EP0063966B1 - Device for gripping and transporting pieces, and process for removing sharp edges of sand casting cores - Google Patents

Device for gripping and transporting pieces, and process for removing sharp edges of sand casting cores Download PDF

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Publication number
EP0063966B1
EP0063966B1 EP82400480A EP82400480A EP0063966B1 EP 0063966 B1 EP0063966 B1 EP 0063966B1 EP 82400480 A EP82400480 A EP 82400480A EP 82400480 A EP82400480 A EP 82400480A EP 0063966 B1 EP0063966 B1 EP 0063966B1
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EP
European Patent Office
Prior art keywords
cores
support
gripping
pellet member
outside
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP82400480A
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German (de)
French (fr)
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EP0063966A1 (en
Inventor
Jacques Chamdru
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Regie Nationale des Usines Renault
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Regie Nationale des Usines Renault
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Publication of EP0063966A1 publication Critical patent/EP0063966A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/46—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces by inflatable elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C9/00—Moulds or cores; Moulding processes
    • B22C9/18—Finishing

Definitions

  • the present invention relates to a device for gripping and transporting parts, comprising, for gripping a part, at least one flexible element which can be inflated by supplying pressurized fluid and which cooperates in the inflated state by clamping effect with the part.
  • the invention also relates to a method of finishing friable parts using this device.
  • Document FR-A-2 238 662 describes a device for the spatial transport of a plurality of objects which comprises a movable support on which are slidably mounted at least two optionally removable jaws which constitute, in the close position, all or part of the periphery of the group of objects to be transferred, the support also receiving friction members of shape and distribution corresponding to those of the spaces of the group of objects in order to penetrate there freely when the support is lowered above the group of objects, means being provided for bringing the friction members into the active position, other means being provided for bringing the jaws together and apart and other means being provided for moving the support according to any desired movement.
  • the document FR-A-553 283 describes two systems of gripping members suitable for being placed on either side of an object to be handled, and such that they can grasp this object between them thanks to a suitable pressure d '' an elastic fluid acting on at least one of these systems.
  • Document DE-A-2 513 285 describes a method for deburring foundry cores in which a cutting template in the form of a blade is directed towards a core at a depth such as burrs due to the joint plane of the nucleus are eliminated.
  • the present invention relates to a device for gripping and transporting parts making it possible to simultaneously grasp several parts, even of complicated shape and / or oriented at different angles.
  • the subject of the invention is also a method of finishing friable parts using such a gripping and transport device and allowing in particular the deburring of foundry cores in sand with a view to eliminating burrs due to the plane of joint of the core box, in order to prevent the initiation of rupture on the parts cast using these cores, in particular safety parts in the automotive industry, for example suspension arms.
  • the device according to the invention for gripping and transporting parts comprises, for gripping a part, at least one pair of inflatable flexible pads mounted face to face on a common support movable relative to the part to be gripped, being inflatable l '' in the direction of the other so as to leave between them, in the non-inflated state, an interval whose width is slightly greater than the distance separating two opposite faces of the part or of a raised part of the piece, and clamping said faces together in the inflated state.
  • This device can be adapted without difficulty to the gripping of parts of any shape, by means of an appropriate conformation of the support carrying the inflatable pads.
  • Each swelling pad of the device according to the invention consists of a body of revolution made of flexible material, for example rubber or plastic, having the shape of a bucket with a substantially cylindrical external lateral surface, having an annular rim external to opposite the bottom of the bucket.
  • This patch is connected to the support by a mount having, on its face for fixing to the support, a nozzle whose external shape corresponds to the internal shape of the patch.
  • This tip is surrounded at its base by a groove with a depth slightly less than the thickness of said edge of the pellet.
  • the frame comprises a pressurized fluid supply channel opening at the free end of the end piece, opposite the bottom of the pellet fitted on said end piece.
  • the patch is thus simply fitted onto the end piece of the frame and when the mount thus fitted is fixed on the support, the edge of the patch is clamped between the frame and the support. In the event of a damaged tablet, simply detach the corresponding mount from the support and change the tablet.
  • the support has, at the place of attachment of each pellet mount, a through hole whose diameter corresponds substantially to the outside diameter of the cup-shaped body of the pellet and whose depth is equal to or slightly greater than the axial distance between the mounting face of the frame and the outside face of the bottom of the patch.
  • a through hole whose diameter corresponds substantially to the outside diameter of the cup-shaped body of the pellet and whose depth is equal to or slightly greater than the axial distance between the mounting face of the frame and the outside face of the bottom of the patch.
  • the end piece of the frame has a frusto-conical shape which widens towards its free end and that the cup-shaped body of the patch has an inner shape in a truncated cone flaring towards the bottom.
  • the latter comprises several supports capable of being fixed in an adjustable manner to a single mobile support plate.
  • the cores are advantageously gripped in the core box, inside the outside contour of the cores and / or above the burrs due to the joint plane of the box, using a device comprising as many supports with swelling pads as the box contains cores.
  • a device comprising as many supports with swelling pads as the box contains cores.
  • a plate 1 is mounted on a handling system not shown making it possible to print on the plate 1 a movement perpendicular to the plane of the drawing, as well as a displacement in the plane of the drawing.
  • the supports 2 are fixed to the plate 1 in a reciprocal arrangement chosen so as to allow the accommodation of a maximum number of parts 3 of identical shape in a given surface.
  • four of the five pieces 3 of very tormented shape are oriented at different angles in a plane parallel to the plane of the plate 1.
  • each part 3 has three parts 4 projecting upwards.
  • Each support 2 has three corresponding recesses 5 capable of receiving said projections 4 of parts 3.
  • each support 2 comprises in the present case three pairs of gripping means shown in detail in FIG. 2.
  • Each gripping means comprises a flexible inflatable pad 6, for example made of rubber or plastic, and a metal frame 7 for this pad.
  • the pad 6 is constituted by a bucket-shaped body of revolution, with a substantially cylindrical outer lateral surface, having an outer annular rim 8 opposite the bottom 9.
  • the inner lateral surface of the bucket is in the form of a truncated cone and goes in widening towards the bottom 9.
  • the mount 7 comprises, on its fixing surface 10, a projecting end piece 11, having an external shape corresponding substantially to the internal shape of the patch 6. At its base, the end piece 11 is surrounded by a groove 12 formed in the fixing surface 10, this groove 12 having a depth slightly less than the (axial) thickness of the rim 8 of the patch 6.
  • the mount 7 also comprises a channel 13 for supplying pressurized fluid extended by a channel 14 which opens at the free end of the end piece 11, opposite the bottom 9 of the patch 6 fitted onto the end piece 11 of the frame.
  • a part of the support 2 to which the frame 7 is fitted with its pad 6 has also been indicated in dashed lines.
  • the support 2 has, at the place of attachment of the frame 7, a through hole 15 of which the diameter d corresponds substantially to the outside diameter of the cup-shaped body of the patch 6.
  • the depth p of the hole 15 corresponds substantially to the distance (axial) p 'between the fixing surface 10 of the mount 7 and the face outside of the bottom 9 of the patch 6 fitted on the end piece 11.
  • Two mounts 7 with pads 6 are fixed on two opposite sides of each part of the support 2 provided with a recess 5 for a projection 4 of the part 3, as shown in FIG. 1.
  • the rim 8 of each patch 6 is clamped between the bottom of the groove 12 of the frame 7 and the surface of the support 2 to which the frame 7 is fixed.
  • the support plate 1 has on top a pneumatic distributor 16 connected by conduits 17 passing through holes in the plate 1, to connection blocks 18 each of which is fixed to one of the supports 2.
  • connection blocks 18 each of which is fixed to one of the supports 2.
  • Each block of connection 18 is connected by pipes not shown to the supply channel 13 of each of the mounts 7 fixed on each support 2.
  • a particularly advantageous use of the gripping and transport device as described above consists in the extraction of the foundry cores in sand from a core box, the different cores having complicated and / or different shapes and / or being oriented at different angles in the box.
  • these cores are intended for the casting of parts which must be free of any initiation of rupture, in particular of so-called safety parts for motor vehicles, for example of suspension arms, it is necessary to eliminate on the foundry cores, the burrs due to the joint plane of the box since these burrs would lead precisely to the formation of such incipient fractures on the cast parts.
  • the deburring assembly comprises a support plate 20 on which are fixed in an adjustable manner, by means not shown, for example screws, as many deburring blades 21 as the plate 1 of the gripping and transport device comprises supports 2 for cores 3.
  • each blade 21 is cut a recess 22 whose contour corresponds to the external contour of a core 3.
  • the reciprocal arrangement of the different blades 21 corresponds to the reciprocal arrangement of the cores 3 below the plate 1, which in turn corresponds to the reciprocal arrangement of the cores 3 in the core box.
  • the cores After having brought the cores 3 suspended from the supports 2 below the plate 1 above the deburring blades 21, the cores are lowered to make them penetrate into the blades 21.
  • the depth of penetration of the cores 3 into the blades 21 is such that the burrs formed on the cores 3 due to the plane of the joint of the box are eliminated by the blades 21.
  • the latter are advantageously mounted in an adjustable manner on the plate 1.
  • the free supports 2 having been placed on the cores in the box, the plate 1 is lowered on the box.
  • the plate is indexed on the dowel of the box and can then descend onto the supports 2 which are then fixed in their correct reciprocal position to the plate 1.
  • Each support 2 advantageously comprises several removable centering studs referenced 23 in FIG. 1.
  • the deburring blades 21 according to FIG. 3 have on their side several centering holes 24, which allows the first descent of the cores 3 on the deburring assembly, to center the blades 21 relative to the supports 2, thanks to the centering studs 23 of the latter, before fixing the blades 21 on the plate 20.
  • the studs 23 are then removed.
  • the gripping and transport device can be used for parts of all shapes. When the parts do not have protruding parts, it is possible to grip the parts at their periphery, between two opposite points each time.
  • the number of pairs of swelling pads used to grip a piece is also variable and depends, among other things, on the shape, size and fragility of the pieces.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Casting Devices For Molds (AREA)

Description

La présente invention se rapporte à une dispositif de préhension et de transport de pièces, comprenant, pour saisir une pièce, au moins une élément souple gonflable par alimentation en fluide sous pression et coopérant à l'état gonflé par effet de serrage avec la pièce. L'invention à également pour objet un procédé de parachèvement de pièces friables faisant appel à ce dispositif.The present invention relates to a device for gripping and transporting parts, comprising, for gripping a part, at least one flexible element which can be inflated by supplying pressurized fluid and which cooperates in the inflated state by clamping effect with the part. The invention also relates to a method of finishing friable parts using this device.

Lors de l'obtention simultannée de plusieurs noyaux de sable de forme simple dans une boîte à noyaux, il est possible de choisir une disposition sensiblement alignée des éjecteurs des noyaux et d'introduire, en dessous de tous les noyaux, une fourche permettant de soutenir et de retirer l'ensemble des noyaux de la boîte.When simultaneously obtaining several sand cores of simple shape in a core box, it is possible to choose a substantially aligned arrangement of the core ejectors and to introduce, below all the cores, a fork making it possible to support and remove all of the cores from the box.

Par contre, lorsque les noyaux présentent des formes compliquées et/ou sont orientés selon des angles différents, il est possible de retirer l'ensemble des noyaux de la boîte à l'aide d'une fourche unique.On the other hand, when the cores have complicated shapes and / or are oriented at different angles, it is possible to remove all of the cores from the box using a single fork.

Le document FR-A-2 238 662 décrit un dispositif pour le transport spatial d'une pluralité d'objects qui comporte un support mobile sur lequel sont montées coulissantes au moins deux mâchoires éventuellement amovibles qui constituent, en position rapprochée, tout ou partie du pourtour du groupe d'objets à transférer, le support recevant en outre des organes de frottement de forme et répartition correspondant à celles des espaces du groupe d'objets afin d'y pénétrer librement lorsque le support est abaissé au-dessus du groupe d'objets, des moyens étant prévus pour amener les organes de frottement en position active, d'autres moyens étant prévus pour rapprocher et écarter les mâchoires et d'autres moyens encore étant prévus pour déplacer le support selon tout mouvement voulu.Document FR-A-2 238 662 describes a device for the spatial transport of a plurality of objects which comprises a movable support on which are slidably mounted at least two optionally removable jaws which constitute, in the close position, all or part of the periphery of the group of objects to be transferred, the support also receiving friction members of shape and distribution corresponding to those of the spaces of the group of objects in order to penetrate there freely when the support is lowered above the group of objects, means being provided for bringing the friction members into the active position, other means being provided for bringing the jaws together and apart and other means being provided for moving the support according to any desired movement.

Le document FR-A-553 283 décrit deux systèmes d'organes de préhension propres à être disposés de part et d'autre d'un objet à manutentionner, et tels qu'ils puissent saisir entre eux cet objet grâce à une pression convenable d'un fluide élastique agissant sur l'un au moins de ces systèmes.The document FR-A-553 283 describes two systems of gripping members suitable for being placed on either side of an object to be handled, and such that they can grasp this object between them thanks to a suitable pressure d '' an elastic fluid acting on at least one of these systems.

Le document DE-A-2 513 285 décrit un procédé d'ébavurage de noyaux de fonderie suivant lequel on dirige un gabarit de coupe en forme de lame vers un noyau à une profondeur telle que les bavures dues au plan de joint de la boîte à noyau soient éliminées.Document DE-A-2 513 285 describes a method for deburring foundry cores in which a cutting template in the form of a blade is directed towards a core at a depth such as burrs due to the joint plane of the nucleus are eliminated.

La présente invention a pour objet un dispositif de préhension et de transport de pièces permettant de saisir simultanément plusieurs pièces même de forme compliquée et/ou orientées selon des angles différents.The present invention relates to a device for gripping and transporting parts making it possible to simultaneously grasp several parts, even of complicated shape and / or oriented at different angles.

L'invention a également pour objet un procédé de parachèvement de pièces friables faisant appel à un tel dispositif de préhension et de transport et permettant en particulier l'ébavurage de noyaux de fonderie en sable en vue de l'élimination des bavures dues au plan de joint de la boîte à noyaux, dans le but de prévenir les amorces de rupture sur les pièces coulées à l'aide de ces noyaux, notamment de pièces de sécurité dans l'industrie automobile, par exemple des bras de suspension.The subject of the invention is also a method of finishing friable parts using such a gripping and transport device and allowing in particular the deburring of foundry cores in sand with a view to eliminating burrs due to the plane of joint of the core box, in order to prevent the initiation of rupture on the parts cast using these cores, in particular safety parts in the automotive industry, for example suspension arms.

Le dispositif conforme à l'invention de préhension et de transport de pièces comprend, pour saisir une pièce, au moins une paire de pastilles souples gonflables montées face à face sur un support commun mobile par rapport à la pièce à saisir, en étant gonflables l'un en direction de l'autre de manière à laisser subsister entre elles, à l'état non gonflé, un intervalle dont la largeur est légèrement supérieure à la distance séparant deux faces opposées de la pièce ou d'une partie en relief de la pièce, et à serrer lesdites faces entre elles à l'état gonflé.The device according to the invention for gripping and transporting parts comprises, for gripping a part, at least one pair of inflatable flexible pads mounted face to face on a common support movable relative to the part to be gripped, being inflatable l '' in the direction of the other so as to leave between them, in the non-inflated state, an interval whose width is slightly greater than the distance separating two opposite faces of the part or of a raised part of the piece, and clamping said faces together in the inflated state.

Ce dispositif peut être adapté sans difficulté à la préhension de pièces de forme quelconque, moyennant une conformation appropriée du support portant les pastilles gonflables.This device can be adapted without difficulty to the gripping of parts of any shape, by means of an appropriate conformation of the support carrying the inflatable pads.

Il convient de noter à ce sujet que ces pastilles gonflables utilisées par paires pour serrer entre elles les pièces ou des parties des pièces diffèrent tant du point de vue fonction que du point de vue structure des doigts gonflants bien connus pour la préhension de pièces par enfoncement et gonflement des doigts dans un évidement de la pièce. Ces doigts gonflants présentent, par ailleurs, l'inconvénient d'une grande fragilité.It should be noted in this regard that these inflatable pads used in pairs to clamp together the parts or parts of the parts differ both from the functional point of view and from the structural point of view of the swelling fingers well known for gripping parts by pressing and swelling of the fingers in a recess in the part. These swelling fingers also have the disadvantage of being very fragile.

Chaque pastille gonflante du dispositif conforme à l'invention est constituée par un corps de révolution en matière souple, par example en caoutchouc ou en matière plastique, ayant la forme d'un godet à surface latérale extérieure sensiblement cylindrique, présentant un rebord annulaire extérieur à l'opposé du fond du godet. Cette pastille est reliée au support par une monture présentant, sur sa face de fixation au support, un embout dont la forme extérieure correspond à la forme intérieure de la pastille. Cet embout est entouré, à sa base, d'une gorge d'une profondeur légèrement inférieure à l'épaisseur dudit rebord de la pastille. La monture comporte un canal d'alimentation en fluide sous pression débouchant à l'extrémité libre de l'embout, en face du fond de la pastille emmanchée sur ledit embout.Each swelling pad of the device according to the invention consists of a body of revolution made of flexible material, for example rubber or plastic, having the shape of a bucket with a substantially cylindrical external lateral surface, having an annular rim external to opposite the bottom of the bucket. This patch is connected to the support by a mount having, on its face for fixing to the support, a nozzle whose external shape corresponds to the internal shape of the patch. This tip is surrounded at its base by a groove with a depth slightly less than the thickness of said edge of the pellet. The frame comprises a pressurized fluid supply channel opening at the free end of the end piece, opposite the bottom of the pellet fitted on said end piece.

La pastille est ainsi simplement emmanchée sur l'embout de la monture et lors de la fixation de la monture ainsi garnie sur le support, le rebord de la pastille est serré entre la monture et le support. En cas d'avarie d'un pastille, il suffit de détacher la monture correspondante du support et de changer la pastille.The patch is thus simply fitted onto the end piece of the frame and when the mount thus fitted is fixed on the support, the edge of the patch is clamped between the frame and the support. In the event of a damaged tablet, simply detach the corresponding mount from the support and change the tablet.

De préférence, le support présente, à l'endroit de fixation de chaque monture de pastille, un trou de passage dont le diamètre correspond sensiblement au diamètre extérieur du corps en forme de godet de la pastille et dont la profondeur est égale ou légèrement supérieure à la distance axiale entre la face de fixation de la monture et la face extérieure du fond de la pastille. Ainsi, lorsque la pastille n'est pas gonflée, son fond ne dépasse pas le support et ne risque pas d'être endommagé par la pièce à saisir lors de la mise en place du support avec les pastilles sur la pièce.Preferably, the support has, at the place of attachment of each pellet mount, a through hole whose diameter corresponds substantially to the outside diameter of the cup-shaped body of the pellet and whose depth is equal to or slightly greater than the axial distance between the mounting face of the frame and the outside face of the bottom of the patch. Thus, when the pellet is not inflated, its bottom does not exceed the support and does not risk being damaged by the part to be grasped during the positioning of the support with the pellets on the part.

Pour améliorer encore la tenue de la pastille sur sa monture, il est avantageux que l'embout de la monture présente une forme en tronc de cône allant en s'évasant vers son extrémité libre et que le corps en forme de godet de la pastille présente une forme intérieure en tronc de cône allant en s'évasant vers le fond.To further improve the resistance of the patch on its frame, it is advantageous that the end piece of the frame has a frusto-conical shape which widens towards its free end and that the cup-shaped body of the patch has an inner shape in a truncated cone flaring towards the bottom.

Pour pouvoir saisir simultanément plusieurs pièces à l'aide du dispositif, ce dernier comprend plusieurs supports susceptibles d'être fixés de façon réglable à une unique plaque porte-supports mobile.In order to be able to grasp several parts simultaneously using the device, the latter comprises several supports capable of being fixed in an adjustable manner to a single mobile support plate.

En vue du parachèvement de pièces friables, notamment de l'ébavurage de noyaux de fonderie en sable pour l'élimination des bavures dues au plan de joint de la boîte à noyaux, on saisit avantageusement les noyaux dans la boîte à noyaux, à l'intérieur du contour extérieur des noyaux et/ou au-dessus des bavures dues au plan de joint de la boîte, à l'aide d'un dispositif comportant autant de supports à pastilles gonflantes que la boîte contient de noyaux. Ensuite, amène les noyaux suspendus au dispositif de préhension au-dessus d'un ensemble de lames d'ébavurage dont le contour intérieur correspond au contour extérieur des noyaux et dont la disposition réciproque est identique à celle des noyaux dans la boîte. On abaisse ensuite les noyaux pour les faire pénétrer dans les lames à une profondeur telle que les bavures dues au plan de joint de la boîte soient éliminées par les lames.In order to complete friable parts, in particular deburring of foundry cores in sand for the elimination of burrs due to the joint plane of the core box, the cores are advantageously gripped in the core box, inside the outside contour of the cores and / or above the burrs due to the joint plane of the box, using a device comprising as many supports with swelling pads as the box contains cores. Next, bring the cores hanging from the gripping device above a set of deburring blades whose inner contour corresponds to the outer contour of the cores and whose reciprocal arrangement is identical to that of the cores in the box. The cores are then lowered to make them penetrate into the blades to a depth such that the burrs due to the joint plane of the box are eliminated by the blades.

En se référant au dessin annexé, on va décrire ci-après plus en détail un mode de réalisation illustratif et non limitatif de l'objet de l'invention; sur le dessin:

  • la fig. 1 est une vue en plan d'une plaque portant plusieurs supports à pastilles pour la préhension de plusieurs pièces;
  • la fig. 2 est une coupe partielle dans le plan de fig. 1 d'une pastille gonflable avec sa monture, non fixée au support
  • la fig. 3 est une vue en plan d'un ensemble de plusieurs lames d'ébavurage pour le parachèvement de noyaux de sable saisis par le dispositif de la fig. 1.
Referring to the appended drawing, an illustrative and nonlimiting embodiment of the subject of the invention will be described below in more detail; on the drawing:
  • fig. 1 is a plan view of a plate carrying several tablet supports for gripping several pieces;
  • fig. 2 is a partial section in the plane of FIG. 1 of an inflatable tablet with its mount, not fixed to the support
  • fig. 3 is a plan view of an assembly of several deburring blades for the completion of sand cores gripped by the device of FIG. 1.

Selon la fig. 1, une plaque 1 est montée sur un système de manutention non représenté permettant d'imprimer à la plaque 1 un mouvement perpendiculaire au plan du dessin, ainsi qu'un déplacement dans le plan du dessin.According to fig. 1, a plate 1 is mounted on a handling system not shown making it possible to print on the plate 1 a movement perpendicular to the plane of the drawing, as well as a displacement in the plane of the drawing.

En dessous de la plaque 1 sont fixés de façon réglable, par exemple par des vis non représentées, plusieurs supports 2 dont chacun est destiné à porter une pièce 3, par des moyens décrits en détail ci-après. On reconnaît que les supports 2 ont une forme approchée de celle des pièces 3.Below the plate 1 are fixed in an adjustable manner, for example by screws not shown, several supports 2 each of which is intended to carry a part 3, by means described in detail below. It is recognized that the supports 2 have a shape approximated to that of the parts 3.

Les suppports 2 sont fixés sur la plaque 1 dans une disposition réciproque choisie de manière à permettre le logement d'un nombre maximal de pièces 3 de forme identique dans une surface donnée. Dans le cas présent, quatre parmi les cinq pièces 3 de forme très tourmentée sont orientées suivant des angles différents dans un plan parallèle au plan de la plaque 1.The supports 2 are fixed to the plate 1 in a reciprocal arrangement chosen so as to allow the accommodation of a maximum number of parts 3 of identical shape in a given surface. In the present case, four of the five pieces 3 of very tormented shape are oriented at different angles in a plane parallel to the plane of the plate 1.

Dans l'exemple représenté, chaque pièce 3 comporte trois parties 4 faisant saillie vers le haut. Chaque support 2 comporte trois évidements 5 correspondants susceptibles de recevoir lesdites saillies 4 des pièces 3.In the example shown, each part 3 has three parts 4 projecting upwards. Each support 2 has three corresponding recesses 5 capable of receiving said projections 4 of parts 3.

Pour permettre à chaque support 2 de saisir une pièce 3 à l'endroit des saillies 4 de cette dernière, chaque support 2 comporte dans le cas présent trois paires de moyens de préhension représentés en détail sur la fig. 2.To allow each support 2 to grip a part 3 at the location of the projections 4 of the latter, each support 2 comprises in the present case three pairs of gripping means shown in detail in FIG. 2.

Chaque moyen de préhension comprend une pastille souple gonflable 6, par exemple en caoutchouc ou en matière plastique, et une monture 7 métallique pour cette pastille.Each gripping means comprises a flexible inflatable pad 6, for example made of rubber or plastic, and a metal frame 7 for this pad.

La pastile 6 est constituée par un corps de révolution en forme de godet, à surface latérale extérieure sensiblement cylindrique, ayant un rebord annulaire extérieur 8 à l'opposé du fond 9. La surface latérale intérieure du godet est en tronc de cône et va en s'évasant en direction du fond 9.The pad 6 is constituted by a bucket-shaped body of revolution, with a substantially cylindrical outer lateral surface, having an outer annular rim 8 opposite the bottom 9. The inner lateral surface of the bucket is in the form of a truncated cone and goes in widening towards the bottom 9.

La monture 7 comporte, sur sa surface de fixation 10, un embout 11 en saillie, ayant une forme extérieure correspondant sensiblement à la forme intérieure de la pastille 6. A sa base, l'embout 11 est entouré d'une gorge 12 ménagée dans la surface de fixation 10, cette gorge 12 ayant une profondeur légèrement inférieure à l'épaisseur (axiale) du rebord 8 de la pastille 6. La monture 7 comporte par ailleurs un canal 13 d'alimentation en fluide sous pression prolongé par un canal 14 qui débouche à l'extrémité libre de l'embout 11, en face du fond 9 de la pastille 6 emmanchée sur l'embout 11 de la monture.The mount 7 comprises, on its fixing surface 10, a projecting end piece 11, having an external shape corresponding substantially to the internal shape of the patch 6. At its base, the end piece 11 is surrounded by a groove 12 formed in the fixing surface 10, this groove 12 having a depth slightly less than the (axial) thickness of the rim 8 of the patch 6. The mount 7 also comprises a channel 13 for supplying pressurized fluid extended by a channel 14 which opens at the free end of the end piece 11, opposite the bottom 9 of the patch 6 fitted onto the end piece 11 of the frame.

Sur la fig. 2, on a en outre indiqué en tirets une partie du support 2 à laquelle doit être fixée la monture 7 équipée de sa pastille 6. Le support 2 présente, à l'endroit de fixation de la monture 7, un trou de passage 15 dont le diamètre d correspond sensiblement au diamètre extérieur d' du corps en forme de godet de la pastille 6. La profondeur p du trou 15 correspond sensiblement à la distance (axiale) p' entre la surface de fixation 10 de la monture 7 et la face extérieure du fond 9 de la pastille 6 emmanchée sur l'embout 11.In fig. 2, a part of the support 2 to which the frame 7 is fitted with its pad 6 has also been indicated in dashed lines. The support 2 has, at the place of attachment of the frame 7, a through hole 15 of which the diameter d corresponds substantially to the outside diameter of the cup-shaped body of the patch 6. The depth p of the hole 15 corresponds substantially to the distance (axial) p 'between the fixing surface 10 of the mount 7 and the face outside of the bottom 9 of the patch 6 fitted on the end piece 11.

Deux montures 7 avec pastilles 6 sont fixées sur deux côtés opposés de chaque partie du support 2 muni d'un évidement 5 pour une saillie 4 de la pièce 3, comme le montre la fig. 1. Le rebord 8 de chaque pastille 6 est serré entre le fond de la gorge 12 de la monture 7 et la surface du support 2 à laquelle est fixée la monture 7.Two mounts 7 with pads 6 are fixed on two opposite sides of each part of the support 2 provided with a recess 5 for a projection 4 of the part 3, as shown in FIG. 1. The rim 8 of each patch 6 is clamped between the bottom of the groove 12 of the frame 7 and the surface of the support 2 to which the frame 7 is fixed.

On reconnaît par ailleurs sur la fig. 1 que la plaque porte-supports 1 présente sur le dessus un distributeur pneumatique 16 relié par des conduites 17 traversant des trous de la plaque 1, à des blocs de raccordement 18 dont chacun est fixé sur l'un des supports 2. Chaque bloc de raccordement 18 est relié par des conduites non représentées au canal d'alimentation 13 de chacune des montures 7 fixées sur chaque support 2.It is also recognized in FIG. 1 that the support plate 1 has on top a pneumatic distributor 16 connected by conduits 17 passing through holes in the plate 1, to connection blocks 18 each of which is fixed to one of the supports 2. Each block of connection 18 is connected by pipes not shown to the supply channel 13 of each of the mounts 7 fixed on each support 2.

Pour saisir les pièces 3 à l'aide du dispositif de la fig. 1, il suffit d'abaisser la plaque 1 avec les supports 2 sur les pièces 3, les pastilles étant dégonflées par mise à l'air ambiant du distributeur 16, de manière que les saillies 4 des pièces 3 pénétrent dans les évidements 5 des supports 2 . jusqu'à ce que les supports 2 viennent en appui sur les pièces 3. Par envoi d'air comprimé aux différentes pastilles 6 à l'aide du distributeur 16, on gonfle ensuite les pastilles 6. Du fait que le rebord 8 de chaque pastille 6 est serré entre la monture 7 et pièce 3 et que, par ailleurs, la pastille 6 est noyée, sur toute sa hauteur, dans le trou 15 du support 2, le gonflement de pastille 6 se limite au fond 9 de cette dernière, qui se bombe de la manière indiquée en tirets sur la fig. 2. Chaque saillie 4 de chaque pièce 3 se trouve donc serrée entre les fonds bombés 9 de deux pastilles 6 opposées.To grasp parts 3 using the device in fig. 1, just lower the plate 1 with the supports 2 on the parts 3, the pellets being deflated by placing the distributor 16 in the ambient air, so that the projections 4 of the parts 3 penetrate into the recesses 5 of the supports 2. until the supports 2 come to bear on the parts 3. By sending compressed air to the various pellets 6 using the distributor 16, the pellets 6 are then inflated. Because the flange 8 of each pad 6 is clamped between the frame 7 and part 3 and that, moreover, the pellet 6 is embedded, over its entire height, in the hole 15 of the support 2, the swelling of the pellet 6 is limited to the bottom 9 of the latter, which bulges as shown in dashes in fig. 2. Each projection 4 of each part 3 is therefore clamped between the domed bottoms 9 of two opposite pads 6.

Une utilisation particulièrement intéressante du dispositif de préhension et de transport tel que décrit ci-dessus consiste dans l'extraction des noyaux de fonderie en sable d'une boîte à noyaux, les différents noyaux ayant des formes compliquées et/ou différentes et/ou étant orientées selon des angles différents dans la boîte. Lorsque ces noyaux sont destinés à la coulée de pièces qui doivent être dépourvues de toute amorce de rupture, notamment de pièces dites de sécurité pour véhicules automobiles, par exemple de bras de suspension il est nécessaire d'éliminer sur les noyaux de fonderie, les bavures dues au plan de joint de la ,boîte puisque ces bavures conduiraient précisément à la formation de telles amorces de rupture sur les pièces coulées.A particularly advantageous use of the gripping and transport device as described above consists in the extraction of the foundry cores in sand from a core box, the different cores having complicated and / or different shapes and / or being oriented at different angles in the box. When these cores are intended for the casting of parts which must be free of any initiation of rupture, in particular of so-called safety parts for motor vehicles, for example of suspension arms, it is necessary to eliminate on the foundry cores, the burrs due to the joint plane of the box since these burrs would lead precisely to the formation of such incipient fractures on the cast parts.

En vue de l'ébavurage de tels noyaux de fonderie en sable, mais également d'une manière générale pour le parachèvement d'autres pièces friables, il est avantageux de saisir les noyaux dans la boîte à noyaux à l'aide du dispositif de préhension et de transport tel que décrit ci-dessus et représenté sur la fig. 1 et, les noyaux restant suspendus à ce dispositif, de les amener au-dessus d'un ensemble de lames d'ébavurage illustré par la fig. 3.With a view to deburring such foundry cores in sand, but also generally for the finishing of other friable parts, it is advantageous to grip the cores in the core box using the gripping device and transport as described above and shown in FIG. 1 and, the cores remaining suspended from this device, to bring them over a set of deburring blades illustrated in FIG. 3.

L'ensemble d'ébavurage comprend une plaque de support 20 sur laquelle sont fixées de façon réglable, par des moyens non représentés, par exemple des vis, autant de lames d'ébavurage 21 que la plaque 1 du dispositif de préhension et de transport comporte des supports 2 pour des noyaux 3. Dans chaque lame 21 est découpé un évidement 22 dont le contour correspond au contour extérieur d'un noyau 3. La disposition réciproque des différentes lames 21 correspond à la disposition réciproque des noyaux 3 en dessous de la plaque 1, qui correspond à son tour à la disposition réciproque des noyaux 3 dans la boîte à noyaux.The deburring assembly comprises a support plate 20 on which are fixed in an adjustable manner, by means not shown, for example screws, as many deburring blades 21 as the plate 1 of the gripping and transport device comprises supports 2 for cores 3. In each blade 21 is cut a recess 22 whose contour corresponds to the external contour of a core 3. The reciprocal arrangement of the different blades 21 corresponds to the reciprocal arrangement of the cores 3 below the plate 1, which in turn corresponds to the reciprocal arrangement of the cores 3 in the core box.

Après avoir amené les noyaux 3 suspendus aux supports 2 en dessous de la plaque 1 au-dessus des lames d'ébavurage 21, on abaisse les noyaux pour les faire pénétrer dans les lames 21. La profondeur de pénétration des noyaux 3 dans les lames 21 est telle que les bavures formées sur les noyaux 3 en raison du plan du joint de la boîte soit éliminées par les lames 21.After having brought the cores 3 suspended from the supports 2 below the plate 1 above the deburring blades 21, the cores are lowered to make them penetrate into the blades 21. The depth of penetration of the cores 3 into the blades 21 is such that the burrs formed on the cores 3 due to the plane of the joint of the box are eliminated by the blades 21.

Pour assurer une bonne préhension des noyaux 3 dans la boîte par les supports 2, ces derniers sont avantageusement montés de façon réglable sur la plaque 1. Les supports 2 libres ayant été posés sur les noyaux dans la boîte, on abaisse la plaque 1 sur la boîte. La plaque s'indexe sur le goujonnage de la boîte et peut ensuite descendre sur les supports 2 qui sont alors fixés dans leur position réciproque correcte à la plaque 1.To ensure good grip of the cores 3 in the box by the supports 2, the latter are advantageously mounted in an adjustable manner on the plate 1. The free supports 2 having been placed on the cores in the box, the plate 1 is lowered on the box. The plate is indexed on the dowel of the box and can then descend onto the supports 2 which are then fixed in their correct reciprocal position to the plate 1.

Chaque support 2 comporte avantageusement plusieurs goujons de centrage amovibles référencés 23 sur la fig. 1. Les lames d'ébavurage 21 selon la fig. 3 comportent de leur côté plusieurs trous de centrage 24, ce qui permet à la première descente des noyaux 3 sur l'ensemble d'ébavurage, de centrer les lames 21 par rapport aux supports 2, grâce aux goujons de centrage 23 de ces derniers, avant la fixation des lames 21 sur la plaque 20. Les goujons 23 sont ensuite retirés.Each support 2 advantageously comprises several removable centering studs referenced 23 in FIG. 1. The deburring blades 21 according to FIG. 3 have on their side several centering holes 24, which allows the first descent of the cores 3 on the deburring assembly, to center the blades 21 relative to the supports 2, thanks to the centering studs 23 of the latter, before fixing the blades 21 on the plate 20. The studs 23 are then removed.

Le dispositif de préhension et de transport peut être utilisé pour des pièces de toutes formes. Lorsque les pièces ne comportent pas de parties en saillie, il est possible de saisir les pièces à leur périphérie, entre chaque fois deux points opposés.The gripping and transport device can be used for parts of all shapes. When the parts do not have protruding parts, it is possible to grip the parts at their periphery, between two opposite points each time.

Le nombre de paires de pastilles gonflantes utilisées pour saisir une pièce est également variable et dépend, entre autres, de la forme, de la taille et de la fragilité des pièces.The number of pairs of swelling pads used to grip a piece is also variable and depends, among other things, on the shape, size and fragility of the pieces.

Il convient de choisir la disposition des montures 7 sur les supports 2 de manière qu'elles puissent être démontées, en vue du remplacement des pastilles 6, et remontées par la suite sans qu'il n'y ait lieu de démonter les supports 2 de la plaque 1.It is advisable to choose the arrangement of the mounts 7 on the supports 2 so that they can be dismantled, with a view to replacing the pellets 6, and reassembled thereafter without it being necessary to dismantle the supports 2 of plate 1.

Claims (5)

1. Apparatus for gripping and transporting components comprising, for picking up a component (3), at least one pair of flexible elements which are mounted in face-to-face relationship on a common support (2) which is movable with respect to the component to be gripped, being inflatable by a supply of fluid under pressure, one towards the other so as to leave between them, in the uninflated condition, a gap whose width is larger than the distance between two opposite faces of the component or a projecting portion (4) of the component, and to grip said faces between them in the inflated condition, characterised in that each inflatable flexible element is in the shape of a pellet member (6) formed by a cup-shaped body of revolution having a substantially cylindrical outside lateral surface, said cup member having an annular outside rim portion (8) in opposite relationship to the bottom (9) thereof, and that said pellet member is connected to the support (2) by a fitment (7) which on its face (10) for fixing it to the support has an end portion (11) which is of an outside shape corresponding to the inside shape of the cup configuration of the pellet member and surrounded at its base by a groove (12) which is slightly shallower in depth than the thickness of said rim portion (8) of the pellet member, said fitment (7) comprising a pressurised fluid supply duct (13, 14) which opens at the free end of the end portion facing the bottom of the pellet member.
2. Apparatus according to claim 1 characterised in that, at the location of fixing the fitment (7), said support (2) has a through hole (15) whose diameter (d) substantially corresponds to the outside diameter (d') of the cup-shaped body of the pellet member (6) and whose depth (p) substantially corresponds to the (axial) distance between the fixing face (10) of the fitment and the outside face of the bottom of the pellet member (p').
3. Apparatus according to claim 1 or claim 2 characterised in that said end portion of the fitment (7) is of frustoconical shape which flares outwardly towards the free end thereof and that the cup-shaped body of the pellet member (6) is of an internal frustoconical shape which flares outwardly towards the bottom of the pellet member.
4. Apparatus according to any one of the preceding claims characterised in that it comprises, for simultaneously gripping a plurality of components (3), a plurality of supports (2) which are adjustably fixed to a common movable support-carrier plate (1), each of said supports comprising means (23) for centering same with respect to the component to be gripped.
5. A process for fettling sand casting cores (3) for removing the burrs due to the joint plane of the core box, by means of fettling blades (21) each having an opening (22) whose contour corresponds to the outside contour of a core, characterised in that the cores (3) are gripped, in the core box, within the outside contour of the cores and/or above the plane corresponding to the joint plane of the core box, by means of an apparatus according to any one of claims 1 to 4, that the cores suspended from said apparatus are moved above an assembly of said fettling blades (21) which are in a mutually relative arrangement identical to that of the cores in the core box, and that the cores are lowered to cause them to penetrate into the blades to a depth such that the burrs due to the join plane of the box are removed.
EP82400480A 1981-04-07 1982-03-16 Device for gripping and transporting pieces, and process for removing sharp edges of sand casting cores Expired EP0063966B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8106983A FR2503011A1 (en) 1981-04-07 1981-04-07 DEVICE FOR GRIPPING AND TRANSPORTING PARTS AND METHOD FOR PARTS FINALIZATION OF PARTS USING SUCH A DEVICE
FR8106983 1981-04-07

Publications (2)

Publication Number Publication Date
EP0063966A1 EP0063966A1 (en) 1982-11-03
EP0063966B1 true EP0063966B1 (en) 1985-06-19

Family

ID=9257121

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Application Number Title Priority Date Filing Date
EP82400480A Expired EP0063966B1 (en) 1981-04-07 1982-03-16 Device for gripping and transporting pieces, and process for removing sharp edges of sand casting cores

Country Status (5)

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US (1) US4480865A (en)
EP (1) EP0063966B1 (en)
DE (1) DE3264210D1 (en)
FR (1) FR2503011A1 (en)
PL (1) PL235860A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3322567C2 (en) * 1983-06-23 1985-05-23 Georg Fischer GmbH, 4020 Mettmann Device for deburring workpieces designed as foundry cores or the like
US4682806A (en) * 1985-01-02 1987-07-28 General Electric Company Quadruple gripper
DE3909102C1 (en) * 1989-03-20 1990-01-18 Adolf Hottinger Maschinenbau Gmbh, 6800 Mannheim, De
DE4002555C1 (en) * 1990-01-30 1991-05-29 Adolf Hottinger Maschinenbau Gmbh, 6800 Mannheim, De
US5000318A (en) * 1990-03-07 1991-03-19 Kupersmit Julius B Container construction for automobile bodies
CN103935764B (en) * 2013-01-21 2017-05-03 张家港市瑞昌智能机器***有限公司 Gripping device
CN104692231B (en) * 2015-03-27 2016-08-24 宁波全力机械模具有限公司 A kind of lower core suspender of large scale computer phosphor bodies core

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FR553283A (en) * 1921-06-27 1923-05-19 Improvements to handling equipment, in particular to those to be used to handle fragile and small objects
BE552167A (en) * 1956-10-01
US3056625A (en) * 1961-03-01 1962-10-02 Thomas J Timmerman Lifting device
US3161431A (en) * 1962-03-09 1964-12-15 William K Mathews Brick carrier
CH380915A (en) * 1962-03-15 1964-08-14 Georges Lesieur & Ses Fils Soc Device for gripping a soft object
US3347587A (en) * 1962-07-23 1967-10-17 Frost James Dahle Article handling apparatus
FR1486737A (en) * 1966-07-13 1967-06-30 Dansk Ind Syndikat Process for introducing cores into foundry molds composed of identical mold elements manufactured successively and installation for carrying out this process
DE1266931B (en) * 1966-08-12 1968-04-25 Volkswagenwerk Ag Device for removing cores from the molding boxes of core shooters
DE1710054A1 (en) * 1967-04-11 1971-09-16 Zinser Textilmaschinen Gmbh Gripping device for textile sleeves
GB1323673A (en) * 1969-06-13 1973-07-18 Nat Res Dev Gripping
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FR2266581B1 (en) * 1973-05-03 1979-07-06 Soprec
DE2330460A1 (en) * 1973-06-15 1975-01-09 Juergen Kuenzel Brittle item transport and handling equipment - has rigid base with elastic membrane inflated against item surface
FR2238662A1 (en) * 1973-07-25 1975-02-21 Technifil Multiple item handling process - pair of jaws grip opposed sides of items placed in flat array
FR2277025A1 (en) * 1974-07-03 1976-01-30 Cetec Dressler Const Etud Ther Heavy goods handling equipment - has suspension frame with grip head having distorting cushions on arms
DE2513285A1 (en) * 1975-03-26 1976-10-07 Christianhemmers Horst Flash removal from cores - using a template located over the mould cavity

Also Published As

Publication number Publication date
PL235860A1 (en) 1982-11-22
FR2503011A1 (en) 1982-10-08
US4480865A (en) 1984-11-06
FR2503011B1 (en) 1984-04-27
DE3264210D1 (en) 1985-07-25
EP0063966A1 (en) 1982-11-03

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