Patent Publication Number: US-10773300-B2

Title: Casting apparatus and casting method

Description:
INCORPORATION BY REFERENCE 
     The disclosure of Japanese Patent Application. No. 2017-015631 filed on Jan. 31, 2017 including the specification, drawings and abstract is incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a casting apparatus and a casting method. 
     2. Description of Related Art 
     Casting requires performing various steps, including a step of placing a core inside a mold and a step of ejecting a casting. Japanese Patent Application Publication No. 2012-179643 discloses a technique related to a casting ejection and core setting apparatus that places a core and ejects a casting during casting. 
     Specifically, according to the technique disclosed in JP 2012-179643 A, the casting ejection and core setting apparatus includes an air blow mechanism, and casting holding means and core holding means that are provided on a leading end arm (rotating shaft) of an articulated robot. After a casting is held by the casting holding means, compressed air is discharged from an air nozzle constituting the air blow mechanism, and thereby a mold is cleaned. Then, the leading end arm is rotated, so that a core held by the core holding means is set in the mold. 
     SUMMARY 
     As described in Description of Related Art, the technique disclosed in JP 2012-179643 A employs the casting ejection and core setting apparatus to eject a casting from a lower mold segment and place a core in the lower mold segment. 
     The casting ejection and core setting apparatus disclosed in JP 2012-179643 A rotates the leading end arm after holding the casting placed in the lower mold segment by the casting holding means, and then sets the core held by the core holding means in the lower mold segment. Thus, the technique disclosed in JP 2012-179643 A involves rotating the leading end arm of the articulated robot, which adds to the casting cycle time. 
     The present disclosure provides a casting apparatus and a casting method that can reduce casting cycle time. 
     A first aspect of the present disclosure relates to a casting apparatus. This casting apparatus includes: a mold including a first mold segment and a second mold segment; and a transfer device that is configured to transfer a core to the first mold segment and place the core in the first mold segment, and to receive a casting that has been cast with the mold from the mold and transfer the casting. The transfer device includes a support part including a first side and a second side that is the opposite side of the support part from the first side, a robot arm, a core grasping mechanism being provided on the first side, and a casting receiving part being provided on the second side. The casting is held in the second mold segment when the mold is opened after casting. The transfer device is configured such that, in a state where the mold is open, the robot arm moves the core grasping mechanism grasping the core, so as to place the core in the first mold segment, and moves the casting receiving part so as to receive the casting held in the second mold segment, by the casting receiving part. 
     In the first aspect according to the present disclosure, the first mold segment may be a lower mold segment and the second mold segment may be an upper mold segment. 
     In the first aspect according to the present disclosure, the transfer device may be configured such that, in a state where the mold is open, the robot arm moves the core grasping mechanism to the vertically upper side of the lower mold segment and moves the casting receiving part to the vertically lower side of the upper mold segment. 
     In the first aspect according to the present disclosure, the casting receiving part may include a column member including a first end and a second end, and a plurality of plate members. The first end may be in contact with the second side, and the second end may be located at a position away from the second side in a direction from the first side toward the second side. The plurality of plate members may each include one end in contact with the second end and another end. The plurality of plate members may be parallel to the plane of the support part. The other ends of the plurality of plate members may extend away from the second end in the same direction so as to form a fork shape. 
     In the first aspect according to the present disclosure, the transfer device may include a sand receiving member between the support part and the casting receiving part in a direction perpendicular to the plane of the second side, and the sand receiving member may be configured to receive sand falling from the core that is contained in the casting placed on the casting receiving part. 
     In the first aspect according to the present disclosure, the casting receiving part may include a hole corresponding to a projection that is provided on a surface of the casting coining in contact with the first mold segment. 
     In the first aspect according to the present disclosure, the core grasping mechanism may include a picker that is in contact with the first side and extends in a direction from the second side toward the first side. The picker may include a grasping part configured to be expandable and contractible with a fluid, and the core grasping mechanism may be configured to grasp the core by expanding the grasping part. 
     In the first aspect according to the present disclosure, the casting apparatus may further include a holding furnace that is configured to hold molten metal. The holding furnace may be hermetically closed and communicate with the inside of the mold, and the holding furnace may be configured such that the molten metal is supplied to the inside of the mold as the pressure inside the holding furnace is raised higher than an atmospheric pressure. 
     In the first aspect according to the present disclosure, the second mold segment may include a cooling mechanism that is configured to cool the molten metal packed inside the mold. 
     In the first aspect according to the present disclosure, the transfer device may grasp the core by the core grasping mechanism that is provided on the lower side of the support part of the transfer device, and may transfer the core to above the lower mold segment and place the core in the lower mold segment. Moreover, the transfer device may receive the casting, held in the upper mold segment, by the casting receiving part that is provided on the upper side of the support part of the transfer device, and may transfer the received casting to the outside of the mold. Thus, it is possible to place the core in the lower mold segment and receive the casting from the upper mold segment as a sequence of actions. In addition, according to the first aspect of the present disclosure, it is possible to place the core and receive the casting without rotating the core grasping mechanism and the casting receiving part, i.e., without turning them upside down. Therefore, the casting cycle time can be reduced. 
     A second aspect according to the present disclosure relates to a casting method. This casting method includes: separating a first mold segment and a second mold segment from each other after casting; and after separating the first mold segment and the second mold segment from each other, moving the core grasping mechanism grasping the core, by a robot arm so as to place the core in the first mold segment. The support part has a first side and a second side that is the opposite side of the support part froth the first side, and the core grasping mechanism is provided on the first side. The casting method further includes moving a casting receiving part provided on the second side by the robot arm so as to receive the casting held in the second mold segment, by the casting receiving part. 
     In the second aspect according to the present disclosure, the first mold segment may be a lower mold segment and the second mold segment may be an upper mold segment. 
     In the second aspect according to the present disclosure, when placing the core in the lower mold segment, the robot arm may move the core grasping mechanism to a vertically upper side of the lower mold segment, and when the receiving the casting by the casting receiving part, the robot arm may move the casting receiving part to a vertically lower side of the upper mold segment. 
     In the second aspect according to the present disclosure, the casting may be received by the casting receiving part after the core is placed in the first mold segment. 
     In the second aspect according to the present disclosure, the core may be grasped by the core grasping mechanism that is provided on the lower side of the support part of the transfer device, and the core may be transferred to above the lower mold segment and placed in the lower mold segment. Moreover, the casting held in the upper mold segment may be received by the casting receiving part that is provided on the upper side of the support part of the transfer device. Thus, it is possible to place the core and receive the casting as a sequence of actions. In addition, according to the second aspect of the present disclosure, it is possible to place the core and receive the casting without rotating the core grasping mechanism and the casting receiving part, i.e., without turning them upside down. Therefore, the casting cycle time can be reduced. 
     The present disclosure can provide a casting apparatus and a casting method that can reduce casting cycle time. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and wherein: 
         FIG. 1  is a front view showing a transfer device of a casting apparatus according to an embodiment; 
         FIG. 2  is a front view showing a state where the transfer device shown in  FIG. 1  is grasping a core; 
         FIG. 3  is a top view showing the state where the transfer device shown in  FIG. 1  is grasping the core; 
         FIG. 4  is a front view showing a state where the transfer device shown in  FIG. 1  is receiving a casting; 
         FIG. 5  is a top view illustrating details of a casting receiving part of the transfer device shown in  FIG. 1 ; 
         FIG. 6A  is a front view illustrating an action of the transfer device shown in  FIG. 1  placing the casting onto a table; 
         FIG. 6B  is a front view showing the action of the transfer device shown in  FIG. 1  placing the casting onto the table; 
         FIG. 7  is a top view illustrating a positional relation between the casting receiving part of the transfer device and the table; 
         FIG. 8  is a sectional view showing a casting apparatus according to the embodiment; 
         FIG. 9A  is a sectional view illustrating a casting process using the casting apparatus according to the embodiment; 
         FIG. 9B  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9C  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9D  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9E  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9F  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9G  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9H  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9I  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; 
         FIG. 9J  is a sectional view illustrating the casting process using the casting apparatus according to the embodiment; and 
         FIG. 10  is a front view showing another example of the configuration of the transfer device of the casting apparatus according to the embodiment. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     An embodiment of the present disclosure will be described below with reference to the drawings.  FIG. 1  is a front view showing a transfer device of a casting apparatus according to the embodiment. A transfer device  10  shown in  FIG. 1  is a device that transfers a core to a mold of the casting apparatus and places the core in the mold, and receives a casting that has been cast with the mold from the mold and transfers the casting (see  FIG. 9E  to  FIG. 9I ). 
     As shown in  FIG. 1 , the transfer device  10  includes a robot arm  11 , a support part  12 , a column member  13 , a casting receiving part  14 , pickers  15 _ 1  to  15 _ 6 , and grasping parts  16 _ 1  to  16 _ 6 . The support part  12  has a first side and a second side that is the opposite side of the support part  12  from the first side. The column member  13  and the casting receiving part  14  are disposed on an upper side of the support part  12  (the second side; a plus side in a z-axis direction). The pickers  15 _ 1  to  15 _ 6  and the grasping parts  16 _ 1  to  16 _ 6  are disposed on a lower side of the support part  12  (the first side; a minus side in the z-axis direction), and constitute a core grasping mechanism  17 . 
     The robot arm  11  is configured to be able to move the support part  12  in x-, y-, and z-axis directions. For example, the robot arm  11  moves the support part  12  in a state where a principal surface (a surface parallel to an xy-plane) of the support part  12  is kept parallel to a horizontal plane (xy-plane). 
     The pickers  15 _ 1  to  15 _ 6  are provided so as to extend downward from a lower surface of the support part  12 . The pickers  15 _ 1  to  15 _ 6  extend from the first side in a direction from the second side toward the first side. The grasping parts  16 _ 1  to  16 _ 6  are respectively provided at leading ends of the pickers  15 _ 1  to  15 _ 6 . The grasping parts  16 _ 1  to  16 _ 6  are configured to be expandable and contractible with a fluid such as a gas or a liquid, and for example, can be formed by an elastic member such as rubber, for example, rubber balloons. In the following, a case where a gas is used as the fluid will be described as an example. The grasping parts  16 _ 1  to  16 _ 6  are each supplied with the gas (compressed air) through a pipe (riot shown). 
       FIG. 2  and  FIG. 3  are respectively a front view and a top view showing a state where the transfer device  10  is grasping a core  20 . In the example shown in  FIG. 2  and  FIG. 3 , the grasping parts  16 _ 1  to  16 _ 6  of the six pickers  15 _ 1  to  15 _ 6  are grasping the core  20  that has first to third parts  21  to  23 . 
     Specifically, the grasping parts  16 _ 1 ,  16 _ 2  grasp the first part  21  of the core  20  by expanding inside grasping holes  25 _ 1 ,  25 _ 2  that are formed in the first part  21  of the core  20 . The grasping parts  16 _ 3 ,  16 _ 4  grasp the second part  22  of the core  20  by expanding and coming in contact with side surfaces of the second part  22  of the core  20 . The grasping parts  16 _ 5 ,  16 _ 6  grasp the third part  23  of the core  20  by expanding inside grasping holes  25 _ 3 ,  25 _ 4  that are formed in the third part  23  of the core  20 . If the core  20  is thus grasped by expanding the grasping parts  16 _ 1  to  16 _ 6 , the core  20  can be grasped with the grasping parts  16 _ 1  to  16 _ 6  in surface contact with the core  20 , which can avoid damage to the core  20  while the core  20  is grasped, 
     For example, supplying compressed air at a predetermined pressure to the grasping parts  16 _ 1  to  16 _ 6  can expand the grasping parts  16 _ 1  to  16 _ 6 . The compressed air is supplied from a compressor etc. (not shown) to the grasping parts  16 _ 1  to  16 _ 6  through the pipes (not shown). When the grasping parts  16 _ 1  to  16 _ 6  are expanded and grasping the core  20 , opening an air release valve (not shown) of the pipes leading to the grasping parts  16 _ 1  to  16 _ 6  can contract the grasping parts  16 _ 1  to  16 _ 6 . Thus, the core can be released from the grasp of the grasping parts  16 _ 1  to  16 _ 6 . 
     The shape of the core  20  and the arrangement of the pickers  15 _ 1  to  15 _ 6  and the grasping parts  16 _ 1  to  16 _ 6  shown in  FIG. 2  and  FIG. 3  are examples, and the shape of the core and the arrangement of the pickers in this embodiment may be different from these examples. The configuration including the pickers  15 _ 1  to  15 _ 6  and the grasping parts  16 _ 1  to  16 _ 6  has been shown above as the configuration of the core grasping mechanism  17 . However, the core grasping mechanism  17  in this embodiment is not limited to this configuration, and may have any configuration that allows the core grasping mechanism  17  to grasp the core  20 . 
     As shown in  FIG. 4 , the transfer device  10  includes the casting receiving part  14  on the upper side of the support part  12 . A casting  30  is placed on an upper surface of the casting receiving part  14 . The casting receiving part  14  is fixed to the column member  13  that extends upward from an upper surface of the support part  12 . The column member  13  includes a first end and a second end, with the first end in contact with the second side. The second end is located at a position away from the second side in a direction from the first side toward the second side. The casting receiving part  14  is formed by a plate member of which one end is supported by the column member  13  and which extends in a horizontal direction (a direction from the column member  13  toward a minus side in the x-axis direction). Thus, the plate member includes the one end in contact with the second end, and is parallel to the plane of the support part. While the plate member may be one sheet of plate, the casting receiving part  14  in this embodiment may be composed of a plurality of plate members  14 _ 1 ,  14 _ 2  as shown in  FIG. 5 . Specifically, the plurality of plate members  14 _ 1 ,  14 _ 2  extend from the column member  13  in the same direction (the direction from the column member  13  toward the minus side in the x-axis direction) in the same horizontal plane (xy-plane) so as to form a fork shape. In other words, the other ends of the plurality of plate members  14 _ 1 ,  14 _ 2  extend away from the second end in the same direction so as to form a fork shape. 
     Surfaces of the plate members may have any shape that allows the casting  30  to be placed thereon, for example, a flat shape. In this embodiment, however, as shown in  FIG. 5 , holes  18 _ 1  to  18 _ 4  may be formed in the plurality of plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14 , at positions corresponding to projections  31 _ 1  to  31 _ 4  that are formed on a lower surface of the casting  30 . The projection is provided on a surface of the casting  30  coming in contact with the first mold segment. If the holes  18 _ 1  to  18 _ 4  are thus provided in the plate members  14 _ 1 ,  14 _ 2 , the projections  31 _ 1  to  31 _ 4  on the lower surface of the casting  30  are inserted into the holes  18 _ 1  to  18 _ 4  when the casting  30  is placed on the plate members  14 _ 1 ,  14 _ 2 , which allows the casting  30  to be stably transferred. 
       FIG. 6A  and  FIG. 6B  are front views illustrating an action of the transfer device  10  placing the casting  30  onto a table  41 . The table  41  shown in  FIG. 6A  and  FIG. 6B  is provided in the vicinity of a casting apparatus  1  (see  FIG. 8 ), and serves as a base on which the casting  30  having been cast by the casting apparatus  1  is temporarily placed. As shown in  FIG. 6A  and.  FIG. 6B , the table  41  is supported by a support member  42  that extends in a vertical direction (z-axis direction). As shown in  FIG. 7 , the table  41  is composed of a plurality of plate members  41 _ 1  to  41 _ 3  that extend in the x-axis direction. The plate members  41 _ 1  to  41 _ 3  each have one end fixed to the support member  42 . The plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14  and the plate members  41 _ 1  to  41 _ 3  composing the table  41  are disposed alternately while facing each other when seen from above. 
     To move the casting  30  placed on the casting receiving part  14  of the transfer device  10  onto the table  41 , first, as shown in  FIG. 6A , the support part  12  is moved by the robot arm  11  so that the casting receiving part  14  with the casting  30  placed thereon is disposed above the table  41 . At this point, the casting receiving part  14  is disposed so that the plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14  and the plate members  41 _ 1  to  41 _ 3  composing the table  41  are disposed alternately when seen from above (see  FIG. 7 ). 
     Then, as shown in  FIG. 6B , the support part  12  is moved downward (toward the minus side in the z-axis direction) by the robot arm  11 . Thus, the plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14  respectively pass through gaps between the plate members  41 _ 1  to  41 _ 3  composing the table  41 , so that the casting  30  placed on the casting receiving part  14  is moved onto the table  41 . 
     Thus, in this embodiment, the plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14  and the plate members  41 _ 1  to  41 _ 3  composing the table  41  are disposed alternately when seen from above. As the plate members  141 ,  142  composing the casting receiving part  14  respectively pass through the gaps between the plate members  41 _ 1  to  41 _ 3  composing the table  41 , the casting  30  placed on the casting receiving part  14  is moved onto the table  41 . Since it is thus possible to move the casting  30  onto the table  41  without the need for a mechanism that lifts up the casting  30  from the casting receiving part  14  and moves the casting  30  onto the table  41 , the facility cost can be reduced and a small-footprint facility can be realized. 
     Next, the casting apparatus  1  according to this embodiment will be described using the sectional view shown in  FIG. 8 . As shown in  FIG. 8 , the casting apparatus  1  according to this embodiment includes a holding furnace  50 , a stalk  52 , the lower mold segment  55 , lateral mold segments  56 ,  57 , an upper mold segment  58 , and a lifting mechanism  61 . The casting apparatus  1  according to this embodiment is typically a low-pressure casting apparatus. 
     Molten metal  51  is held in the holding furnace  50 . A lower end of the stalk  52  is immersed in the molten metal  51 . The lower mold segment  55 , the lateral mold segments  56 ,  57 , and the upper mold segment  58  compose a mold  54  of the casting apparatus  1  according to this embodiment. While the configuration including the lateral mold segments  56 ,  57  is shown as an example in  FIG. 8 , the casting apparatus  1  according to this embodiment should at least include the upper mold segment  58  (second mold segment) and the lower mold segment  55  (first mold segment), and the lateral mold segments  56 ,  57  may be omitted. 
     The core  20  is disposed inside a cavity  65  formed by the lower mold segment  55 , the lateral mold segments  56 ,  57 , and the upper mold segment  58 . Gates  63 ,  64  are provided at a lower part of the cavity  65  (at a lower part of the lower mold segment  55 ). The holding furnace  50  and the cavity  65  spatially communicate with each other, and the molten metal  51  is supplied to the cavity  65  through the gates  63 ,  64 . Specifically, the holding furnace  50  is hermetically closed, and the molten metal  51  rises up inside the stalk  52  and is supplied into the cavity  65  through the gates  63 ,  64  as the pressure inside the holding furnace  50  is raised. 
     Next, actions involved in casting using the casting apparatus  1  according to this embodiment will be described using  FIG. 9A  to  FIG. 9J . 
     In casting, first, as shown in  FIG. 9A , the pressure inside the holding furnace  50  is raised. Thus, the molten metal  51  held in the holding furnace  50  rises up inside the stalk  52 . For example, an inert gas is supplied from a pressurizer (not shown) into the holding furnace  50  through a ventilation port  67  to thereby raise the pressure inside the holding furnace  50 . Here, since the holding furnace  50  is hermetically closed, the molten metal  51  held in the holding furnace  50  rises up inside the stalk  52  as the pressure inside the holding furnace  50  rises. 
     As shown in  FIG. 9B , the pressure inside the holding furnace  50  is raised until the molten metal  51  held in the holding furnace  50  rises up inside the stalk  52 , passes through the gates  63 ,  64 , and is packed inside the cavity  65 . Then, the pressure inside the holding furnace  50  is held, and the state shown in  FIG. 9B  is maintained for a certain time. Thus, the molten metal  51  packed inside the cavity  65  solidifies. For example, the upper mold segment  58  is provided with a cooling mechanism (not shown), and this cooling mechanism is used to solidify the molten metal packed inside the cavity  65  by cooling. 
     Next, the inert gas inside the holding furnace  50  is discharged to reduce the pressure inside the holding furnace  50  to a normal pressure. Thus, as shown in  FIG. 9C , the molten metal  51  rising up inside the stalk  52  returns to the holding furnace  50 . Then, as shown in  FIG. 9D , the mold  54  is opened by moving the lateral mold segment  56  toward the minus side in the x-axis direction, the lateral mold segment  57  toward a plus side in the x-axis direction, and the upper mold segment  58  toward the plus side in the z-axis direction. At this point, the casting  30  having been cast is held in the upper mold segment. The casting  30  contains the core  20  that forms a hollow portion inside the casting  30 . 
     Then, as shown in  FIG. 9E , in a state where the mold  54  is open, a core  80  is transferred to an upper side of the lower mold segment  55  by the transfer device  10 . Here, the reference sign  80  denotes a core that is used in the next casting process. Specifically, the transfer device  10  disposes the pickers  15  (grasping parts  16 ) in the vicinity of the core  80  that is placed on a core table (not shown), and grasps the core  80  by expanding the grasping parts  16  (see  FIG. 2  and  FIG. 3 ). Then, in a state where the grasping parts  16  are expanded and grasping the core  80 , the transfer device  10  moves the support part  12  by the robot arm  11 , and transfers the core  80  to the upper side (vertically upper side) of the lower mold segment  55  (see  FIG. 9E ). 
     Then, as shown in  FIG. 9F , the core  80  is moved downward by the robot arm  11 , and the core  80  is placed on the lower mold segment  55 . Then, the grasping parts  16  are contracted to release the core  80  from the grasp of the grasping parts  16 . Thus, the core  80  has been placed on the lower mold segment  55 . 
     Then, as shown in  FIG. 9G , the support part  12  is moved upward by the robot arm  11  so as to place the casting receiving part  14  on a lower side (vertically lower side) of the casting  30 . At this point, the casting receiving part  14  is disposed so that the projections  31  formed on the lower surface of the casting  30  are inserted into the holes  18  formed in the casting receiving part  14  (for details, see  FIG. 4  and  FIG. 5 ). The projections  31  formed on the lower surface of the casting  30  correspond to the shapes of the gates  63 ,  64 . 
     Then, as shown in  FIG. 9H , the casting  30  is released from the mold, and the upper mold segment  58  is moved upward by the lifting mechanism  61 . Thus, the casting  30  is released from the upper mold segment  58 , and the casting  30  that has been held in the upper mold segment  58  can be received by the casting receiving part  14 . To release the casting  30  from the upper mold segment  58 , for example, an ejector pin (not shown) is used to push the casting  30  out of the upper mold segment  58 . 
     Then, as shown in  FIG. 9I , in a state where the casting  30  is placed on the casting receiving part  14 , the casting  30  is transferred to an outside of the mold  54  by the robot arm  11 . As shown in  FIG. 6A  and  FIG. 6B , the casting  30  is placed on the table  41  that is provided in the vicinity of the casting apparatus  1 . Specifically, as shown in.  FIG. 6A , the support part  12  is moved by the robot arm  11  so that the casting receiving part  14  with the casting  30  placed thereon is disposed above the table  41 . Then, as shown in  FIG. 6B , the support part  12  is moved downward (toward the minus side in the z-axis direction) by the robot arm  11 . Thus, the plate members  14 _ 1 ,  14 _ 2  composing the casting receiving part  14  respectively pass through the gaps between the plate members  41 _ 1  to  41 _ 3  composing the table  41  (see  FIG. 7 ), so that the casting  30  placed on the casting receiving part  14  is moved onto the table  41 . 
     Then, as shown in  FIG. 9J , the mold  54  is closed by moving the lateral mold segment  56  toward the plus side in the x-axis direction, the lateral mold segment  57  toward the minus side in the x-axis direction, and the upper mold segment  58  toward the minus side in the z-axis direction. Subsequently, the actions shown in  FIG. 9A  to  FIG. 9J  can be repeated to repeatedly perform casting using the casting apparatus  1 . 
     Of the drawings described above,  FIG. 9A  to  FIG. 9C  correspond to a casting step;  FIG. 9D  corresponds to a mold opening step;  FIG. 9E  and  FIG. 9F  correspond to a core placing step; and  FIG. 9G  and  FIG. 9H  correspond to a casting receiving step. The case where the transfer device  10  receives the casting  30  after placing the core  80  in the lower mold segment  55  has been described above. Alternatively, in this embodiment, the transfer device  10  may place the core  80  in the lower mold segment  55  after receiving the casting  30 . However, if the transfer device  10  receives the casting  30  after placing the core  80  in the lower mold segment  55  as described above, the core grasping mechanism  17  is spared the influence of the load of the casting  30  until the core  80  is placed. Thus, the operation accuracy of the core grasping mechanism  17  is secured, so that the positional accuracy in placing the core  80  can be secured. 
     As has been described above, in the casting apparatus according to this embodiment, the core grasping mechanism  17 , i.e., the pickers  15  and the grasping parts  16 , provided on the lower side of the support part  12  of the transfer device  10  is used to grasp the core  80 , transfer the core  80  to above the lower mold segment  55 , and place the core  80  in the lower mold segment  55 . Moreover, the casting receiving part  14  provided on the upper side of the support part  12  of the transfer device  10  is used to receive the casting  30  held in the upper mold segment  58  and transfer the received casting  30  to the outside of the mold  54 . 
     Thus, the casting apparatus  1  according to this embodiment can place the core  80  in the lower mold segment  55  and receive the casting  30  from the upper mold segment  58  as a sequence of actions. Therefore, the casting cycle time can be reduced. In particular, the casting apparatus  1  according to this embodiment can place the core  80  and receive the casting  30  without rotating the core grasping mechanism  17  and the casting receiving part  14 , i.e., without turning them upside down. Therefore, the casting cycle time can be reduced. 
     In the related art, after a mold is opened (corresponding to  FIG. 9D ), a casting is released from an upper mold segment and transferred to an outside of the mold, and then a core is manually placed inside a lower mold segment. By contrast, the casting apparatus  1  according to this embodiment places the core  80  and receives the casting  30  by the transfer device  10 . Thus, the casting process can be automated, and the core  80  can be placed in the lower mold segment  55  with high accuracy. 
     Next, another example of the configuration of the transfer device will be described.  FIG. 10  is a front view showing the other example of the configuration of the transfer device of the casting apparatus according to this embodiment. In this embodiment, as shown in  FIG. 10 , a sand receiving member  115  may be provided between the support part  12  and the casting receiving part  14  of a transfer device  110 . The sand receiving member  115  is fixed to the column member  13  that extends upward from the upper surface of the support part  12 . Thus, the sand receiving member  115  is formed by a plate member of which one end is supported by the column member  13  and which extends in the horizontal direction (the direction from the column member  13  toward the minus side in the x-axis direction). 
     The sand receiving member  115  receives sand falling from the core  20  that is contained in the casting  30  placed on the casting receiving part  14  (see  FIG. 9H ). In a direction perpendicular to the second side, the sand receiving member  115  may be located between the support part  12  and the casting receiving part  14 . If the casting receiving part  14  is composed of the plurality of plate members  14 _ 1 ,  14 _ 2  as shown in  FIG. 5 , i.e., if the casting receiving part  14  has a fork shape, sand of the core  20  may fall through a gap between the plate members  14 _ 1 ,  14 _ 2 . Since the transfer device  110  shown in  FIG. 10  is provided with the sand receiving member  115  between the support part  12  and the casting receiving part  14 , any sand of the core  20  falling from the casting receiving part  14  can be received by the sand receiving member  115 . Thus, the sand can be prevented from falling onto the support part  12  or the core grasping mechanism  17 . 
     While the present disclosure has been described above on the basis of the embodiment, alternatively, the core may be placed in the upper mold segment and the casting that has been cast may be held in the lower mold segment. It should be understood that the present disclosure is not limited to the configuration of the above embodiment but includes various changes, modifications, and combinations that can be implemented by those skilled in the art within the scope of the disclosure according to the claims.