PURPOSE: To prevent the collapse of a main mold caused by the abutting of a core on the circumferential surface of the main mold when the core is set in the main mold by a robot.
CONSTITUTION: A tip part of an arm 16 of a robot is connected to a hand part 17 through a compliance device 18. In setting a core, the lowering action of the arm 16 is stopped when the core 2 held by the hand part 17 is lowered to the prescribed position in a main mold 1, and the tip part of the arm 16 is horizontally moved by a horizontal movement control means 11. The positional correction of the core 16 is operated from the moving direction and the movement of the arm 16 by the horizontal movement control means 11 and the swaying direction and the sway of the compliance device 18 at that time in order to prevent the core 2 from being abutted on the circumferential surface of the main mold 1 in setting the core, and the position of the arm 16 is corrected according to the results of the operation.
WADA HITOSHI
HAGIWARA HIROYUKI
MIZUNO TAKESHI
MIYAMOTO HIDEKI
