# US 11,298,832 B2 · Main mold and core joining device and main mold and core joining method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,832 B2 - Document ID: US11298832B2 - Status: Granted - Kind: B2 - Application number: 16/638,736 - Filed: 2018-07-13 - Published: 2021-05-06 - Granted: 2022-04-12 - Earliest claimed: 2017-11-08 - Assignees: Sintokogio, Ltd. - Applicants: Sintokogio, Ltd. - Inventors: Masahiko Nagasaka; Hiroyasu Makino; Takumi Kobayashi; Koji Ito - Web page: https://patentgrep.com/patent/US11298832B2 ## CPC - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B22C 9/108: {Installation of cores} - B22C 23/00: Tools; Devices not mentioned before for moulding - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1697: {Vision controlled systems} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B22C: FOUNDRY MOULDING (moulding refractory materials in general B28B) ## Abstract [Problem] To provide a main mold and core setting device and a main mold and core setting method which enable core setting work, hitherto implemented by a core setting operator using subtle hand sensation, to be completely reproduced by automation. [Solution] The present invention is provided with: a core grasping and moving means for grasping and moving a core; a core movement amount detection means for detecting a movement amount of the core grasping and moving means; a grasped core position and posture detection means for detecting a position, orientation, and inclination of the core grasped by the core grasping and moving means; a main mold position and posture detection means for detecting a position, orientation, and inclination of a main mold; a sensor for detecting a physical quantity applied to the core; and a control means for constantly calculating relationships between relative positions, orientations, and inclinations of the main mold and the core, and from these relationships and the physical quantity applied to the core detected by the sensor, controlling the core grasping and moving means so that the core is caused to set with the main mold. ## Claims ### Claim 1 A main mold and core setting device comprising: a core grasping and moving means for grasping and moving a core; a core movement amount detection means for detecting a movement amount of the core grasping and moving means; a grasped core position and posture detection means for detecting a position, orientation, and inclination of the core grasped by the core grasping and moving means; a main mold position and posture detection means for detecting a position, orientation, and inclination of a main mold; a sensor for detecting a physical quantity applied to the core; and a control means for constantly calculating relationships between relative positions, orientations, and inclinations of the main mold and the core and, from these relationships and the physical quantity applied to the core detected by the sensor, controlling the core grasping and moving means so that the core is caused to set with the main mold. ### Claim 2 (depends on 1) The main mold and core setting device according to claim 1, wherein the physical quantity applied to the core is an external force or torque. ### Claim 3 (depends on 2) The main mold and core setting device according to claim 2, wherein the control means: moves the core grasping and moving means when the sensor detects external forces applied to the core in two axial directions orthogonal to the setting direction, torque applied in the rotational direction around the setting axis, and torque applied in the rotational direction around two axes orthogonal to the setting direction, so that these external forces and torque are eliminated; and moves the core grasping and moving means in the direction of the main mold until the sensor detects that an external force applied to the core in the setting direction becomes a predetermined value. ### Claim 4 (depends on 1) The main mold and core setting device according to claim 1, wherein setting between the main mold and the core is carried out by setting a setting portion provided to the core with a setting portion provided to the main mold, the setting section provided to the main mold and the setting portion provided to the core both having a tapered shape. ### Claim 5 (depends on 1) The main mold and core setting device according to claim 1, further comprising a preliminary core position and posture detection means for detecting a position, orientation, and inclination of the core. ### Claim 6 (depends on 1) The main mold and core setting device according to claim 1, wherein the sensor is a six-axis force/torque sensor. ### Claim 7 (depends on 1) The main mold and core setting device according to claim 1, wherein the core grasping and moving means is an industrial robot. ### Claim 8 (depends on 5) The main mold and core setting device according to claim 5, wherein the preliminary core position and posture detection means is a vision sensor. ### Claim 9 (depends on 1) The main mold and core setting device according to claim 1, wherein the grasped core position and posture detection means and/or the main mold position and posture detection means is a vision sensor. ### Claim 10 (depends on 1) The main mold and core setting device according to claim 1, wherein the core movement amount detection means is an encoder. ### Claim 11 (depends on 1) The main mold and core setting device according to claim 1, wherein the control means is a robot controller. ### Claim 12 A main mold and core setting method comprising: grasping and moving a core; detecting a position, orientation, and inclination of the grasped core; detecting a movement amount of the core; detecting a position, orientation, and inclination of a main mold; constantly calculating relationships between relative positions, orientations, and inclinations of the main mold and the core; detecting a physical quantity applied to the core; and constantly calculating relationships between relative positions, orientations, and inclinations of the main mold and the core, and from these relationships and the physical quantity applied to the core, controlling movement of the core so that the core is caused to set with the main mold. ### Claim 13 (depends on 12) The main mold and core setting method according to claim 12, wherein the physical quantity applied to the core is an external force or torque. ### Claim 14 (depends on 13) The main mold and core setting method according to claim 13, wherein the controlling comprises: moving the core when external forces applied to the core in two axial directions orthogonal to the setting direction, torque applied in the rotational direction around the setting axis, and torque applied in the rotational direction around two axes orthogonal to the setting direction are detected, so that these external forces and torque are eliminated; and moving the core in the direction of the main mold until an external force applied to the core in the setting direction becomes a predetermined value. ### Claim 15 (depends on 12) The main mold and core setting method according to claim 12, further comprising resetting, after the core is grasped, the physical quantity applied to the core. ### Claim 16 (depends on 12) The main mold and core setting method according to claim 12, further comprising storing, after the core is grasped, the physical quantity applied to the core.