Sand casting mold production system and sand casting mold production method for producing sand casting mold

Abstract

A sand casting mold production system provided with a nozzle movement device and a control device for the same. The control device is provided with a sand feed position defining part virtually dividing an open region of a top surface part of a frame into a plurality of sub regions and defining coordinates of the individual sub region as sand feed positions on the coordinate system of the nozzle movement device, a height measuring part measuring the height of an internal space of the frame at the individual sand feed positions, and a sand feed determining part using the heights at the individual sand feed positions as the basis to determine the amounts of sand to be fed at the individual sand feed positions. Further, the determined amount of sand is fed to each sand feed position from the sand feed nozzle to the inside of the frame.

What is claimed is: 
     
         1 . A sand casting mold production system filling sand in a frame in which a pattern is arranged so as to produce a sand casting mold, said sand casting mold production system comprising:
 a sand feed nozzle feeding said sand into said frame;   a nozzle movement device which is configured to make said sand feed nozzle move; and   a control device controlling said nozzle movement device,   wherein said frame is a hollow member having an open top surface part and positioned in a coordinate system of said nozzle movement device,   said control device comprises   a sand feed position defining part virtually dividing an open region of said top surface part of said frame into a plurality of sub regions and defining coordinates of said individual sub regions as sand feed positions on the coordinate system of said nozzle movement device,   a height measuring part measuring a height of an internal space of said frame at the individual sand feed positions, and   a sand feed determining part determining an amount of sand to feed at said individual sand feed positions based on said height at said individual sand feed positions, and   said control device makes said nozzle movement device operate so as to successively position said sand feed nozzle at the individual sand feed positions and feeds the amount of sand determined by said sand feed determining part to each said sand feed position from said sand feed nozzle to the inside of said frame.   
     
     
         2 . The sand casting mold production system according to  claim 1 , wherein said control device
 feeds said determined amount of sand from said sand feed nozzle to the inside of said frame to each said sand feed position, then remeasures the height of the internal space of said frame at said individual sand feed positions by the use of said height measuring part,   determines the amount of sand to be fed for any sand feed position where the remeasured height is a predetermined threshold value or more based on said remeasured height, by the use of said sand feed determining part, and   makes said nozzle movement device operate so as to successively place said sand feed nozzle at said sand feed positions where said remeasured height is said predetermined threshold value or more and feeding the amount of sand determined based on said remeasured height from said sand feed nozzle to the inside of said frame.   
     
     
         3 . The sand casting mold production system according to  claim 1 , wherein said sand feed position defining part virtually divides said open region into said plurality of sub regions regularly arranged based on any point on said frame, said any point being linked with the coordinate system of said nozzle movement device. 
     
     
         4 . The sand casting mold production system according to  claim 1 , wherein said height measuring part has a 3D visual sensor arranged above said frame, and said 3D visual sensor is used to measure the height of the internal space of said frame at said individual sand feed positions. 
     
     
         5 . The sand casting mold production system according to  claim 1 , wherein said nozzle movement device is a robot. 
     
     
         6 . A sand casting mold production method filling sand in a frame in which a pattern is arranged so as to produce a sand casting mold, comprising:
 providing a nozzle movement device making a sand feed nozzle move;   fabricating said frame as a hollow member having an open top surface part and positioning it in a coordinate system of said nozzle movement device;   virtually dividing an open region of said top surface part of said frame into a plurality of sub regions and defining coordinates of said individual sub regions as sand feed positions on the coordinate system of said nozzle movement device;   measuring a height of an internal space of said frame at said individual sand feed positions;   determining an amount of sand to feed at said individual sand feed positions based on said height at said individual sand feed positions; and   making said nozzle movement device operate so as to successively position said sand feed nozzle at said individual sand feed positions and feeding the amount of sand determined for each said sand feed position from said sand feed nozzle to the inside of said frame.   
     
     
         7 . The sand casting mold production method according to  claim 6  further comprising:
 feeding said determined amount of sand from said sand feed nozzle to the inside of said frame for each said sand feed position, then remeasuring the height of the internal space of said frame at said individual sand feed positions, 
 determining the amount of sand to be fed for any sand feed position where the remeasured height is a predetermined threshold value or more based on said remeasured height, and 
 making said nozzle movement device operate so as to successively place said sand feed nozzle at said sand feed positions where said remeasured height is said predetermined threshold value or more and feeding the amount of sand determined based on said remeasured height from said sand feed nozzle to the inside of said frame. 
 
     
     
         8 . The sand casting mold production method according to  claim 6  wherein said virtually divided plurality of sub regions are regularly arranged based on any point on said frame, and said any point is linked with the coordinate system of said nozzle movement device. 
     
     
         9 . The sand casting mold production method according to  claim 6  further comprising using a 3D visual sensor arranged above said frame when measuring the height of the internal space of said frame at said individual sand feed positions. 
     
     
         10 . The sand casting mold production method according to  claim 6  wherein said nozzle movement device is a robot.