portion formed on the side in the orthogonal direction and a tapered portion connecting both ends of the chuck surface and both ends of the holding portion in the third direction, and the main body portion is a cast member in the third direction. When arranged so as to face each other, the center position of the holding portion in the third direction is arranged closer to the cast member than the center position of the chuck surface in the third direction.

In the holding device having this configuration, a tapered portion connected to the holding portion is formed on the chuck surface for holding the cast member. Therefore, when the pair of chuck portions move in the separation direction, the cast member comes into contact with the holding portion or the tapered portion. When the cast member comes into contact with the holding portion, the holding portion holds the cast member as it is. When the cast member comes into contact with the tapered portion, the tapered portion guides the cast member to the holding portion, and then the holding portion holds the cast member. As a result, the cast member is not held in an abnormal state where it is held at a portion other than the holding portion. Further, in the holding device having this configuration, when the casting member is gripped, the center position of the holding portion in the third direction is located closer to the main body portion than the center position of the chuck surface in the third direction. A long distance between the main body and the cast member can be secured. As a result, contact between the main body and the cast member can be suppressed. As a result, it is possible to suppress breakage or drop when holding the cast member.

In the holding device according to one aspect of the present invention, the tapered portion may be formed in a curved shape. With the holding device having this configuration, the cast member can be guided to the holding portion more smoothly.

In the holding device according to one aspect of the present invention, the holding portion may extend along a third direction. In the holding device having this configuration, the width of the normal state can be widened, so that damage or dropping when holding the cast member can be suppressed more reliably.

In the holding device according to one aspect of the present invention, the pair of chuck portions may have different shapes when viewed from a direction orthogonal to the moving direction and the third direction. With the holding device having this configuration, it is possible to hold the cast member according to the shape of the cast member, so that it is possible to more reliably suppress breakage or drop.

The casting member manufacturing apparatus according to one aspect of the present invention includes the above-mentioned holding device, a molding die for casting the casting member, and an articulated robot for moving the holding device so as to approach and separate from the molding die. You may. In the casting member manufacturing apparatus having this configuration, since the holding apparatus is moved by the articulated robot, it can be freely moved with respect to the entire molding die.

In the casting member manufacturing apparatus according to one aspect of the present invention, the holding apparatus may be provided with a mold release agent discharge nozzle for spraying the mold release agent on the molding die side in the moving direction. In the casting member manufacturing apparatus having this configuration, the mold release agent can be sprayed on the molding die at the same time as the casting member is taken out from the molding die, so that the production efficiency can be improved. Further, in the casting member manufacturing apparatus having this configuration, since the holding apparatus is moved by the articulated robot, it can be freely moved with respect to the entire molding die, and the mold release agent can be sprayed to every corner.

In the casting member manufacturing apparatus according to one aspect of the present invention, the pair of chuck portions includes a first chuck and a second chuck in which the length of the tapered portion in the third direction is longer than the tapered portion of the first chuck. However, the drive unit and the articulated robot may move at least one of the pair of chuck units and the holding device so that the second chuck holds the cast member before the first chuck. Here, if the casting member is first held by one chuck (first chuck), the position of the casting member that the other chuck (second chuck) was trying to grip may change. In the casting member manufacturing apparatus according to one aspect of the present invention, since the tapered portion of the second chuck is longer than the tapered portion of the first chuck, even if the position of the casting member is changed as described above, it is surely made. The cast member can be guided to the holding portion of the second chuck.

The casting member manufacturing apparatus according to one aspect of the present invention further includes a supply device for supplying molten lead to the molding die, and the molding die is arranged in a state of being tilted in the vertical direction, and lead from the supply device. The supply port to which is supplied is formed at the bottom.

In the casting member manufacturing apparatus according to one aspect of the present invention, the molding dies are arranged in the second direction and the first region in which the core metal extending in the first direction and arranged in the second direction is formed. A second that connects one end of the core metal in the first direction and connects the first connection portion adjacent to the supply port and the other end of the core metal arranged in the second direction in the first direction. It has two second regions where the connecting portion is formed, and the molding mold has such that the second region on the side where the second connecting portion is formed is located vertically above the first region. It may be arranged in. In this configuration, since molten lead having a light specific gravity is supplied to the second region, the second connecting portion is formed of a material having inferior quality, and the core metal is formed of a material having superior quality. By deliberately lowering the quality of the second connecting portion that is cut in the post-process and is not used as a commercial product, a core metal having excellent quality can be formed. As a result, it becomes possible to manufacture a lead storage battery having excellent quality.

According to one aspect of the present invention, it is possible to suppress breakage or drop when holding the cast member.

FIG. 1 is a diagram schematically showing a core metal manufacturing apparatus. FIG. 2 is a diagram showing a supply device and a molding device included in the core metal manufacturing device. 3A and 3B are diagrams showing the operation of the molding apparatus. FIG. 4 is a plan view showing the core metal member. FIG. 5 is a plan view of the holding device included in the core metal manufacturing device. FIG. 6 is a front view of the holding device included in the core metal manufacturing device. FIG. 7 is a side view of the holding device included in the core metal manufacturing device. FIG. 8A is a front view of the front claw, and FIG. 8B is a front view of the rear claw. FIG. 9 is a flowchart showing the operation of the molding apparatus and the conveying apparatus. FIG. 10A is a front view of the front claw according to the modified example, and FIG. 10B is a front view of the rear claw according to the modified example. FIG. 11A is a front view of the front claw according to the modified example, and FIG. 11B is a front view of the rear claw according to the modified example.

Hereinafter, preferred embodiments of one aspect of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted. For convenience of explanation, FIGS. 4 to 8, 10 and 11 set the X-axis, the Y-axis, and the Z-axis that are orthogonal to each other.

As shown in FIG. 1, the core metal manufacturing device (casting member manufacturing device) 1 includes a supply device 3, a molding device 5, a transfer device 7, a cutting device 8, an integration unit 9, and a control device 10. , Is equipped. The core metal manufacturing apparatus 1 manufactures a cast member of a lead electrode used for a lead storage battery. For example, in a clad type lead storage battery (clad valve type lead storage battery), a core metal E1 (see FIG. 4) used for a clad type positive electrode for a lead storage battery having a clad tube is manufactured.

The control device 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The control device 10 controls various operations of the supply device 3, the molding device 5, the transfer device 7, and the cutting device 8.

The supply device 3 melts lead and supplies lead to the molding device 5. As shown in FIG. 2, the supply device 3 includes a melting pot 11 and a supply mechanism 12.

The melting pot 11 melts lead (including a lead alloy). For example, a lead ingot is supplied to the melting pot 11. The melting pot 11 is arranged, for example, at the lower part of the supply device 3. The melting pot 11 is provided with a supply unit 13. The supply unit 13 is connected to the molding die 30 described later in the molding apparatus 5, and supplies the lead in the melting pot 11 to the molding die 30.

The supply mechanism 12 includes a servomotor 14 and a drive mechanism 16. The servomotor 14 is arranged, for example, at the upper part of the supply device 3. The drive mechanism 16 includes a transmission portion 18, a ball screw portion 20, and a piston 22.

The transmission unit 18 connects the output shaft (not shown) of the servomotor 14 and the ball screw unit 20. The transmission unit 18 is, for example, a belt. The ball screw portion 20 has a shaft member 24. The ball screw portion 20 converts the rotational motion of the output shaft of the servomotor 14 into a linear motion of the shaft member 24. The ball screw portion 20 moves the shaft member 24 in the vertical direction in accordance with the rotation of the output shaft of the servomotor 14.

The piston 22 is connected to the melting pot 11. The piston 22 pushes the lead in the melting pot 11 to the supply unit 13. A shaft member 24 is connected to the piston 22. The piston 22 moves in the vertical direction in accordance with the movement of the shaft member 24. In the supply device 3, the piston 22 moves downward to supply (inject) the lead from the melting pot 11 to the molding device 5 in a state where pressure is applied to the lead. The operation of the supply device 3 is controlled by the control device 10.

As shown in FIGS. 2, 3 (a) and 3 (b), the molding apparatus 5 includes a molding die 30, a moving mechanism 31, and a hydraulic mechanism 32.

The molding die 30 is a casting die for molding a core metal member E, part of which is used as the core metal E1. The molding die 30 extends along a plane parallel to the X-axis direction (first direction) and the Y-axis direction (second direction) orthogonal to each other. Specifically, as shown in FIG. 4, the core metal members E extend in the X-axis direction and are arranged in the Y-axis direction, and the core metal E1 and Y are inserted into the clad tube as a current collector. It has a first connecting portion E2 and a second connecting portion E3 for connecting a plurality of core metal E1 arranged in the axial direction, and an ear portion E4 connected to the second connecting portion E3 and connected to a terminal. ..

As shown in FIGS. 2, 3 (a) and 3 (b), the molding die 30 has a first mold 30a and a second mold 30b. In the present embodiment, the first mold 30a is provided so as to be movable in the approaching direction and the separating direction with respect to the second mold 30b. Specifically, the first mold 30a is provided so as to be swingable around a shaft provided at one end (end on the supply device 3 side). The molding die 30 is arranged so as to be inclined with respect to the horizontal direction (horizontal direction in FIG. 2). Specifically, the molding die 30 is inclined so that one end on the supply device 3 side becomes the lower end. The inclination angle of the molding die 30 with respect to the horizontal direction is appropriately set.

The molding die 30 is provided with a connecting portion (supply port) 34. In the present embodiment, the connecting portion 34 is provided in the second mold 30b. The connection unit 34 is connected to the supply unit 13 of the supply device 3 and receives lead supply from the supply device 3. The connecting portion 34 communicates with the space defined by the first mold 30a and the second mold 30b when the first mold 30a and the second mold 30b are closed. The connecting portion 34 is provided with a valve (not shown) for preventing the backflow of lead from the molding die 30 to the supply device 3. The connecting portion 34 is arranged at the lower end portion (lowermost portion) of the second mold 30b. In this configuration, lead is supplied to the molding die 30 from the lower end portion. As a result, when lead is supplied to the molding die 30, the lead is filled in the molding die 30 so as to rise.

As shown in FIGS. 3A and 4, the molding die 30 has a first region A1 extending in the X-axis direction and forming a core metal E1 arranged in the Y-axis direction, and a Y-axis. The second region A2 in which the first connecting portion E2 connecting the cores E1 arranged in the direction and the ear portion E4 adjacent to the first connecting portion E2 are formed, and the cores E1 arranged in the Y-axis direction. It has a second region A2 on which a second connecting portion E3 to be connected is formed. In the molding apparatus 5, the molding die 30 is arranged so that the second region A2 on the side where the second connecting portion E3 is formed is located above the first region A1 in the Z-axis direction (vertical direction / third direction). Has been done.

In the present embodiment, the second mold 30b is provided with a plurality of extrusion pins 36. Each of the extrusion pins 36 pushes up the core metal member E from below so that the core metal member E formed by the molding die 30 is released from the second mold 30b. Each of the extrusion pins 36 is movably provided at a protruding position (position shown in FIG. 3B) protruding from the surface of the second mold 30b and a standby position not protruding from the surface. The extrusion pin 36 is driven by a cylinder (not shown). Each of the extrusion pins 36 moves to the protruding position to separate the core metal member E from the second mold 30b.

The moving mechanism 31 moves the molding die 30. The moving mechanism 31 moves the molding die 30 by a hydraulic cylinder (not shown). The moving mechanism 31 slidably supports the second mold 30b. The moving mechanism 31 is tilted at a predetermined angle with respect to the horizontal direction so that the molding die 30 is arranged at the tilt angle. In the molding die 30, the core metal member E is separated from the supply position (position shown in FIG. 3A) where lead is supplied from the supply device 3 by the moving mechanism 31 and the core metal member E away from the supply device 3. It moves to the release position (the position where the connection between the supply unit 13 and the connection unit 34 is released) (the position shown in FIG. 3B).

The hydraulic mechanism 32 performs an operation of opening and closing the first mold 30a and the second mold 30b of the molding mold 30. The hydraulic mechanism 32 has a hydraulic cylinder 38. For example, a plurality of hydraulic cylinders 38 are provided. The hydraulic mechanism 32 maintains the closed state of the molding die 30 at a predetermined pressure (for example, about 30t-50t).

As shown in FIG. 1, the transport device 7 transports the core metal member E formed in the molding die 30 to the cutting device 8, and then integrates the core metal member E in the accumulating portion 9. The transport device 7 includes an articulated robot 40 and a holding device 50. The transfer device 7 transfers the core metal member E formed in the forming die 30 to the cutting device 8 and the integration unit 9 in the next process. The articulated robot 40 has an arm portion 41 composed of a plurality of joints and a rotating portion 43 that rotatably holds the arm portion 41. The arm portion 41 and the rotating portion 43 move the holding device 50 between the molding die 30, the cutting device 8, and the integrating portion 9.

The holding device 50 is a device that holds the core metal member E. As shown in FIGS. 5 to 8, the holding device 50 includes a main body portion 51, a chuck portion 60, and a driving portion 55. The main body 51 extends in one direction. When the core metal member E is taken out (lifted) from the molding die 30, the main body 51 has a extending direction of the main body 51, that is, a method of moving the molding die 30, that is, the molten lead to the molding die 30. It is fixed to the articulated robot 40 so as to coincide with the supply (injection) direction (X-axis direction in this embodiment).

The chuck portion 60 has a front claw (chuck portion / second chuck) 61 and a rear claw (chuck portion / first chuck) 71, and forms a pair. The front claw 61 and the rear claw 71 are plate-shaped members formed of a stainless steel material, and examples of their thicknesses are 1.5 mm to 4.5 mm. When the direction in which the front claw 61 and the rear claw 71 (a pair of chuck portions) are brought close to each other is the approach direction and the direction in which the rear claw 71 is separated from each other is the separation direction, the drive unit 55 causes the front claw 61 and the rear claw 71 to approach and separate. Move in the direction.

In the present embodiment, the drive unit 55 moves the first support member 57 that supports the rear claw 71 in the X-axis direction with respect to the main body 51. The front claw 61 is supported by a second support member 56 fixed to the main body 51. As a result, the front claw 61 and the rear claw 71 are moved between the approaching position where they approach each other and the separation position where they separate from each other in the X-axis direction. The front claw 61 is fixed to the second support member 56 by inserting a bolt or the like (not shown) into the insertion hole 69. The rear claw 71 is fixed to the first support member 57 by inserting a bolt or the like (not shown) into the insertion hole 79. An example of the drive unit 55 is an electric cylinder or an air cylinder.

As shown in FIGS. 8A and 8B, the front claw 61 and the rear claw 71 have a pair of chuck surfaces 61F, which are recessed in the approaching direction to the dorsal surfaces BF and BF facing each other. 71F is formed. When the front claw 61 and the rear claw 71 are positioned apart from each other, the core metal member E is held by the chuck surfaces 61F and 71F formed on the dorsal surfaces BF and BF that face each other in the X-axis direction. , The core metal member E is provided so as to be liftable upward in the Z-axis direction. The front claw 61 holds the first connecting portion E2 of the core metal member E shown in FIG. 4, and the rear claw 71 holds the second connecting portion E3 of the core metal member E.

In the present embodiment, the front claw 61 and the rear claw 71 constituting the pair of chuck portions 60 have different shapes when viewed from the Y-axis direction. As shown in FIG. 8A, the chuck surface 61F of the front claw 61 holds the holding portions 63 formed on the side closer to both ends 62A and 62B in the Z-axis direction and the both ends 62A and 62B. It has tapered portions 64A and 64B that connect both end portions 63A and 63B of the portion 63, respectively. When the main body 51 is arranged so as to face the core metal member E in the Z-axis direction orthogonal to the XY plane (see FIGS. 6 and 7), the center position M1 of the holding portion 63 in the Z-axis direction is chucked. It is arranged below the center position M of the surface 61F in the Z-axis direction (on the core metal member E side). The holding portion 63 extends along the Z-axis direction. An example of the length H1 of the holding portion 63 in the Z-axis direction is 5.0 mm to 10.0 mm. An example of the distance D1 from both end portions 62A and 62B to the holding portion 63 in the X-axis direction is 5.0 mm to 10.0 mm.

As shown in FIG. 8B, the chuck surface 71F of the rear claw 71 holds the holding portions 73 formed closer to both ends 72A and 72B in the Z-axis direction and the both ends 72A and 72B. It has tapered portions 74A and 74B for connecting both end portions 73A and 73B of the portion 73, respectively, and the center position M2 of the holding portion 73 in the Z-axis direction is larger than the center position M of the chuck surface 71F in the Z-axis direction. It is located below. An example of the length H2 of the holding portion 73 in the Z-axis direction is 5.0 mm to 10.0 mm. An example of the distance D2 from both end portions 72A and 72B to the holding portion 73 in the X-axis direction is 5.0 mm to 10.0 mm.

When the core metal member E is taken out from the molding die 30, the articulated robot 40 brings the holding device 50 closer from above the core metal member E, and makes the front claw 61 and the rear claw 71 into the core metal E1 and the core metal E1. It is inserted into the space S (see FIG. 4) between and. Then, the holding device 50 moves the front claw 61 and the rear claw 71 inserted in the space S in a direction away from each other, brings the front claw 61 into contact with the first connecting portion E2, and connects the rear claw 71 to the second. The core metal member E is held by contacting the portion E3.

The release agent discharge nozzles 81 and 81 spray the release agent on the first mold 30a and the second mold 30b, which are the molding dies 30. The release agent discharge nozzles 81 and 81 are arranged on the molding die 30 side in the direction in which the holding device 50 moves toward the molding die 30 side. The release agent discharge nozzles 81 and 81 are supplied with the release agent from a supply source via a tube or the like (not shown).

The cutting device 8 cuts the selvage portion E4 which is a part of the core metal member E shown in FIG. The cutting device 8 is inserted from the selvage portion E4 side of the core metal member E by the transport device 7, and cuts a part of the selvage portion E4. The integrating unit 9 has two rails 9A and 9A, and integrates the core metal member E manufactured by the core metal manufacturing apparatus 1. After the core metal member E is charged into the cutting device 8, the transport device 7 rotates the core metal member E 180 degrees in the horizontal plane (XY plane) and is charged into the integration unit 9 from the first connecting portion E2 side. .. The core metal member E is integrated with the first connecting portion E2 suspended on the two rails 9A and 9A. When a certain amount of the core metal member E is accumulated in the integration unit 9, it is conveyed toward the downstream process. The first connecting portion E2 suspended on the two rails 9A and 9A in the integrated portion 9 is cut in the downstream process.

Subsequently, a method of manufacturing the core metal member E by the core metal manufacturing apparatus 1 will be described with reference to FIG. As shown in FIG. 9, the mold release agent is sprayed on the molding die 30 (step S0). The release agent is sprayed on the molding die 30 by the holding device 50 held by the conveying device 7. That is, the core metal member E cast by the molding die 30 is taken out from the molding die 30, and the mold release agent is sprayed at the same time. Next, the hydraulic mechanism 32 in the molding apparatus 5 moves the first mold 30a of the molding mold 30 and closes the first mold 30a and the second mold 30b (step S1). Further, the molding die 30 is closed in a state where the first mold 30a and the second mold 30b are pressurized (step S2). At this time, the molding die 30 is located at the supply position (see FIG. 3A). The molding die 30 has a predetermined temperature. For example, the molding die 30 is set to 100 ° C. to 150 ° C.

Subsequently, the servomotor 14 in the supply device 3 operates, and the lead in the melting pot 11 is supplied in a state of being pressed against the molding die 30 (step S3). In step S3, a predetermined amount of molten lead is supplied to the molding die 30. When a predetermined time elapses after the molten lead is supplied to the molding die 30, the pressurized state of the first die 30a and the second die 30b in the pressurized state is released. That is, the first mold 30a and the second mold 30b are closed in a relaxed state (step S4). Subsequently, in the molding die 30, the core metal member E is cooled for a predetermined time (step S5). The core metal member E is cooled without pressurization. The cooling time of the core metal member E is appropriately set. Next, the moving mechanism 31 moves the molding die 30 to the mold release position (see FIG. 3B).

Subsequently, the hydraulic mechanism 32 moves the first mold 30a in the opening direction to bring the molding mold 30 into the open state (step S6). Next, the extrusion pin 36 provided in the second mold 30b moves to the protruding position (step S7). As a result, the core metal member E formed by the forming die 30 is separated from the second die 30b.

Next, the operation of the transport device 7 will be described. In the molding apparatus 5, when the core metal member E is removed from the second mold 30b in step S7, the core metal member E is taken out from the second mold 30b by the holding device 50 held by the transfer device 7. Is done. In the present embodiment, the drive unit 55 and the transport device 7 of the holding device 50 move the front claw 61 and the rear claw 71 so that the rear claw 71 holds the core metal member E before the front claw 61. Hereinafter, in the X-axis direction, the side on which the front claw 61 is arranged will be referred to as the front side, and the side on which the rear claw 71 is arranged will be referred to as the rear side.

In the transport device 7, the main body 51 is arranged so as to face the core metal member E in the Z-axis direction, and the front claw 61 and the rear claw 71 are brought closer to the holding device 50 from above the core metal member E to move forward. The claw 61 and the rear claw 71 are inserted into the space S (see FIG. 4) between the core metal E1 and the core metal E1. Next, the drive unit 55 is driven to move the rear claw 71 forward with respect to the main body 51. As a result, the rear claw 71 contacts (holds) the second connecting portion E3. Almost at the same time, the transfer device 7 moves the holding device 50 to the rear side while maintaining the driving of the driving unit 55. As a result, the front claw 61 contacts (holds) the first connecting portion E2. At this point, the drive of the drive unit 55 is stopped.

Subsequently, the mold release agent is sprayed on the molding die 30 by the holding device 50 held by the conveying device 7 (step S0). Subsequently, the core metal member E is held by the holding device 50 held by the conveying device 7, and is conveyed to the cutting device 8 (step S11). The transport device 7 inserts the core metal member E into the cutting device 8 from the selvage E4 side. Then, in the cutting device 8, the selvage portion E4, which is a part of the core metal member E, is cut (step S11). When the core metal member E is held by the holding device 50 held by the conveying device 7, the extrusion pin 36 of the second mold 30b moves to the standby position. Further, the molding die 30 is moved to the supply position (see FIG. 3A) by the moving mechanism 31 in the molding apparatus 5.

Next, the transport device 7 rotates the core metal member E from which the selvage portion E4 has been cut in the cutting device 8 by 180 degrees in a horizontal plane, and puts the core metal member E into the accumulating portion 9 from the first connecting portion E2 side (step S12). .. Next, the chuck portion 60 of the holding device 50 is moved in the closing direction (approaching position), and the core metal member E is delivered to the two rails 9A and 9A in the integrating portion 9 (step S13). In step S13, the core metal member E is integrated in a state where the first connecting portion E2 is suspended on the two rails 9A and 9A. Next, the transfer device 7 moves the holding device 50 to the take-out position in the molding die 30, that is, above the core metal member E released from the molding die 30 (step S14). Then, the front claw 61 and the rear claw 71 in the chuck portion 60 are moved in a direction away from each other to hold the core metal member E (step S15). Then, after the mold release agent is sprayed on the molding die 30, the held core metal member E is moved and transferred to the cutting device 8. After that, steps S0 to S15 are repeated.

As described above, in the core metal manufacturing apparatus 1 according to the above embodiment, as shown in FIGS. 8A and 8B, the chuck surface 61F (71F) holding the core metal member E is formed on the chuck surface 61F (71F). Since the tapered portions 64A, 64B (74A, 74B) connected to the holding portion 63 (73) are formed, when the holding device 50 holds the core metal member E, the holding portion 63 (73) holds the core metal. Even if the member E cannot be held, the core metal member E is guided to the holding portion 63 (73) along the tapered portions 64A and 64B (74A and 74B). As a result, the core metal member E is not held in an abnormal state where it is not held by the holding portion 63 (73).

Further, in the holding device 50 of the above embodiment, the center position M1 (M2) of the holding portion 63 (73) in the Z-axis direction is arranged below the center position M of the chuck surface 61F (71F) in the Z-axis direction. ing. Therefore, as compared with the case where the center position M1 (M2) of the holding portion 63 (73) in the Z-axis direction is arranged above the center position M of the chuck surface 61F (71F) in the Z-axis direction, the core metal It is possible to secure a long distance between the main body 51 and the core metal member E when gripping the member E. As a result, it is possible to prevent the main body portion 51 from coming into contact with the core metal member E. As a result, damage or dropping when holding the core metal member E can be suppressed.

Since the holding portion 63 (73) of the holding device 50 in the present embodiment extends along the Z-axis direction, the width when the core metal member E is held in a normal state can be widened. As a result, damage or dropping when holding the core metal member E can be suppressed more reliably.

In the holding device 50 in the above embodiment, since the pair of chuck portions 60, 60 have different shapes when viewed from the Y-axis direction, the holding device 50 can be held according to the shape of the core metal member E. As a result, the core metal member E can be more reliably suppressed from being damaged or dropped.

In the holding device 50 according to the above embodiment, the pair of chuck portions 60, 60 includes a rear claw 71 and a front claw 61 in which the length H1 of the tapered portion 64A in the Z-axis direction is longer than the tapered portion 74A of the rear claw 71. The drive unit 55 moves a pair of chuck portions 60, 60 so that the rear claw 71 holds the core metal member E before the front claw 61. Here, when the core metal member E is held by one chuck (rear claw 71), the position of the core metal member E that the other chuck (front claw 61) is trying to grip is, for example, in the vertical direction (Z axis). It may fluctuate in the direction). In the holding device 50 in the above embodiment, since the length of the tapered portion 64A is longer than that of the tapered portion 74A, the core metal member E is surely provided even if the position of the core metal member E is changed as described above. It can be guided to the holding portion 63.

In the core metal manufacturing apparatus 1 of the above embodiment, the mold release agent can be sprayed on the molding die 30 at the same time as the core metal member E is taken out from the molding die 30, so that the production efficiency can be improved. Further, in the core metal manufacturing apparatus 1 having this configuration, since the holding device 50 is moved by the articulated robot 40, it can be freely moved with respect to the entire molding die 30, and the mold release agent can be sprayed to every corner.

Since the molding die 30 of the core metal manufacturing apparatus 1 of the above embodiment is arranged so that the second region A2 on which the second connecting portion E3 is formed is located above the first region A1 in the Z-axis direction. , Molten lead having a light specific gravity is supplied to the second region A2. As a result, the first connecting portion E2 is formed of a material having inferior quality, and the core metal E1 is formed of a material having superior quality. By deliberately lowering the quality of the first connecting portion E2, which is cut in the subsequent process and is not used as a commercial product, the core metal E1 having excellent quality can be formed. As a result, it becomes possible to manufacture a lead storage battery having excellent quality.

Although the embodiment according to one aspect of the present invention has been described above, one aspect of the present invention is not necessarily limited to the above-described embodiment, and various changes can be made without departing from the gist thereof. ..

The tapered portions 64A and 64B (74A and 74B) in the front claw 61 (rear claw 71) of the above embodiment have been described with reference to an example in which they are formed linearly, but the present invention is not limited thereto. For example, as shown in FIG. 10A, the tapered portions 164A and 164B of the front claw 161 may be formed in a curved shape. Further, for example, as shown in FIG. 10B, the tapered portions 174A and 174B of the rear claw 171 may be formed in a curved shape. With the front claw 161 (rear claw 171) having this configuration, the core metal member E can be guided to the holding portion 63 (73) more smoothly.

Further, the holding portion 63 (73) in the front claw 61 (rear claw 71) of the above embodiment has been described with reference to an example in which the holding portion 63 (73) has a portion extending in the Z-axis direction, but the present invention is not limited thereto. For example, as shown in FIGS. 11 (a) and 11 (b), the holding portion 264 of the front claw 261 does not have a portion extending in the Z-axis direction and may be a single point. Similarly, for example, the holding portion 274 of the rear claw 271 may have no portion extending in the Z-axis direction and may be a single point.

Further, the pair of chuck portions 60 (front claw 61 and rear claw 71) of the above embodiment are formed on a back facing surface BF that faces each other in the X-axis direction when they are located at separate positions. 71F) has been described by giving an example in which the core metal member E is held and the core metal member E can be lifted upward in the Z-axis direction. However, when they are located close to each other, they are provided to each other in the X-axis direction. The core metal member E may be held by the chuck surfaces 61F (71F) formed on the facing surfaces facing each other, and the core metal member E may be provided so as to be liftable upward in the Z-axis direction.

In the above-described embodiment and modification, the configuration including the drive unit 55 for moving the rear claw 71 with respect to the main body 51 has been described as an example, but the drive unit for moving the rear claw 71 with respect to the main body 51 has been described. , A drive unit for moving the front claw 61 may be provided separately. As a result, each drive unit may be controlled so that the rear claw 71 holds the core metal member E before the front claw 61.

In the above embodiment, as an example of the cast member, in the clad type lead storage battery (clad valve type lead storage battery), the core metal member E having the core metal E1 used for the clad type positive electrode for the lead storage battery having the clad tube is taken as an example. As described above, in a paste type lead acid battery (control valve type lead acid battery), it may be a lattice body used for an electrode plate used for a positive electrode and a negative electrode.

In the above embodiment, the configurations of the supply device 3, the molding device 5, the transfer device 7, the cutting device 8, and the integration unit 9 may be changed as appropriate.

1 ... Core metal manufacturing device, 3 ... Supply device, 5 ... Molding device, 7 ... Conveyor device, 8 ... Cutting device, 9 ... Integrated part, 10 ... Control device, 30 ... Molding mold, 34 ... Connection part (Supply port) ), 40 ... articulated robot, 50 ... holding device, 51 ... main body, 55 ... drive, 56 ... second support, 57 ... first support, 60 ... chuck, 61 ... front claw, 61F ... chuck Surfaces, 62A, 62B ... both ends, 63 ... holding parts, 64A, 64B ... tapered parts, 71 ... rear claws, 71F ... chuck surfaces, 72A, 72B ... both ends, 73 ... holding parts, 74A, 74B ... tapered parts, 79 ... Insertion hole, 81 ... Mold release agent discharge nozzle, A1 ... First area, A2 ... Second area, BF ... Back surface, E ... Core metal member (casting member), E1 ... Core metal, E2 ... First Connecting part, E3 ... Second connecting part, E4 ... Ear part.

Claims (10)

A holding device used in lead-acid batteries to hold cast members extending along planes parallel to the first and second directions orthogonal to each other.
With the main body
When the main body portion is arranged so as to face the casting member in a third direction orthogonal to the plane, a pair of chuck portions arranged on the casting member side of the main body portion and a pair of chuck portions.
When the direction in which the pair of chuck portions are brought close to each other along the plane is the approach direction and the direction in which the pair of chuck portions are separated from each other along the plane is the separation direction, the pair of chuck portions are in the approach direction and the separation direction. With a drive unit to move to
The pair of chuck portions have a pair of chuck surfaces recessed in the approaching direction formed on the dorsal surfaces facing each other.
The pair of chuck surfaces
In the moving direction of the pair of chuck portions, a holding portion formed on the approaching direction side from both ends of the chuck surface in the third direction, and
It has tapered portions that connect both ends of the chuck surface and both ends of the holding portion in the third direction.
When the main body portion is arranged so as to face the casting member in the third direction, the center position of the holding portion in the third direction is higher than the center position of the chuck surface in the third direction. A holding device located on the casting member side. A holding device used in lead-acid batteries to hold cast members extending along planes parallel to the first and second directions orthogonal to each other.
With the main body
When the main body portion is arranged so as to face the casting member in a third direction orthogonal to the plane, a pair of chuck portions arranged on the casting member side of the main body portion and a pair of chuck portions.
When the direction in which the pair of chuck portions are brought close to each other along the plane is the approach direction and the direction in which the pair of chuck portions are separated from each other along the plane is the separation direction, the pair of chuck portions are in the approach direction and the separation direction. With a drive unit to move to
The pair of chuck portions are formed with a pair of chuck surfaces recessed in the separation direction on facing surfaces facing each other.
The pair of chuck surfaces
In the moving direction of the pair of chuck portions, a holding portion formed on the side away from both ends of the chuck surface in the third direction, and
It has tapered portions that connect both ends of the chuck surface and both ends of the holding portion in the third direction.
When the main body portion is arranged so as to face the casting member in the third direction, the center position of the holding portion in the third direction is higher than the center position of the chuck surface in the third direction. A holding device located on the casting member side. The holding device according to claim 1 or 2, wherein the tapered portion is formed in a curved shape. The holding device according to any one of claims 1 to 3, wherein the holding portion extends along the third direction. The holding device according to any one of claims 1 to 4, wherein the pair of chuck portions have different shapes when viewed from a direction orthogonal to the moving direction and the third direction. The holding device according to any one of claims 1 to 5,
A molding die for casting the casting member and
A casting member manufacturing apparatus including an articulated robot that moves the holding device so as to approach and separate from the molding die. The casting member manufacturing apparatus according to claim 6, wherein in the holding device, a mold release agent discharge nozzle for spraying a mold release agent on the molding die is arranged on the molding die side in the moving direction. The pair of chuck portions includes a first chuck and a second chuck in which the length of the tapered portion in the third direction is longer than that of the tapered portion of the first chuck.
A claim that the drive unit and the articulated robot move at least one of the pair of chuck units and the holding device so that the second chuck holds the cast member before the first chuck. The casting member manufacturing apparatus according to 6 or 7. Further provided with a supply device for supplying molten lead to the molding die,
The casting member manufacturing apparatus according to claim 8, wherein the molding die is arranged in a state of being tilted in the vertical direction, and a supply port from which the lead is supplied from the supply device is formed at the lowermost portion. The molding die has a first region in which a core metal extending in the first direction and arranged in the second direction is formed, and the first direction of the core metal arranged in the second direction. The first connecting portion adjacent to the supply port and the second connecting portion connecting the other end in the first direction of the core metal arranged in the second direction It has two second regions, which are formed,
The casting member manufacturing apparatus according to claim 9, wherein the molding die is arranged so that the second region on the side where the second connecting portion is formed is located above the first region in the vertical direction. ..

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