| 摘要 |
PROBLEM TO BE SOLVED: To obtain a system capable of smoothly automatic-cutting a gate even in a high general purpose usable casting line by cutting with a gate breaking function pre-teached in each casting. SOLUTION: The castings 2 are carried in the working area 1A of a robot 3 with an automatic conveying device 1 and then, the robot 3 grasps a prescribed kind of the casting 2 with the command of a deciding command means 5. To each casting 2, the gate cutting is started toward the casting 2 with the pre-teached robot 3. The cast product after cutting the gate is dropped onto a carrying conveyor and carried to an inspection process. In the case of needing a long gate breaking time, the time is shortened by executing simultaneously the same operations with plural robots 3 and this operation can be controlled so as to match with the cycle time. In the case of switching on the flexible reflecting functions X, Y in a joint at the tip part of the robot 3, even there are some errors in the casting 2, the tip part of the gate breaking mechanism is inserted without damaging the cast product and the error of the casting 2 is absorbed by utilizing the flexible reflecting function, and the gate and the cast product can be separated.
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