Arrangement mechanism, robot, and injection molding machine

Abstract

A placement mechanism, a robot, and an injection molding machine, the placement mechanism changing the placement of three or more molded articles, the placement mechanism comprising: a first base on which two or more first molded articles are placed, the first molded articles including a first first molded article and a first second molded article; a second base on which one or more second molded articles are placed, the second molded articles including a second first molded article; and a first base moving unit that changes the relative position of the first base with respect to the second base between a first position and a second position, the first first molded article and the first second molded article placed on the first base being positioned on a virtual first straight line determined with respect to the first base. A first molded article placed on the first base is located on a first straight line, a second molded article placed on the second base is located on a second straight line, the second straight line is a virtual straight line determined with respect to the second base, the first straight line and the second straight line do not overlap when the relative position is the first position, and the first straight line and the second straight line overlap when the relative position is the second position.

Description

Technical Field

[0001] The present disclosure relates to a configuration mechanism, a robot and an injection molding machine. Background Art

[0002] Research and development are underway on a technology for arranging a plurality of molded products molded by an injection molding machine using a molding material containing metal powder at desired positions.

[0003] In this regard, there is known an arrangement mechanism that can change the intervals between a plurality of molded products that are placed (see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-017575

[0005] The arrangement mechanism described in Patent Document 1 has a plurality of movable parts and is a complicated and large structure, which is not preferable because it increases the manufacturing cost of the arrangement mechanism. Summary of the invention

[0006] In order to solve the above technical problems, one aspect of the present disclosure is a configuration mechanism for changing the configuration of more than three molded products, the configuration mechanism comprising: a first base for carrying more than two first molded products among the more than three molded products, the first molded products including a first-first molded product and a first-second molded product; a second base for carrying more than one second molded product among the more than three molded products, the second molded products including a second-first molded product; and a first base moving part for changing the relative position of the first base relative to the second base between a first position and a second position, the first-first molded product and the first-second molded product carried on the first base are located on a virtual first straight line predetermined relative to the first base, the second-first molded product carried on the second base is located on a second straight line parallel to the first straight line, the second straight line is a virtual straight line predetermined relative to the second base, when the relative position is the first position, the first straight line and the second straight line do not overlap, and when the relative position is the second position, the first straight line and the second straight line overlap.

[0007] In addition, in order to solve the above-mentioned technical problems, one aspect of the present disclosure is a robot for transporting three or more molded products, the robot comprising: a first end effector for holding two or more first molded products among the three or more molded products, the first molded products including a first-molded product and a first-second molded product; a second end effector for holding one or more second molded products among the three or more molded products, the second molded products including a second-first molded product; and an end effector moving unit for changing the relative position of the first end effector with respect to the second end effector between the first position and the second position, the first-molded product and the first-second molded product held by the first end effector are located on a virtual first straight line predetermined with respect to the first end effector, the second-first molded product held by the second end effector is located on a second straight line parallel to the first straight line, the second straight line being a virtual straight line predetermined with respect to the second end effector, and when the relative position is the first position, the first straight line does not overlap with the second straight line, and when the relative position is the second position, the first straight line overlaps with the second straight line.

[0008] In addition, in order to solve the above-mentioned technical problems, one aspect of the present disclosure is an injection molding machine, comprising: the configuration mechanism described above; an injection molding mechanism, which molds more than three molded products by injection molding; and a robot, which places more than two of the first molded products among the three or more molded products molded by the injection molding mechanism on the first base, and places more than one of the second molded products among the three or more molded products molded by the injection molding mechanism on the second base. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a perspective view showing an example of the structure of the injection molding machine 1.

[0010] Figure 2 for Figure 1 The injection molding machine 1 is shown in a top view.

[0011] Figure 3 It is a plan view showing an example of the structure of the arrangement mechanism 30 .

[0012] Figure 4 Towards Figure 3 The figure is a side view of the arrangement mechanism 30 when viewed from the direction indicated by the arrow A1.

[0013] Figure 5 This is a diagram showing an example of the structure of the surface of the core 12 that faces the cavity 11 .

[0014] Figure 6 To show the Figure 3 FIG. 1 is a diagram showing the arrangement of eight molded articles M on an arrangement mechanism 30 shown.

[0015] Figure 7 To illustrate the effect of the first base 31 moving closer to the second base 32 relative to the first base Figure 6 The diagram shows a configuration after the configuration of the eight molded articles M is changed.

[0016] Figure 8 To show Figure 3 The illustrated top view is an example of a state in which the relative position of the first base 31 with respect to the second base 32 in the arrangement mechanism 30 is changed to the second position.

[0017] Fig. 9 Towards Figure 8 The figure is a side view of the arrangement mechanism 30 when viewed from the direction indicated by the arrow A1.

[0018] Fig.10 This is a diagram showing an example of a tray PT in which a plurality of linear grooves for placing molded products M are formed.

[0019] Fig.11 To show that a molded product M is placed on a Fig.10 FIG. 1 is a diagram showing an example of a state of a certain groove SL among a plurality of linear grooves of the tray PT shown.

[0020] Fig.12 This is a diagram showing an example of arrangement of six molded articles M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is the first position.

[0021] Fig.13 To illustrate the effect of the first base 31 moving closer to the second base 32 relative to the second base Fig.12 The arrangement of the six molded articles M shown is changed.

[0022] Fig.14 This is a diagram showing an example of arrangement of three molded articles M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is the first position.

[0023] Fig.15 To illustrate the distance caused by the first base 31 moving closer to the third base relative to the second base 32 Fig.14 The diagram shows a configuration after the configuration of the three molded articles M is changed.

[0024] Fig.16 It is a perspective view showing an example of the structure of the end effector E.

[0025] Fig.17 for Fig.16 A front view of the end effector E is shown.

[0026] Fig.18 for Fig.16 A bottom view of the end effector E is shown.

[0027] Fig.19 This is a diagram for explaining the reason why the intervals L31 and L32 are narrower than the interval L11.

[0028] Fig. 20 It is a perspective view of the end effector E when the relative position of the B-th base B2 with respect to the A-th base B1 is the B-th position.

[0029] Fig.21 for Fig. 20 A front view of the end effector E is shown.

[0030] Fig. 22 for Fig. 20 A bottom view of the end effector E is shown.

[0031] Description of Reference Numerals

[0032] 1: injection molding machine; 10: injection molding mechanism; 11: mold cavity; 12: core; 20: first robot; 30: configuration mechanism; 31: first base; 32: second base; 33: first base moving part; 40: second robot; 50: sintering device; AJ1: first position adjustment mechanism; AJ2: second position adjustment mechanism; AJ3: third position adjustment mechanism; AJ4: fourth position adjustment mechanism; B1: A-th base; B2: B-th base; BC1: first terminal; BC2: second terminal; B3: third terminal; BC4: fourth terminal; CF1: first insertion part; CF2: second insertion part through part; CF3: third insertion part; CF4: fourth insertion part; E: end effector; G1: first slot; G2: second slot; G3: third slot; G4: fourth slot; H1, H11, H12, H13, H14: Ath holding part; H2, H21, H22, H23, H24: Bth holding part; HD1: first holding part; HD2: second holding part; HD3: third holding part; HD4: fourth holding part; OB: first track body; PT: tray; SL1: first sliding part; SL2: second sliding part; SL3: third sliding part; SL4: fourth sliding part; TC: three-dimensional coordinate system. DETAILED DESCRIPTION

[0033] Implementation

[0034] Embodiments of the present disclosure will be described below with reference to the drawings.

[0035] Overview of Injection Molding Machine

[0036] First, an outline of an injection molding machine according to an embodiment will be described.

[0037] The injection molding machine of the embodiment includes an injection molding mechanism for molding a plurality of molded products by injection molding, a configuration mechanism, a robot, and a sintering device. It should be noted that the injection molding machine may also be a structure without any of the configuration mechanism and the robot. In addition, the injection molding machine may also be a structure without a sintering device.

[0038] Here, the configuration mechanism is used to carry a plurality of molded products formed by the injection molding mechanism, and to change the configuration of the carried plurality of molded products to a predetermined configuration. Thus, in the pre-stage of sintering a plurality of molded products by the sintering device, the injection molding machine can increase the number of molded products placed in the tray without complicating the structure of the tray used to carry the plurality of molded products in the sintering device. As a result, the injection molding machine can suppress the increase in the manufacturing cost of the molded products. It should be noted that the function of such a configuration mechanism can also be the structure of a robot.

[0039] In addition, the robot holds a plurality of molded products whose configuration has been changed by the configuration mechanism, and changes the intervals between the plurality of molded products held. Thus, in the pre-stage of sintering a plurality of molded products by the sintering device, the injection molding machine can increase the number of molded products placed in the tray without complicating the structure of the tray for carrying the plurality of molded products in the sintering device. As a result, the injection molding machine can suppress the increase in the manufacturing cost of the molded products. It should be noted that the function of such a robot may also be the structure of the configuration mechanism.

[0040] Hereinafter, the structure of the injection molding machine according to the embodiment and its modified examples will be described in detail.

[0041] Structure of injection molding machine

[0042] Hereinafter, the structure of the injection molding machine according to the embodiment will be described by taking the injection molding machine 1 as an example.

[0043] Figure 1 It is a perspective view showing an example of the structure of the injection molding machine 1. Figure 2 for Figure 1 The top view of the injection molding machine 1 is shown. Figure 1 and Figure 2 In order to clearly show the structure of the injection molding machine 1, a part of the housing of the injection molding machine 1 is omitted. The part of the housing is, for example, a cover constituting at least a part of the outer surface of the injection molding machine 1.

[0044] Here, the three-dimensional coordinate system TC is a three-dimensional orthogonal coordinate system that shows the directions in the figure depicting the three-dimensional coordinate system TC. In the following, for the sake of convenience, the X-axis in the three-dimensional coordinate system TC is referred to as the X-axis for explanation. In addition, in the following, for the sake of convenience, the Y-axis in the three-dimensional coordinate system TC is referred to as the Y-axis for explanation. In addition, in the following, for the sake of convenience, the Z-axis in the three-dimensional coordinate system TC is referred to as the Z-axis for explanation. In addition, in the following, as an example, the case where the negative direction of the Z-axis is consistent with the direction of gravity is explained. Therefore, in the following, for the sake of convenience, the positive direction of the Z-axis is referred to as the top or simply as the top, and the negative direction of the Z-axis is referred to as the bottom or simply as the bottom for explanation.

[0045] The injection molding machine 1 is a device for molding a plurality of molded products by metal powder injection molding (MIM). More specifically, the injection molding machine 1 is a device for automatically performing various processes such as a molding process of a molded product molded by MIM, a cleaning process after the molding process, a stacking process after the cleaning process, and a sintering process after the stacking process within the device. In the following, for the sake of convenience, each molded product molded by the injection molding mechanism 10 is referred to as a molded product M for description.

[0046] The injection molding machine 1 includes, for example, an injection molding mechanism 10, a first robot 20, a configuration mechanism 30, a second robot 40, a sintering device 50, and a control device not shown. Here, the control device controls the entire injection molding machine 1. It should be noted that, in addition to the first robot 20, the configuration mechanism 30, the second robot 40, and the sintering device 50, the injection molding machine 1 also includes other devices such as a cleaning device for cleaning the molded product M before sintering. However, in this embodiment, the description of the other device is omitted. In addition, the injection molding machine 1 may also be a structure without the first robot 20. In this case, for example, other devices having the function of the first robot 20 are connected to the injection molding machine 1 from the outside. In addition, the injection molding machine 1 may also be a structure without any of the configuration mechanism 30 and the second robot 40. In this case, for example, other devices having the function of the device are connected to the injection molding machine 1 from the outside. In addition, the injection molding machine 1 may also be a structure without the sintering device 50. In this case, for example, other devices having the function of the sintering device 50 are connected to the injection molding machine 1 from the outside.

[0047] The injection molding mechanism 10 molds a plurality of molded products M by MIM. The injection molding mechanism 10 is configured to include, for example, a material supply nozzle (not shown), a cavity 11 connected to the material supply nozzle, and a core 12 connected to the cavity 11. Here, the material supply nozzle supplies a molding material mixed with metal powder and wax from a supply device to a space formed between the cavity 11 and the core 12 by connecting the cavity 11 and the core 12. It should be noted that the injection molding machine 1 may be a structure having the supply device or a structure not having the supply device.

[0048] The mold cavity 11 is a mold fixed to the housing of the injection molding mechanism 10 so as not to move. The structure of the mold cavity 11 may be a known structure or a structure to be developed in the future. Therefore, in this embodiment, further detailed description of the mold cavity 11 is omitted.

[0049] The core 12 is a movable mold that moves relatively to the cavity 11. The structure of the core 12 may be a known structure or a structure to be developed in the future. Therefore, in this embodiment, further detailed description of the core 12 is omitted.

[0050] exist Figure 1 and Figure 2 In the example shown, the injection molding mechanism 10, based on the control from the control device, makes the core 12 approach the cavity 11 fixed to the housing of the injection molding mechanism 10 in parallel with the Y axis to connect the cavity 11 and the core 12. On the other hand, in this example, the injection molding mechanism 10, based on the control from the control device, makes the core 12 move away from the cavity 11 fixed to the housing of the injection molding mechanism 10 in parallel with the Y axis to separate the cavity 11 and the core 12.

[0051] The method by which the injection molding mechanism 10 molds a plurality of molded products M using the cavity 11 and the core 12 may be a known method or a method to be developed in the future. Therefore, in this embodiment, further detailed description of this method is omitted.

[0052] The first robot 20 is a robot that delivers the plurality of molded products M molded by the injection molding mechanism 10 to the configuration mechanism 30. The first robot 20 holds the plurality of molded products M by, for example, adsorption using air, and places the held plurality of molded products M at predetermined loading positions. Thus, the first robot 20 delivers the plurality of molded products M to the configuration mechanism 30. The loading position refers to a position predetermined as a position where the plurality of molded products M are placed on the configuration mechanism 30. The structure of the first robot 20 may be any structure as long as it is a structure capable of placing the plurality of molded products M at the loading positions.

[0053] The arrangement mechanism 30 is a mechanism that receives the plurality of molded products M from the first robot 20 and changes the arrangement of the received plurality of molded products M. After changing the arrangement of the received plurality of molded products M, the arrangement mechanism 30 delivers the plurality of molded products M with the changed arrangement to the second robot 40 .

[0054] The configuration mechanism 30 includes two or more bases that can change relative positions to each other. The first robot 20 mentioned above places the plurality of molded products M on the two or more bases in a dispersed manner. That is, after the plurality of molded products M are delivered from the first robot 20, at least one molded product M is placed on each of the two or more bases of the configuration mechanism 30. The configuration mechanism 30 changes the configuration of the plurality of molded products M placed thereon by changing the relative positions of the two or more bases on which the plurality of molded products M are dispersedly placed.

[0055] Here, the configuration of the multiple molded products M before the configuration change by the configuration mechanism 30 can be any configuration, for example, it can be a circular configuration, a radial configuration, or other configurations. The circular configuration is a configuration in which the multiple molded products M are arranged in a circular shape. The radial configuration is a configuration in which the multiple molded products M are arranged in a radial shape. In the following, for the sake of convenience, the configuration of the multiple molded products M before the configuration change by the configuration mechanism 30 will be referred to as the molding configuration for explanation. This is because the first robot 20 delivers the multiple molded products M to the configuration mechanism 30 without changing the configuration of the multiple molded products M molded by the injection molding mechanism 10. In addition, in the following, as an example, the case where the molding configuration is a circular configuration will be described.

[0056] In addition, the configuration of the multiple molded products M after the change configured by the configuration mechanism 30 can be any configuration, for example, it can be a straight line configuration, a two-line configuration, or other configurations. A straight line configuration is a configuration in which multiple molded products M are arranged in a straight line. A two-line configuration is a configuration in which multiple molded products M are arranged in two straight lines parallel to each other. In the following, for the sake of convenience, the configuration of the multiple molded products M after the change configured by the configuration mechanism 30 is referred to as the changed configuration for explanation. In addition, in the following, as an example, the case where the configuration after the change is a two-line configuration is explained.

[0057] It should be noted that, hereinafter, for the sake of convenience, the relative positions of the two or more bases of the configuration mechanism 30 when the configuration mechanism 30 receives the plurality of molded products M from the first robot 20 is referred to as the first position for description. That is, when the relative positions of the two or more bases are the first position, the configuration of the plurality of molded products M placed on the configuration mechanism 30 is the configuration at the time of molding. In addition, hereinafter, for the sake of convenience, the relative positions of the two or more bases when the plurality of molded products M are transferred from the configuration mechanism 30 to the second robot 40 is referred to as the second position for description. That is, when the relative positions of the two or more bases are the second position, the configuration of the plurality of molded products M placed on the configuration mechanism 30 is the configuration after the change.

[0058] When the arrangement is arranged in an annular shape during molding, the arrangement mechanism 30 has, for example, Figure 3 and Figure 4 The structure shown. Figure 3 30 is a top view showing an example of the structure of the configuration mechanism 30. Figure 4 Towards Figure 3 The side view of the configuration mechanism 30 when viewed from the direction indicated by the arrow A1 shown in FIG. It should be noted that, in the following, as an example, a case where the number of the plurality of molded products M molded by the injection molding mechanism 10 is eight will be described. In this case, as described above, in the injection molding mechanism 10, Figure 5 As shown, eight molded articles M are molded so as to be arranged in a circular ring shape. Figure 5 1 is a diagram showing an example of the structure of the surface of the core 12 that faces the cavity 11. Figure 5 In the example shown, in the injection molding mechanism 10, eight molded products M are arranged in a circular ring shape between the cavity 11 and the core 12. In this way, when the molding arrangement is set to a circular ring shape, the injection pressure of the molding material into the space between the cavity 11 and the core 12 is equalized. As a result, the injection molding mechanism 10 can reduce individual differences in the size of the molded products M caused by the deviation of the injection pressure.

[0059] exist Figure 3 and Figure 4In the example shown, the configuration mechanism 30 has two bases, a first base 31 and a second base 32, as the two or more bases mentioned above. In the configuration mechanism 30, the relative position of the first base 31 with respect to the second base 32 can be changed. The configuration mechanism 30 can be a structure that enables the second base 32 to move relative to the first base 31, or a structure that enables the first base 31 to move relative to the second base 32, or a structure that enables the first base 31 and the second base 32 to move relative to each other. In the following, as an example, a case where the configuration mechanism 30 is a structure that enables the first base 31 to move relative to the second base 32 is described. In addition, in the following, as an example, a case where the first base 31 can move parallel to the direction orthogonal to both the direction indicated by the arrow A1 and the gravity direction is described.

[0060] The first base 31 is, for example, a table for placing each of four molded products M among the eight molded products M molded by the injection molding mechanism 10 as a first molded product M1. An A-th holding portion H11, an A-th holding portion H12, an A-th holding portion H13, and an A-th holding portion H14 are respectively provided on the upper surface of the first base 31. In the following, for the sake of convenience, as long as it is not necessary to distinguish each of the A-th holding portion H11, the A-th holding portion H12, the A-th holding portion H13, and the A-th holding portion H14, they are collectively referred to as the A-th holding portion H1 for explanation. It should be noted that, as an alternative, the first base 31 may be of any structure if it is a table capable of holding four first molded products M1.

[0061] The A-th holding part H1 is a component that holds the first molded product M1 on the first base 31. An air suction port is formed in the A-th holding part H1 in parallel with the Z axis. The A-th holding part H1 can hold the first molded product M1 placed directly above the suction port by sucking air through the suction port. It should be noted that, instead of sucking air, the first holding part HD1 may also be a structure that holds the first molded product M1 by other methods.

[0062] In the following, for the sake of convenience, the first molded product M1 held by the A-th holding portion H11 is referred to as the first molded product M11. In addition, in the following, for the sake of convenience, the first molded product M1 held by the A-th holding portion H12 is referred to as the first molded product M12. In addition, in the following, for the sake of convenience, the first molded product M1 held by the A-th holding portion H13 is referred to as the first molded product M13. In addition, in the following, for the sake of convenience, the first molded product M1 held by the A-th holding portion H14 is referred to as the first molded product M14.

[0063] On the other hand, the second base 32 is a table on which each of the remaining four molded products M except the four first molded products M1 among the eight molded products M molded by the injection molding mechanism 10 is placed as a second molded product M2. The B-holding part H21, the B-holding part H22, the B-holding part H23, and the B-holding part H24 are respectively provided on the upper surface of the second base 32. In the following, for the sake of convenience, as long as it is not necessary to distinguish each of the B-holding part H21, the B-holding part H22, the B-holding part H23, and the B-holding part H24, they are collectively referred to as the B-holding part H2 for explanation. It should be noted that, as an alternative, the second base 32 may be of any structure if it is a table capable of holding four second molded products M2.

[0064] The B-holding part H2 is a part that holds the second molded product M2 on the second base 32. An air suction port is formed in the B-holding part H2 in parallel with the Z axis. The B-holding part H2 can hold the second molded product M2 placed directly above the suction port by sucking air through the suction port. It should be noted that, instead of sucking air, the second holding part HD2 may also be a structure that holds the second molded product M2 by other methods.

[0065] In the following, for the sake of convenience, the second molded product M2 held by the B holding portion H21 is referred to as the second molded product M21. In addition, in the following, for the sake of convenience, the second molded product M2 held by the B holding portion H22 is referred to as the second molded product M22. In addition, in the following, for the sake of convenience, the second molded product M2 held by the B holding portion H23 is referred to as the second molded product M23. In addition, in the following, for the sake of convenience, the second molded product M2 held by the B holding portion H24 is referred to as the second molded product M24.

[0066] Here, the upper surfaces of the four A-holding parts H1 and the upper surfaces of the four B-holding parts H2 are surfaces included in a virtual surface parallel to both the X-axis and the Y-axis. That is, except for differences caused by manufacturing errors, the upper surfaces of the four A-holding parts H1 and the upper surfaces of the four B-holding parts H2 are surfaces with the same height in the gravity direction. Therefore, except for differences caused by manufacturing errors, the eight molded products M placed on the arrangement mechanism 30 have the same height in the gravity direction.

[0067] In addition, Figure 3In the example shown, the relative position of the first base 31 with respect to the second base 32 is the aforementioned first position. Therefore, in this example, the arrangement of the eight molded products M placed on the arrangement mechanism 30 remains unchanged as the arrangement during molding, and is arranged in an annular shape. That is, in this example, when the relative position is the first position, the A-th holding portion H1 is provided on the first base 31, and the B-th holding portion H2 is provided on the second base 32 in such a manner that the arrangement of the eight molded products M remains unchanged as the arrangement during molding.

[0068] Here, when the relative position of the first base 31 to the second base 32 is the first position, the four A-th holding portions H1 on the first base 31 and the four B-th holding portions H2 on the second base 32 are respectively provided to satisfy the following six conditions 1 to 6.

[0069] (Condition 1) The first molded product M11 held by the Ath holding portion H11 and the first molded product M12 held by the Ath holding portion H12 are respectively located on a virtual first straight line L1 predetermined with respect to the first base 31 .

[0070] (Condition 2) The second molded product M21 held by the B-holding portion H21 and the second molded product M22 held by the B-holding portion H22 are respectively located on the virtual second straight line L2 predetermined with respect to the second base 32 .

[0071] (Condition 3) The first molded article M13 held by the Ath holding portion H13 and the first molded article M14 held by the Ath holding portion H14 are respectively located on a virtual third straight line L3 predetermined with respect to the first base 31 .

[0072] (Condition 4) The second molded article M23 held by the B-holding portion H23 and the second molded article M24 held by the B-holding portion H24 are respectively located on a fourth virtual straight line L4 predetermined with respect to the second base 32 .

[0073] (Condition 5)

[0074] The first molded product M11 , the first molded product M12 , the first molded product M13 , the first molded product M14 , the second molded product M21 , the second molded product M22 , the second molded product M23 , and the second molded product M24 are located on a predetermined circumference C.

[0075] (Condition 6)

[0076] The distance between two adjacent molded products M on the circumference C of the eight molded products M, namely, the first molded product M11, the first molded product M12, the first molded product M13, the first molded product M14, the second molded product M21, the second molded product M22, the second molded product M23 and the second molded product M24, is the same as each other.

[0077] Here, the first straight line L1 and the third straight line L3 are straight lines that are set to be orthogonal to both the direction in which the first base 31 can approach the second base 32 and the direction of gravity, and are predetermined with respect to the first base 31. In addition, the second straight line L2 and the fourth straight line L4 are straight lines that are set to be orthogonal to both the direction in which the second base 32 can approach the first base 31 and the direction of gravity, and are predetermined with respect to the second base 32. Figure 3 In the example shown, the direction in which the first base 31 can approach the second base 32 is Figure 3 The direction from the second base 32 to the first base 31 is one of the two directions orthogonal to the direction indicated by the arrow A1. Therefore, in this example, the first straight line L1, the second straight line L2, the third straight line L3, and the fourth straight line L4 are straight lines parallel to the direction indicated by the arrow A1. Moreover, in this example, the first straight line L1, the second straight line L2, the third straight line L3, and the fourth straight line L4 are arranged in the order of the second straight line L2, the first straight line L1, the fourth straight line L4, and the third straight line L3 in the direction from the second straight line L2 to the first straight line L1.

[0078] Figure 6 To show the Figure 3 FIG. 1 is a diagram showing the arrangement of eight molded articles M on the arrangement mechanism 30. Figure 6 In order to clearly illustrate the configuration, only eight molded products M and a plurality of auxiliary lines are shown, and other components are omitted.

[0079] like Figure 6 As shown, when the relative position of the first base 31 with respect to the second base 32 is the first position, the eight molded products M are located on the circumference C in such a way that the distances between two adjacent molded products M are the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the second molded product M23, the distance between the second molded product M23 and the first molded product M13, the distance between the first molded product M13 and the first molded product M14, the distance between the first molded product M14 and the second molded product M24, the distance between the second molded product M24 and the first molded product M12, the distance between the first molded product M12 and the second molded product M22, and the distance between the second molded product M22 and the second molded product M21 are the same distances. This means that Figure 3 In the example shown, the above-mentioned conditions 5 and 6 are satisfied.

[0080] In addition, if Figure 6As shown, when the relative position of the first base 31 to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In addition, in this case, the second molded product M21 and the second molded product M22 are located on the second straight line L2. In addition, in this case, the first molded product M13 and the first molded product M14 are located on the third straight line L3. In addition, in this case, the second molded product M23 and the second molded product M24 are located on the fourth straight line L4. Here, in Figure 6 In the case where the eight molded products M are observed from directions orthogonal to the first straight line L1 to the fourth straight line L4, the second molded product M21 and the second molded product M22 are located between the first molded product M11 and the first molded product M12. In addition, in this case, the first molded product M13 and the first molded product M14 are located between the second molded product M23 and the second molded product M24. In addition, in this case, the first molded product M11 overlaps with the second molded product M23. In addition, in this case, the first molded product M12 overlaps with the second molded product M24. In addition, in this case, the second molded product M21 overlaps with the first molded product M13. In addition, in this case, the second molded product M22 overlaps with the first molded product M14. In addition, on the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in the order of the first molded product M12 and the first molded product M11 in the direction indicated by the arrow A1. In addition, on the second straight line L2, the second molded product M21 and the second molded product M22 are arranged in the order of the second molded product M22 and the second molded product M21 in the direction indicated by the arrow A1. In addition, on the third straight line L3, the first molded product M13 and the first molded product M14 are arranged in the order of the first molded product M14 and the first molded product M13 in the direction indicated by the arrow A1. In addition, on the fourth straight line L4, the second molded product M23 and the second molded product M24 are arranged in the order of the second molded product M24 and the second molded product M23 in the direction indicated by the arrow A1. In addition, except for the difference caused by manufacturing errors, the distance between the first straight line L1 and the second straight line L2 is the same as the distance between the third straight line L3 and the fourth straight line L4. In the following, for the convenience of explanation, the distance between the first straight line L1 and the second straight line L2 is referred to as the first base movement distance for explanation.

[0081] Here, when the first base 31 moves closer to the first base relative to the second base 32, Figure 6 The first straight line L1 shown moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, each of the first molded product M11 and the first molded product M12 and each of the second molded product M21 and the second molded product M22 are located on the second straight line L2. On the other hand, in this case, Figure 6 The third straight line L3 shown moves together with the first base 31. As a result, in this case, the third straight line L3 overlaps with the fourth straight line L4. That is, in this case, each of the first molded product M13 and the first molded product M14 is located on the fourth straight line L4 together with each of the second molded product M23 and the second molded product M24. That is, the position where the first base 31 is close to the first base moving distance relative to the second base 32 among the positions where the first base 31 can be located is an example of the aforementioned second position. Figure 7 To illustrate the effect of the first base 31 moving closer to the second base 32 relative to the first base Figure 6 The figure shows the configuration of the eight molded products M after the configuration changes. Figure 7 As shown, in the case where the first base 31 is closer to the first base moving distance relative to the second base 32, that is, the relative position of the first base 31 relative to the second base 32 is the second position, Figure 6 The arrangement of the eight molded articles M that were previously arranged in a circular shape is changed to two straight line arrangements.

[0082] Figure 8 To show Figure 3 The illustrated top view is an example of a state in which the relative position of the first base 31 with respect to the second base 32 in the arrangement mechanism 30 is changed to the second position. Fig. 9 Towards Figure 8 The figure is a side view of the arrangement mechanism 30 when viewed from the direction indicated by the arrow A1. Figure 8 The relative position of the first base 31 relative to the second base 32 shown in FIG. Figure 8 and Fig. 9 As shown in FIG. 1 , the configuration mechanism 30 can change the configuration of the eight molded products M that were previously arranged in a circular ring shape during molding to a two-straight line configuration as an example of a changed configuration by moving the relative position of the first base 31 relative to the second base 32 to the second position. That is, the configuration mechanism 30 can change the configuration of the eight molded products M by a simple structure that changes the relative distance between the two bases. As a result, the injection molding machine 1 can, for example, increase the number of molded products M that enter the pallet. Here, a plurality of molded products M arranged in two straight lines can be stacked on the pallet. Fig.10 The simple constructed pallet shown. Fig.10 1 is a diagram showing an example of a tray PT having a plurality of linear grooves for placing molded products M. Fig.11 To show that a molded product M is placed on a Fig.10A diagram showing an example of a situation of a certain groove SL among the multiple linear grooves of the tray PT shown. Here, in the injection molding machine 1, the tray PT is made of ceramic, for example. This is because the multiple molded products M placed on the tray PT are heated together with the tray PT in the sintering device 50. Regarding such a ceramic pallet PT, it is known that the more complex its structure is, the more its manufacturing cost increases. The increase in the manufacturing cost of the tray PT will lead to an increase in the sales price of each molded product M, so it is not preferred. Under such circumstances, it is important to simplify the structure of the tray PT in relation to suppressing the increase in the sales price of each molded product M. Therefore, the injection molding machine 1 can suppress the increase in the sales price of each molded product M by changing the configuration of the multiple molded products M using the configuration mechanism 30.

[0083] It should be noted that, when the relative position of the first base 31 with respect to the second base 32 is the first position, as an alternative to the structure that satisfies the above six conditions 1 to 6, the four A-th retaining parts H1 on the first base 31 and the four B-th retaining parts H2 on the second base 32 may also be respectively set as structures that satisfy other conditions. For example, the four A-th retaining parts H1 on the first base 31 and the four B-th retaining parts H2 on the second base 32 may also be respectively set as structures that satisfy the above four conditions 1 to 4. In addition, for example, the four A-th retaining parts H1 on the first base 31 and the four B-th retaining parts H2 on the second base 32 may also be respectively set as structures that satisfy one or more other conditions that are not included in the above six conditions 1 to 6.

[0084] In addition, the configuration mechanism 30 described above is a structure in which four first molded products M1 are placed on the first base 31 and four second molded products M2 are placed on the second base 32, but as an alternative, it can also be a structure in which three first molded products M1 are placed on the first base 31 and three second molded products M2 are placed on the second base 32. In this case, when the relative position of the first base 31 with respect to the second base 32 is the first position, three A-th holding parts H1 are provided on the first base 31, and three B-th holding parts H2 are provided on the second base 32 to satisfy the following six conditions 7 to 12. It should be noted that, in the following, as an example, the case in which the three A-th holding parts H1 provided on the first base 31 are the A-th holding part H11, the A-th holding part H12, and the A-th holding part H13 is described. In addition, in the following, as an example, a case where the three B-holding portions H2 provided on the second base 32 are the B-holding portion H21, the B-holding portion H22, and the B-holding portion H23 will be described.

[0085] (Condition 7) The first molded product M11 held by the Ath holding portion H11 and the first molded product M12 held by the Ath holding portion H12 are respectively located on a virtual first straight line L1 predetermined with respect to the first base 31 .

[0086] (Condition 8) The second molded article M21 held by the B-th holding portion H21 is located on a virtual second straight line L2 that is predetermined with respect to the second base 32 .

[0087] (Condition 9) The first molded article M13 held by the A-th holding portion H13 is located on a third virtual straight line L3 predetermined with respect to the first base 31 .

[0088] (Condition 10) The second molded article M22 held by the B-th holding portion H22 and the second molded article M23 held by the B-th holding portion H23 are respectively located on a fourth virtual straight line L4 predetermined with respect to the second base 32 .

[0089] (Condition 11) The first molded product M11 , the first molded product M12 , the first molded product M13 , the second molded product M21 , the second molded product M22 , and the second molded product M23 are located on a predetermined circumference C.

[0090] (Condition 12) The distance between two adjacent molded products M on the circumference C among the six molded products M of the first molded product M11 , the first molded product M12 , the first molded product M13 , the second molded product M21 , the second molded product M22 , and the second molded product M23 is the same.

[0091] Fig.12 This is a diagram showing an example of the arrangement of six molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 to the second base 32 is the first position. Fig.12 In order to clearly illustrate the configuration, only six molded products M and a plurality of auxiliary lines are shown, and other components are omitted.

[0092] like Fig.12 As shown, when the relative position of the first base 31 with respect to the second base 32 is the first position, the six molded products M are located on the circumference C in such a manner that the distances between two adjacent molded products M are the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the second molded product M22, the distance between the second molded product M22 and the first molded product M13, the distance between the first molded product M13 and the second molded product M23, the distance between the second molded product M23 and the first molded product M12, and the distance between the first molded product M12 and the second molded product M21 are the same distances. This means that the above-mentioned conditions 11 and 12 are satisfied.

[0093] In addition, if Fig.12 As shown, when the relative position of the first base 31 to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In addition, in this case, the second molded product M21 is located on the second straight line L2. In addition, in this case, the first molded product M13 is located on the third straight line L3. In addition, in this case, the second molded product M22 and the second molded product M23 are located on the fourth straight line L4. Here, Fig.12 In the case where the six molded products M are viewed from directions orthogonal to the first to fourth straight lines L1 to L4, the second molded product M21 is located between the first molded product M11 and the first molded product M12. In addition, in this case, the first molded product M13 is located between the second molded product M22 and the second molded product M23. In addition, in this case, the first molded product M11 overlaps with the second molded product M22. In addition, in this case, the first molded product M12 overlaps with the second molded product M23. In addition, in this case, the second molded product M21 overlaps with the first molded product M13. In addition, on the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in the order of the first molded product M12 and the first molded product M11 in the direction indicated by the arrow A1. In addition, on the fourth straight line L4, the second molded product M22 and the second molded product M23 are arranged in the order of the second molded product M23 and the second molded product M22 in the direction indicated by the arrow A1. In addition, the distance between the first straight line L1 and the second straight line L2 is the same as the distance between the third straight line L3 and the fourth straight line L4 except for the difference caused by manufacturing errors, etc. In the following, for the convenience of description, the distance between the first straight line L1 and the second straight line L2 is referred to as the second base movement distance.

[0094] Here, when the first base 31 moves closer to the second base 32 relative to the second base, Fig.12 The first straight line L1 shown moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, each of the first molded product M11 and the first molded product M12 is located on the second straight line L2 together with the second molded product M21. On the other hand, in this case, Fig.12 The third straight line L3 shown moves together with the first base 31. As a result, in this case, the third straight line L3 overlaps with the fourth straight line L4. That is, in this case, the first molded product M13 is located on the fourth straight line L4 together with each of the second molded product M22 and the second molded product M23. That is, the position where the first base 31 is close to the second base 32 by the moving distance of the second base among the positions where the first base 31 can be located is an example of the aforementioned second position. Fig.13To illustrate the effect of the first base 31 moving closer to the second base 32 relative to the second base Fig.12 The configuration of the six molded products M shown in FIG. Fig.13 As shown, when the first base 31 moves closer to the second base 32 relative to the second base, that is, when the relative position of the first base 31 relative to the second base 32 is the second position, Fig.12 The arrangement of the six molded articles M that were previously arranged in a circular shape is changed to two straight line arrangements.

[0095] In addition, the arrangement mechanism 30 described above is a structure in which three first molded products M1 are placed on the first base 31 and three second molded products M2 are placed on the second base 32. However, as an alternative, it may be a structure in which two first molded products M1 are placed on the first base 31 and one second molded product M2 is placed on the second base 32. In this case, when the relative position of the first base 31 to the second base 32 is the first position, two A-th holding parts H1 are provided on the first base 31 and one B-th holding part H2 is provided on the second base 32 to satisfy the following four conditions 13 to 16. It should be noted that, hereinafter, as an example, the case in which the two A-th holding parts H1 provided on the first base 31 are the A-th holding part H11 and the A-th holding part H12 will be described. In addition, hereinafter, as an example, the case in which the one B-th holding part H2 provided on the second base 32 is the B-th holding part H21 will be described.

[0096] (Condition 13) The first molded product M11 held by the Ath holding portion H11 and the first molded product M12 held by the Ath holding portion H12 are respectively located on a virtual first straight line L1 predetermined with respect to the first base 31 .

[0097] (Condition 14) The second molded article M21 held by the B-th holding portion H21 is located on a virtual second straight line L2 that is predetermined with respect to the second base 32 .

[0098] (Condition 15) The first molded product M11 , the first molded product M12 , and the second molded product M21 are located on a predetermined circumference C.

[0099] (Condition 16) The distance between two molded products M adjacent to each other on the circumference C among the three molded products M of the first molded product M11 , the first molded product M12 , and the second molded product M21 is the same as each other.

[0100] Fig.14 This is a diagram showing an example of the arrangement of three molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 to the second base 32 is the first position. Fig.14In order to clearly illustrate the configuration, only three molded products M and a plurality of auxiliary lines are shown, and other components are omitted.

[0101] like Fig.14 As shown, when the relative position of the first base 31 to the second base 32 is the first position, the three molded products M are located on the circumference C in such a way that the distances between two adjacent molded products M are the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the first molded product M12, and the distance between the first molded product M12 and the second molded product M21 are the same distances. This means that the above-mentioned conditions 15 and 16 are satisfied.

[0102] In addition, if Fig.14 As shown, when the relative position of the first base 31 to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In addition, in this case, the second molded product M21 is located on the second straight line L2. Fig.14 In the case where the three molded products M are observed from directions orthogonal to the first straight line L1 and the second straight line L2, the second molded product M21 is located between the first molded product M11 and the first molded product M12. In addition, on the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in the order of the first molded product M12 and the first molded product M11 in the direction indicated by the arrow A1. In the following, for the sake of convenience, the distance between the first straight line L1 and the second straight line L2 is referred to as the third base movement distance for explanation.

[0103] Here, when the first base 31 moves closer to the third base relative to the second base 32, Fig.14 The first straight line L1 shown moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, each of the first molded product M11 and the first molded product M12 is located on the second straight line L2 together with the second molded product M21. That is, the position where the first base 31 is close to the third base moving distance relative to the second base 32 among the positions where the first base 31 can be located is an example of the aforementioned second position. Fig.15 To show Fig.14 The arrangement of the three molded products M shown in FIG. 1 is changed due to the movement distance of the first base 31 relative to the second base 32 closer to the third base. Fig.15 As shown, in the case where the first base 31 moves closer to the third base relative to the second base 32, that is, the relative position of the first base 31 relative to the second base 32 is the second position, Fig.14The arrangement of the three molded products M that were previously arranged in a circular ring is changed to the aforementioned linear arrangement. In this case, the injection molding machine 1 can also increase the number of molded products M placed in the tray PT, for example. In addition, in this case, the injection molding machine 1 can also simplify the structure of the tray PT, and as a result, the increase in the sales price of each molded product M can be suppressed.

[0104] In addition, the arrangement mechanism 30 described above may also be a structure that carries three or more molded products M and changes the arrangement of the three or more molded products M. For example, the number of molded products M placed on the arrangement mechanism 30 may be four, five, nine, eleven, etc. However, when the number of molded products M placed on the arrangement mechanism 30 is five, nine, or eleven, the number of molded products M placed on the first base 31 may be as follows: Fig.14 and Fig.15 As shown, the number of molded products M placed on the second base 32 is different. Here, in the case of placing more than nine molded products M, the configuration mechanism 30 has more than three bases, that is, one or more other bases are added to the first base 31 and the second base 32. Thus, the configuration mechanism 30 can change the configuration of the more than nine molded products M by changing the relative positions of the more than three bases. For example, the configuration mechanism 30 can change the configuration of an even number of molded products M, such as ten, twelve, or fourteen or more, by changing the relative positions of the more than three bases. However, in the injection molding industry, the practical number of molded products M placed on the configuration mechanism 30 is about eight. This is because, in the case of molding more than eight molded products M, the structure of the injection molding mechanism 10 becomes too complicated.

[0105] Here, the arrangement mechanism 30 further includes a first base moving unit 33 that changes the relative positions of the first base 31 and the second base 32. In addition, the arrangement mechanism 30 includes a housing (not shown) for installing the first base 31, the second base 32, and the first base moving unit 33. In addition, the arrangement mechanism 30 may also be a structure that includes other components, other devices, etc. in addition to the first base 31, the second base 32, the first base moving unit 33, and the housing of the arrangement mechanism 30.

[0106] In this example, the second base 32 is fixed to the housing of the configuration mechanism 30, and the first base 31 can move relative to the second base 32 fixed to the housing of the configuration mechanism 30. Therefore, the first base moving unit 33 changes the relative positions of the first base 31 and the second base 32 by moving the first base 31. It should be noted that the first base moving unit 33 may also be a structure that changes the relative positions of the first base 31 and the second base 32 by moving the second base 32. In addition, the first base moving unit 33 may also be a structure that changes the relative positions of the first base 31 and the second base 32 by moving both the first base 31 and the second base 32.

[0107] More specifically, the first base moving part 33 changes the relative position of the first base 31 with respect to the second base 32 between the first position and the second position by moving the first base 31. The first base moving part 33 changes the relative position of the first base 31 with respect to the second base 32 between the first position and the second position, for example, by balancing the air pressure in the cylinder with the atmospheric pressure. It should be noted that the first base moving part 33 may be other structures as long as it is a structure capable of changing the relative position of the first base 31 with respect to the second base 32 between the first position and the second position.

[0108] In addition, the shell of the configuration mechanism 30 can move between a predetermined first handover position and a predetermined second handover position. The first handover position is a position predetermined as a position for handing over eight molded products M from the first robot 20 among the positions to which the shell of the configuration mechanism 30 can move. The second handover position is a position predetermined as a position for holding eight molded products M by the second robot 40 among the positions to which the shell of the configuration mechanism 30 can move. Figure 1 and Figure 2 In the example shown, the housing of the arrangement mechanism 30 is movable parallel to the Y-axis.

[0109] It should be noted that the arrangement mechanism 30 may change the arrangement of the eight molded products M in the first robot 20. In this case, the first robot 20 has at least a part of the structure of the arrangement mechanism 30 described above. In addition, in this case, the A-th holding part H1 and the B-th holding part H2 hold the molded product M as the first end effector and the second end effector, respectively. In addition, in this case, the first robot 20 has an end effector moving part that changes the relative position of the two end effectors, instead of the first base moving part 33. In addition, the arrangement mechanism 30 may change the arrangement of the eight molded products M in the second robot 40. In this case, the second robot 40 has at least a part of the structure of the arrangement mechanism 30 described above. In addition, in this case, the A-th holding part H1 and the B-th holding part H2 hold the molded product M as the first end effector and the second end effector, respectively. In addition, in this case, the second robot 40 has an end effector moving part that changes the relative position of the two end effectors, instead of the first base moving part 33.

[0110] The second robot 40 is, for example, a SCARA (Selective Compliance Assembly Robot Arm) robot. It should be noted that, as an alternative to the SCARA robot, the second robot 40 may be a single-arm multi-joint robot, a multi-arm multi-joint robot, or other types of robots.

[0111] The second robot 40 includes a support platform (not shown) that supports the entire second robot 40, a first arm supported by the support platform so as to be rotatable, a second arm supported by the first arm so as to be rotatable, an axis that passes through the end of the second arm parallel to the direction of gravity, and an end actuator E arranged at the end of the axis.

[0112] Here, Fig.16 : is a perspective view showing an example of the structure of the end effector E. In addition, Fig.17 for Fig.16 The front view of the end effector E is shown. In addition, Fig.18 for Fig.16 The bottom view of the end effector E shown in FIG. Figure 16 to Figure 18 In FIG. 1 , arrows are used to indicate three mutually orthogonal directions, namely, a first direction, a second direction, and a third direction. Figure 16 to Figure 18 In the example, the first direction is the direction indicated by arrow A2. Figure 16 to Figure 18 In the embodiment, the second direction is the direction indicated by arrow A3. Figure 16 to Figure 18 In the embodiment, the third direction is the direction indicated by arrow A4. That is, Fig.17: is a diagram of the end effector E when viewed in the direction opposite to the second direction. Fig.18 This is a diagram of the end effector E when viewed in the third direction.

[0113] The end effector E includes an A-th base B1 , a first holding part HD1 , a second holding part HD2 , a third holding part HD3 , a fourth holding part HD4 , a B-th base B2 , and an A-th base moving part MT.

[0114] The A-th base B1 is installed at the end of the aforementioned robot arm. The A-th base B1 is a component provided with a first rail body OB, a first sliding portion SL1, a second sliding portion SL2, a third sliding portion SL3, and a fourth sliding portion SL4.

[0115] The first orbital body OB is a component extending in a predetermined direction. Figure 16 to Figure 18 In the embodiment of the present invention, the first track body OB extends along the first direction. The first track body OB is, for example, a track extending along the first direction, but, as an alternative, it may also be other components extending along the first direction.

[0116] The first sliding portion SL1, the second sliding portion SL2, the third sliding portion SL3, and the fourth sliding portion SL4 are components that are respectively provided to be able to slide relative to the first rail body OB. Fig.16 and Fig.17 In the example shown, on the first rail body OB, the first sliding part SL1, the second sliding part SL2, the third sliding part SL3, and the fourth sliding part SL4 are arranged in the order of the fourth sliding part SL4, the second sliding part SL2, the first sliding part SL1, and the third sliding part SL3 toward the first direction.

[0117] The first holding portion HD1 that holds the molded product M is provided on the first sliding portion SL1. That is, the first holding portion HD1 provided on the first sliding portion SL1 is movable on the first rail body OB in parallel with the first direction.

[0118] The second holding portion HD2 that holds the molded product M is provided on the second sliding portion SL2. That is, the second holding portion HD2 provided on the second sliding portion SL2 is movable on the first rail body OB in parallel with the first direction.

[0119] The third holding portion HD3 that holds the molded product M is provided on the third sliding portion SL3. That is, the third holding portion HD3 provided on the third sliding portion SL3 is movable on the first rail body OB in parallel with the first direction.

[0120] The fourth holding portion HD4 is provided on the fourth sliding portion SL4 to hold the molded product M. That is, the fourth holding portion HD4 provided on the fourth sliding portion SL4 is movable on the first rail body OB in parallel with the first direction.

[0121] The B-base B2 is a flat plate-shaped member that supports the first holding part HD1 to the fourth holding part HD4 so that the first holding part HD1 to the fourth holding part HD4 protrude in a predetermined direction. Figure 16 to Figure 18 In the example shown, the B-th base B2 supports the first holding part HD1 to the fourth holding part HD4 so that the first holding part HD1 to the fourth holding part HD4 protrude toward the second direction. In this case, the B-th base B2 is a flat plate-shaped member parallel to a virtual plane extending according to the first direction and the third direction. In addition, the B-th base B2 is provided on the A-th base B1 in a manner that can move between a predetermined A-th position and a predetermined B-th position. The B-th base B2 can move, for example, in parallel with the third direction. It should be noted that the B-th base B2 can also be a structure that can move in parallel with a virtual axis parallel to other directions. Here, hereinafter, as an example, the case where the A-th position is the position closest to the third direction among the positions that the B-th base B2 can move to relative to the A-th base B1 will be described. It should be noted that, as an alternative, the A-th position can also be other positions among the positions that the B-th base B2 can move to relative to the A-th base B1. In addition, the following description will take the case where the B position is the position closest to the opposite direction of the third direction among the positions to which the B base B2 can move relative to the A base B1 as an example. It should be noted that, as an alternative, the B position may also be another position among the positions to which the B base B2 can move relative to the A base B1. Figure 16 to Figure 18 The position of the B-th base B2 relative to the A-th base B1 shown is an example of the A-th position.

[0122] At least one of the end of the first holding part HD1 on the side of the B base B2 and the end of the second holding part HD2 on the side of the B base B2 is a cam follower, and a groove for guiding the cam follower is formed on the B base B2. More specifically, a groove for causing at least one of the first holding part HD1 and the second holding part HD2 to perform a cam action is formed on the B base B2, so that when the relative position of the B base B2 with respect to the A base B1 is the A position, the interval between the first holding part HD1 and the second holding part HD2 on the first track body OB is the first interval, and when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the first holding part HD1 and the second holding part HD2 on the first track body OB is the second interval shorter than the first interval. In the following, as an example, a case where a first groove G1 and a second groove G2 are formed in the B base B2 is described, and the first groove G1 is guided by the end of the first retaining part HD1 on the B base B2 side as a cam follower, and the second groove G2 is guided by the end of the second retaining part HD2 on the B base B2 side as a cam follower. In addition, in the following, for the sake of convenience, the end of the first retaining part HD1 on the B base B2 side is referred to as the first insertion portion CF1 for description. This is because this end is the portion that is inserted into the first groove G1 as a cam follower. In addition, in the following, for the sake of convenience, the end of the second retaining part HD2 on the B base B2 side is referred to as the second insertion portion CF2 for description. This is because this end is the portion that is inserted into the second groove G2 as a cam follower.

[0123] The first groove G1 guides the first insertion portion CF1 according to the movement of the B base B2 between the A position and the B position, thereby moving the first holding portion HD1 provided on the first sliding portion SL1 parallel to the first direction. In addition, the first groove G1 moves the first holding portion HD1 toward the second holding portion HD2 according to the movement of the B base B2 from the A position to the B position. In addition, the first groove G1 moves the first holding portion HD1 away from the second holding portion HD2 according to the movement of the B base B2 from the B position to the A position.

[0124] The second groove G2 guides the second insertion portion CF2 according to the movement of the B base B2 between the A position and the B position, thereby moving the second holding portion HD2 provided on the second sliding portion SL2 parallel to the first direction. In addition, the second groove G2 moves the second holding portion HD2 toward the first holding portion HD1 according to the movement of the B base B2 from the A position to the B position. In addition, the second groove G2 moves the second holding portion HD2 away from the first holding portion HD1 according to the movement of the B base B2 from the B position to the A position.

[0125] Here, the shape of the first groove G1 when viewed in the direction opposite to the second direction and the shape of the second groove G2 when viewed in the direction opposite to the second direction are mutually symmetrical shapes with respect to a virtual plane passing through the midpoint of the first insertion portion CF1 and the second insertion portion CF2 and orthogonal to the first direction. It should be noted that the shape of the first groove G1 when viewed in the direction opposite to the second direction and the shape of the second groove G2 when viewed in the direction opposite to the second direction may also be mutually asymmetrical shapes with respect to the plane.

[0126] It should be noted that in Fig.16 and Fig.17 In the figure, the first groove G1 and the second groove G2 are covered by other components and are hardly visible.

[0127] The first holding portion HD1 is a component that holds the molded product M delivered from the configuration mechanism 30. The first holding portion HD1 supported by the B base B2 extends toward the second direction. A first terminal portion BC1 that holds the molded product M is provided at the end of the first holding portion HD1 on one side of the second direction. The first terminal portion BC1 holds the molded product M, for example, by suctioning the air. It should be noted that the first terminal portion BC1 may also be a structure that holds the molded product M by other methods. The first terminal portion BC1 is a component that forms an air suction port parallel to the second direction. In addition, in the present embodiment, the position of the first holding portion HD1 is shown, for example, by the position of the first terminal portion BC1, but is not limited to this.

[0128] Furthermore, the first holding portion HD1 is provided with a first position adjustment mechanism AJ1, which adjusts the relative position of the first terminal portion BC1 with respect to the first holding portion HD1. Fig.17 In the example shown, the first position adjustment mechanism AJ1 is a pin inserted into a long hole formed in the first terminal portion BC1. Here, the long hole is a relatively long hole in the third direction. Therefore, the first position adjustment mechanism AJ1 in this example is a mechanism for adjusting the relative position of the first terminal portion BC1 with respect to the first holding portion HD1 in the third direction. It should be noted that the first position adjustment mechanism AJ1 may also be a mechanism for adjusting the relative position of the first terminal portion BC1 with respect to the first holding portion HD1 in one or more other directions. In addition, the first position adjustment mechanism AJ1 may also be other structures that can adjust the relative position of the first terminal portion BC1 with respect to the first holding portion HD1. In addition, in the present embodiment, the first holding portion HD1 is a component separate from the first terminal portion BC1, but as an alternative, it may also be formed integrally with the first terminal portion BC1. In this case, the first holding portion HD1 may also be a structure that does not have the first position adjustment mechanism AJ1.

[0129] The second holding portion HD2 is a component that holds the molded product M delivered from the configuration mechanism 30. The second holding portion HD2 supported by the B base B2 extends toward the second direction. A second terminal portion BC2 that holds the molded product M is provided at the end of the second holding portion HD2 on one side of the second direction. The second terminal portion BC2 holds the molded product M, for example, by suctioning the air. It should be noted that the second terminal portion BC2 may also be a structure that holds the molded product M by other methods. The second terminal portion BC2 is a component that forms an air suction port parallel to the second direction. In addition, in the present embodiment, the position of the second holding portion HD2 is shown, for example, by the position of the second terminal portion BC2, but is not limited to this.

[0130] In addition, the second holding portion HD2 is provided with a second position adjustment mechanism AJ2, which adjusts the relative position of the second terminal portion BC2 with respect to the second holding portion HD2. Fig.17 In the example shown, the second position adjustment mechanism AJ2 is a pin inserted into a long hole formed in the second terminal portion BC2. Here, the long hole is a relatively long hole in the third direction. Therefore, the second position adjustment mechanism AJ2 in this example is a mechanism for adjusting the relative position of the second terminal portion BC2 with respect to the second holding portion HD2 in the third direction. It should be noted that the second position adjustment mechanism AJ2 may also be a mechanism for adjusting the relative position of the second terminal portion BC2 with respect to the second holding portion HD2 in one or more other directions. In addition, the second position adjustment mechanism AJ2 may also be other structures capable of adjusting the relative position of the second terminal portion BC2 with respect to the second holding portion HD2. In addition, in the present embodiment, the second holding portion HD2 is a component separate from the second terminal portion BC2, but, as an alternative, it may also be formed integrally with the second terminal portion BC2. In this case, the second holding portion HD2 may also be a structure that does not have the second position adjustment mechanism AJ2.

[0131] Here, the shape of the first holding part HD1 and the shape of the second holding part HD2 are mutually symmetrical with respect to a virtual plane passing through the midpoint of the first insertion part CF1 and the second insertion part CF2 and orthogonal to the first direction. It should be noted that in the present embodiment, the shape of the first holding part HD1 and the shape of the second holding part HD2 are crank shapes, but other shapes may be substituted therefor. In addition, the shape of the first holding part HD1 and the shape of the second holding part HD2 may also be mutually asymmetrical with respect to the plane.

[0132] In addition, if Fig.18As shown, when the relative position of the Bth base B2 with respect to the Ath base B1 is the Ath position, the interval between the first end portion BC1 and the second end portion BC2 is narrower than the interval between the first insertion portion CF1 and the second insertion portion CF2. The respective shapes of the first groove G1 and the second groove G2 when viewed in the direction opposite to the second direction are determined to maintain the width relationship of the two intervals regardless of whether the relative position of the Bth base B2 with respect to the Ath base B1 is any position from the Ath position to the Bth position. Thus, even if the second robot 40 narrows the intervals between the multiple molded products M it holds, it is possible to have room for the cam structure. It should be noted that in Fig.18 In FIG. 1 , the interval between the first end portion BC1 and the second end portion BC2 is shown by the interval L11. Fig.18 In FIG. 1 , the interval between the first insertion portion CF1 and the second insertion portion CF2 is indicated by the interval L12 .

[0133] In addition, at least one of the end of the third holding part HD3 on the B base B2 side and the end of the fourth holding part HD4 on the B base B2 side is a cam follower, and a groove for guiding the cam follower is formed in the B base B2. More specifically, a groove for causing at least one of the third holding part HD3 and the fourth holding part HD4 to perform a cam action is formed in the B base B2, so that when the relative position of the B base B2 with respect to the A base B1 is the A position, the interval between the third holding part HD3 and the fourth holding part HD4 on the first track body OB is the third interval, and when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the third holding part HD3 and the fourth holding part HD4 on the first track body OB is the fourth interval that is shorter than the first interval. In the following, as an example, a case where a third groove G3 and a fourth groove G4 are formed in the B base B2 is described, and the third groove G3 is guided as a cam follower by the end of the third retaining portion HD3 on the B base B2 side, and the fourth groove G4 is guided as a cam follower by the end of the fourth retaining portion HD4 on the B base B2 side. In addition, in the following, for the sake of convenience, the end of the third retaining portion HD3 on the B base B2 side is referred to as the third insertion portion CF3 for description. This is because this end is the portion inserted into the third groove G3 as a cam follower. In addition, in the following, for the sake of convenience, the end of the fourth retaining portion HD4 on the B base B2 side is referred to as the fourth insertion portion CF4 for description. This is because this end is the portion inserted into the fourth groove G4 as a cam follower.

[0134] The third groove G3 guides the third insertion portion CF3 according to the movement of the B base B2 between the A position and the B position, thereby moving the third holding portion HD3 provided on the third sliding portion SL3 parallel to the first direction. In addition, the third groove G3 moves the third holding portion HD3 in a manner close to the fourth holding portion HD4 according to the movement of the B base B2 from the A position to the B position. In addition, the third groove G3 moves the third holding portion HD3 in a manner away from the fourth holding portion HD4 according to the movement of the B base B2 from the B position to the A position.

[0135] The fourth groove G4 guides the fourth insertion portion CF4 according to the movement of the B base B2 between the A position and the B position, thereby moving the fourth holding portion HD4 provided on the fourth sliding portion SL4 parallel to the first direction. In addition, the fourth groove G4 moves the fourth holding portion HD4 in a manner close to the third holding portion HD3 according to the movement of the B base B2 from the A position to the B position. In addition, the fourth groove G4 moves the fourth holding portion HD4 in a manner away from the third holding portion HD3 according to the movement of the B base B2 from the B position to the A position.

[0136] Here, the shape of the third groove G3 when viewed in the direction opposite to the second direction and the shape of the fourth groove G4 when viewed in the direction opposite to the second direction are mutually symmetrical shapes with respect to a virtual plane passing through the midpoint of the third insertion portion CF3 and the fourth insertion portion CF4 and orthogonal to the first direction. It should be noted that the shape of the third groove G3 when viewed in the direction opposite to the second direction and the shape of the fourth groove G4 when viewed in the direction opposite to the second direction may also be mutually asymmetrical shapes with respect to the plane.

[0137] It should be noted that in Fig.16 and Fig.17 In the figure, the third groove G3 and the fourth groove G4 are covered by other components and are hardly visible.

[0138] The third holding portion HD3 is a component that holds the molded product M delivered from the configuration mechanism 30. The third holding portion HD3 supported by the B base B2 extends toward the second direction. A third terminal portion BC3 that holds the molded product M is provided at the end of the third holding portion HD3 on one side of the second direction. The third terminal portion BC3 holds the molded product M, for example, by suctioning the air. It should be noted that the third terminal portion BC3 may also be a structure that holds the molded product M by other methods. The third terminal portion BC3 is a component that forms an air suction port parallel to the second direction. In addition, in the present embodiment, the position of the third holding portion HD3 is shown, for example, by the position of the third terminal portion BC3, but is not limited to this.

[0139] In addition, the third holding portion HD3 is provided with a third position adjustment mechanism AJ3, and the third position adjustment mechanism AJ3 adjusts the relative position of the third terminal portion BC3 with respect to the third holding portion HD3. Fig.17 In the example shown, the third position adjustment mechanism AJ3 is a pin inserted into a long hole formed in the third terminal portion BC3. Here, the long hole is a relatively long hole in the third direction. Therefore, the third position adjustment mechanism AJ3 in this example is a mechanism for adjusting the relative position of the third terminal portion BC3 with respect to the third holding portion HD3 in the third direction. It should be noted that the third position adjustment mechanism AJ3 may also be a mechanism for adjusting the relative position of the third terminal portion BC3 with respect to the third holding portion HD3 in one or more other directions. In addition, the third position adjustment mechanism AJ3 may also be other structures capable of adjusting the relative position of the third terminal portion BC3 with respect to the third holding portion HD3. In addition, in the present embodiment, the third holding portion HD3 is a component separate from the third terminal portion BC3, but, as an alternative, it may also be formed integrally with the third terminal portion BC3. In this case, the third holding portion HD3 may also be a structure that does not have the third position adjustment mechanism AJ3.

[0140] The fourth holding portion HD4 is a component that holds the molded product M delivered from the configuration mechanism 30. The fourth holding portion HD4 supported by the B base B2 extends toward the second direction. A fourth terminal portion BC4 that holds the molded product M is provided at the end of the fourth holding portion HD4 on one side of the second direction. The fourth terminal portion BC4 holds the molded product M, for example, by suctioning the air. It should be noted that the fourth terminal portion BC4 may also be a structure that holds the molded product M by other methods. The fourth terminal portion BC4 is a component that forms an air suction port parallel to the second direction. In addition, in the present embodiment, the position of the fourth holding portion HD4 is shown, for example, by the position of the fourth terminal portion BC4, but is not limited to this.

[0141] Furthermore, the fourth holding portion HD4 is provided with a fourth position adjustment mechanism AJ4, which adjusts the relative position of the fourth terminal portion BC4 with respect to the fourth holding portion HD4. Fig.17In the example shown, the fourth position adjustment mechanism AJ4 is a pin inserted into a long hole formed in the fourth terminal portion BC4. Here, the long hole is a relatively long hole in the third direction. Therefore, the fourth position adjustment mechanism AJ4 in this example is a mechanism for adjusting the relative position of the fourth terminal portion BC4 with respect to the fourth holding portion HD4 in the third direction. It should be noted that the fourth position adjustment mechanism AJ4 may also be a mechanism for adjusting the relative position of the fourth terminal portion BC4 with respect to the fourth holding portion HD4 in one or more other directions. In addition, the fourth position adjustment mechanism AJ4 may also be other structures capable of adjusting the relative position of the fourth terminal portion BC4 with respect to the fourth holding portion HD4. In addition, in the present embodiment, the fourth holding portion HD4 is a component separate from the fourth terminal portion BC4, but, as an alternative, it may also be formed integrally with the fourth terminal portion BC4. In this case, the fourth holding portion HD4 may also be a structure that does not have the fourth position adjustment mechanism AJ4.

[0142] Here, the shape of the third holding part HD3 and the shape of the fourth holding part HD4 are mutually symmetrical with respect to a virtual plane passing through the midpoint of the third insertion part CF3 and the fourth insertion part CF4 and orthogonal to the first direction. It should be noted that in the present embodiment, the shape of the third holding part HD3 and the shape of the fourth holding part HD4 are crank shapes, but other shapes may be substituted therefor. In addition, the shape of the third holding part HD3 and the shape of the fourth holding part HD4 may also be mutually asymmetrical with respect to the plane.

[0143] In addition, if Fig.18 As shown, when the relative position of the Bth base B2 relative to the Ath base B1 is the Ath position, the interval between the third end portion BC3 and the fourth end portion BC4 is narrower than the interval between the third insertion portion CF3 and the fourth insertion portion CF4. When viewed in the opposite direction to the second direction, the shapes of the third groove G3 and the fourth groove G4 are determined to maintain the width relationship of the two intervals regardless of whether the relative position of the Bth base B2 relative to the Ath base B1 is any position from the Ath position to the Bth position. Thus, even if the second robot 40 narrows the intervals between the multiple molded products M it holds, it is possible to have room for the cam structure. It should be noted that in Fig.18 In FIG. 1 , the interval between the third end portion BC3 and the fourth end portion BC4 is shown by the interval L21. Fig.18 In FIG. 1 , the interval between the third insertion portion CF3 and the fourth insertion portion CF4 is indicated by the interval L22.

[0144] In addition, when the relative position of the B-th base B2 with respect to the A-th base B1 is the A-th position, the interval between the molded product M held by the first holding part HD1 and the molded product M held by the third holding part HD3 in this case is narrower than the aforementioned interval L11. In addition, the interval between the molded product M held by the second holding part HD2 in this case and the molded product M held by the fourth holding part HD4 in this case is also narrower than the interval L11. And, except for the difference caused by manufacturing errors, etc., the interval L32 is the same as the interval L31. This is because the second robot 40 uses the end effector E to hold four molded products M arranged in a straight line out of the eight molded products M arranged in two straight lines by changing the configuration by the configuration mechanism 30. It should be noted that in Fig.18 In FIG. 1 , the interval between the molded product M held by the first holding portion HD1 in this case and the molded product M held by the third holding portion HD3 in this case is indicated by the interval L31. Fig.18 In FIG. 1 , the interval between the molded product M held by the second holding portion HD2 in this case and the molded product M held by the fourth holding portion HD4 in this case is indicated by the interval L32 .

[0145] Fig.19 1 is a diagram for explaining why the intervals L31 and L32 are narrower than the interval L11. Fig.19 FIG. 8 shows eight molded products M arranged in a circular ring configuration on the configuration mechanism 30 during molding. Fig.19 As shown, in this case, as in Figure 6 As described in , the eight molded products M are arranged at equal intervals on the circumference C. In addition, the first molded product M11 and the first molded product M12 of the eight molded products M are located on the first straight line L1. In addition, the second molded product M21 and the second molded product M22 of the eight molded products M are located on the second straight line L2. In addition, the first molded product M13 and the first molded product M14 of the eight molded products M are located on the third straight line L3. In addition, the second molded product M23 and the second molded product M24 of the eight molded products M are located on the fourth straight line L4. As can be seen from the above, Fig.19 In the figure, the eight molded products M are regular octagons.

[0146] Here, the interval L11 is determined so that the intervals between the second molded products M21 and M22 are consistent when the eight molded products M are viewed from a direction orthogonal to the first to fourth straight lines L1 to L4. Fig.19 In FIG. 1 , the interval between the second molded product M21 and the second molded product M22 in this case is shown as interval L11. On the other hand, the eight molded products M are arranged at equal intervals on the circumference C, so the straight-line distance from the second molded product M21 to the first molded product M11 is also as shown in FIG. Fig.19As shown, it is consistent with the interval L11. Moreover, the acute angle between the direction from the second molded product M21 to the first molded product M11 and the directions orthogonal to the first straight line L1 to the fourth straight line L4 is 45°. Therefore, by using trigonometric functions to calculate, it can be known that when the eight molded products M are observed from the directions orthogonal to the first straight line L1 to the fourth straight line L4, the interval between the second molded product M21 and the first molded product M11 is narrower than the interval L11. It should be noted that when the configuration is changed to the changed configuration by the configuration mechanism 30 during molding, as described above, the first straight line L1 moves in the direction close to the second straight line L2 and finally overlaps. Therefore, the interval L31 is consistent with the interval between the second molded product M21 and the first molded product M11 arranged on the second straight line L2. In addition, the aforementioned interval L31 is determined to be consistent with the interval between the second molded product M21 and the first molded product M11 in this case. As can be seen from the above, the interval L31 is narrower than the interval L11. This situation is also the same for the interval L32. In addition, the interval L32 can be obtained by the same calculation as the interval L31.

[0147] The second robot 40 uses such an end effector E to palletize eight molded products M arranged in a changed configuration, i.e., two straight lines, in two batches of four each, onto the pallet PT. That is, after the second robot 40 palletizes the four molded products M arranged in a straight line among the eight molded products M arranged in two straight lines onto the pallet PT, it palletizes the remaining four molded products M arranged in a straight line onto the pallet PT. It should be noted that the method by which the second robot 40 palletizes the molded products M onto the pallet PT may be a known method or a method to be developed in the future. However, before the second robot 40 palletizes the four molded products M held by the end effector E onto the pallet PT, it changes the intervals between the four molded products M. The second robot 40 narrows the intervals between the four molded products M by moving the relative position of the Bth base B2 of the end effector E relative to the Ath base B1 from the Ath position to the Bth position.

[0148] Fig. 20 It is a perspective view of the end effector E when the relative position of the B-th base B2 with respect to the A-th base B1 is the B-th position. Fig.21 for Fig. 20 A front view of the end effector E is shown. Fig. 22 for Fig. 20 The bottom view of the end effector E is shown. Here, Fig.21 : is a diagram of the end effector E when viewed in the direction opposite to the second direction. Fig. 22 FIG. 4 is a diagram of the end effector E when viewed in the third direction.

[0149] like Figure 20 to Figure 22As shown, as the relative position of the B-th base B2 relative to the A-th base B1 moves from the A-th position to the B-th position, the first holding portion HD1 and the second holding portion HD2 move parallel to the first direction and approach each other. As a result, the interval between the first terminal portion BC1 and the second terminal portion BC2 narrows from the interval L11 to the interval L41. Therefore, as the relative position of the B-th base B2 relative to the A-th base B1 moves from the A-th position to the B-th position, the interval between the molded product M held by the first holding portion HD1 and the molded product M held by the second holding portion HD2 narrows.

[0150] In addition, if Figure 20 to Figure 22 As shown, according to the movement of the relative position of the B-base B2 relative to the A-base B1 from the A-position to the B-position, the third holding part HD3 and the fourth holding part HD4 move in parallel with the first direction and approach each other. As a result, the interval between the third terminal part BC3 and the fourth terminal part BC4 narrows from the interval L21 to the interval L51. Therefore, according to the movement of the relative position of the B-base B2 relative to the A-base B1 from the A-position to the B-position, the interval between the molded product M held by the third holding part HD3 and the molded product M held by the fourth holding part HD4 narrows.

[0151] In addition, as described above, when the relative position of the Bth base B2 with respect to the Ath base B1 is the Bth position, the interval between the first end portion BC1 and the second end portion BC2, that is, the interval L41 is also narrower than the interval L42 between the first insertion portion CF1 and the second insertion portion CF2.

[0152] In addition, as described above, when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the third end portion BC3 and the fourth end portion BC4, that is, the interval L51 is also narrower than the interval L52 between the third insertion portion CF3 and the fourth insertion portion CF4.

[0153] On the other hand, when the relative position of the B-th base B2 with respect to the A-th base B1 is the B-th position, the interval between the first terminal portion BC1 and the third terminal portion BC3 is the same as the interval L41 except for the difference caused by the manufacturing error, etc. In addition, in this case, the interval between the second terminal portion BC2 and the fourth terminal portion BC4 is the same as the interval L41 except for the difference caused by the manufacturing error, etc. Fig. 22 In this case, the interval between the first terminal portion BC1 and the third terminal portion BC3 is shown by the interval L61. Fig. 22In this case, the interval between the second terminal portion BC2 and the fourth terminal portion BC4 is shown by the interval L62. Moreover, the intervals L41, L61, and L62 are the same intervals. This means that in this case, the four molded products M held by the end effector E are held in a straight line at equal intervals. Therefore, the second robot 40 can stack the four molded products M more densely in the pallet PT.

[0154] The A-base moving part MT changes the relative position of the B-base B2 with respect to the A-base B1 between the A-position and the B-position. The A-base moving part MT may have any configuration as long as it can change the relative position of the B-base B2 with respect to the A-base B1 between the A-position and the B-position.

[0155] It should be noted that the second robot 40 may also be a structure having two or more end effectors E. In this case, the two or more end effectors E are provided on the manipulator of the second robot 40 in such a manner that four molded products M held by each end effector E are arranged in parallel. Thus, the second robot 40 can increase the number of molded products M that can be loaded on the pallet PT in one palletizing, and can increase the number of molded products M loaded on the pallet PT. As a result, the second robot 40 can shorten the cycle time of the manufacturing process of the molded products M.

[0156] In addition, the second robot 40 may change the intervals between the four molded products M in the configuration mechanism 30. In this case, the configuration mechanism 30 has at least a part of the structure of the second robot 40 described above. In addition, in this case, the configuration mechanism 30 has a first loading portion for loading the molded products M instead of the first holding portion HD1, and has a second loading portion for loading the molded products M instead of the second holding portion HD2. In addition, the second robot 40 may change the intervals between the four molded products M in the first robot 20 together with the change of the configuration of the eight molded products M by the configuration mechanism 30. In this case, the first robot 20 has at least a part of the structure of the configuration mechanism 30 described above, and has at least a part of the structure of the second robot 40 described above.

[0157] Furthermore, the end effector E described above may be configured to include two or more even-numbered holding parts in addition to the first to fourth holding parts HD1 to HD4 so as to have a shape that is plane-symmetrical with respect to a virtual plane orthogonal to the first direction.

[0158] The sintering device 50 stores the pallet PT together with the second robot 40, and is a device for sintering the molded product M by heating the molded product M placed on the pallet PT by the second robot 40 together with the pallet PT. The sintering device 50 may be a structure that automatically stores the pallet PT after palletizing and supplies a new pallet PT, or may be a structure that replaces the pallet PT manually.

[0159] With the above-described configuration, the injection molding machine 1 can change the arrangement of the plurality of molded products M with a simple structure. In addition, the injection molding machine 1 can change the intervals between the plurality of molded products M with a simple structure.

[0160] It should be noted that the above-mentioned contents may be combined arbitrarily.

[0161] Note 1

[0162] [1] An arrangement mechanism for changing the arrangement of three or more molded products, comprising:

[0163] A first base for carrying two or more first molded products among the three or more molded products, the first molded products include a first-molded product and a first-second molded product; a second base for carrying one or more second molded products among the three or more molded products, the second molded products include a second-molded product; and a first base moving part for changing the relative position of the first base with respect to the second base between a first position and a second position, the first-molded product and the first-second molded product carried on the first base are located on a first virtual straight line predetermined relative to the first base, the second-molded product carried on the second base is located on a second straight line parallel to the first straight line, the second straight line is a virtual straight line predetermined relative to the second base, when the relative position is the first position, the first straight line and the second straight line do not overlap, and when the relative position is the second position, the first straight line and the second straight line overlap.

[0164] [2] The configuration mechanism according to [1], wherein:

[0165] When the relative position is the first position, the first-first molded product, the first-second molded product and the second-first molded product are also located on a predetermined circumference. When the relative position is the first position, the distances between two adjacent molded products among the three molded products, the first-first molded product, the first-second molded product and the second-first molded product, are the same.

[0166] [3] The configuration mechanism according to [2], wherein:

[0167] The first base carries more than three of the three or more molded products, the first molded products include the first-third molded products and each of the first-first molded product and the first-second molded product, the second base carries more than three of the three or more molded products, the second molded products include each of the second-second molded product and the second-third molded product, the first-third molded products carried on the first base are located on a third straight line parallel to the first straight line, the third straight line is a virtual straight line predetermined with respect to the first base, the second-second molded products and the second-third molded product carried on the second base are located on a fourth straight line parallel to the second straight line, the fourth straight line is a virtual straight line predetermined with respect to the second base, and when the relative position is the first position , the first-first molded product, the first-second molded product, the first-third molded product, the second-first molded product, the second-second molded product and the second-third molded product are also located on the circumferential straight line, and when the relative position is the first position, for the first straight line, the second straight line, the third straight line and the fourth straight line, in the direction from the second straight line toward the first straight line, they are arranged in the order of the second straight line, the first straight line, the fourth straight line and the third straight line, and when the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, and when the relative position is the second position, the second straight line overlaps with the first straight line, and the fourth straight line overlaps with the third straight line.

[0168] [4] The configuration mechanism according to [3], wherein:

[0169] When the relative position is the first position, distances between two adjacent molded products among the six molded products, namely, the first-first molded product, the first-second molded product, the first-third molded product, the second-first molded product, the second-second molded product, and the second-third molded product, are the same.

[0170] [5] The configuration mechanism according to [2], wherein:

[0171] The first base carries more than four of the third or more molded products, the first molded products include each of the first-third molded products and the first-fourth molded products, and each of the first-first molded product and the first-second molded product; the second base carries more than four of the third or more molded products, the second molded products include each of the second-second molded product, the second-third molded product, the second-fourth molded product, and the second-first molded product; the first-third molded products and the first-fourth molded products carried on the first base are located on a third straight line parallel to the first straight line, the third straight line is a virtual straight line predetermined with respect to the first base; the second-first molded product and the second-second molded product carried on the second base are located on the second straight line; the second-third molded product and the second-fourth molded product carried on the second base are located on a fourth straight line parallel to the second straight line, the fourth straight line is a virtual straight line predetermined with respect to the second base. A virtual straight line, when the relative position is the first position, the first-first molded product, the first-second molded product, the first-third molded product, the first-fourth molded product, the second-first molded product, the second-second molded product, the second-third molded product and the second-fourth molded product are also located on the circumference, and when the relative position is the first position, for the first straight line, the second straight line, the third straight line and the fourth straight line, in the direction from the second straight line toward the first straight line, they are arranged in the order of the second straight line, the first straight line, the fourth straight line and the third straight line, and when the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, and when the relative position is the second position, the second straight line overlaps with the first straight line, and the fourth straight line overlaps with the third straight line.

[0172] [6] The configuration mechanism according to [5], wherein:

[0173] When the relative position is the first position, the distance between two molded products adjacent to each other on the circumference among the eight molded products, namely, the first-first molded product, the first-second molded product, the first-third molded product, the first-fourth molded product, the second-first molded product, the second-second molded product, the second-third molded product and the second-fourth molded product, is the same as each other.

[0174] [7] The configuration mechanism according to any one of [1] to [6], wherein:

[0175] The first base moving unit changes the relative position between the first position and the second position by moving at least one of the first base and the second base in parallel with a direction orthogonal to the first straight line and the second straight line, respectively.

[0176] [8] A robot for carrying three or more molded products, comprising:

[0177] A first end effector holds two or more first molded products among the three or more molded products, wherein the first molded products include a first-molded product and a first-second molded product; a second end effector holds one or more second molded products among the three or more molded products, wherein the second molded products include a second-molded product; and an end effector moving unit changes the relative position of the first end effector with respect to the second end effector between a first position and a second position, wherein the first-molded product and the first-second molded product held by the first end effector are located on a virtual first straight line predetermined relative to the first end effector, and the second-molded product held by the second end effector is located on a second straight line parallel to the first straight line, and the second straight line is a virtual straight line predetermined relative to the second end effector, and when the relative position is the first position, the first straight line does not overlap with the second straight line, and when the relative position is the second position, the second straight line overlaps with the second straight line.

[0178] [9] An injection molding machine comprising:

[0179] The configuration mechanism described in any one of [1] to [7]; an injection molding mechanism that molds three or more molded products by injection molding; and a robot that places two or more of the first molded products among the three or more molded products molded by the injection molding mechanism on the first base, and places one or more of the second molded products among the three or more molded products molded by the injection molding mechanism on the second base.

[0180] Note 2

[0181] [1] A robot comprising:

[0182] The A base is provided with a first rail body, a first sliding part and a second sliding part, the first rail body extends along a predetermined first direction, the first sliding part is configured to be able to slide relative to the first rail body, and the second sliding part is configured to be able to slide relative to the first rail body; a first holding part is provided on the first sliding part and holds the first molded product; a second holding part is provided on the second sliding part and holds the second molded product; and a B base, a groove for causing at least one of the first holding part and the second holding part to perform cam action is formed on the B base, so that when the relative position of the B base relative to the A base is the A position, the interval between the first holding part and the second holding part on the first rail body is a first interval, and when the relative position of the B base relative to the A base is the B position, the interval between the first holding part and the second holding part on the first rail body is a second interval shorter than the first interval.

[0183] [2] The robot according to [1], wherein:

[0184] The robot includes an A-base moving unit configured to change a relative position of the B-base with respect to the A-base between the A-position and the B-position.

[0185] [3] The robot according to [1] or [2], wherein:

[0186] As grooves for causing at least one of the first holding portion and the second holding portion to perform a cam action, a first groove for causing the first holding portion to perform a cam action and a second groove for causing the second holding portion to perform a cam action are formed in the B-th base.

[0187] [4] The robot according to [3], wherein:

[0188] The first holding portion includes: a first end portion, which is arranged at the end of the first holding portion and holds the first molded product; and a first insertion portion, which is inserted into the first groove, and the second holding portion includes: a second end portion, which is arranged at the end of the second holding portion and holds the second molded product; and a second insertion portion, which is inserted into the second groove, and the interval between the first holding portion and the second holding portion on the first rail body is the interval between the first end portion and the second end portion, and no matter which position the relative position of the B base relative to the A base is between the A position and the B position, the interval between the first end portion and the second end portion is narrower than the interval between the first insertion portion and the second insertion portion.

[0189] [5] The robot according to [4], wherein:

[0190] The first holding portion is provided with a first position adjustment mechanism, which adjusts the relative position of the first terminal portion relative to the first holding portion, and the second holding portion is provided with a second position adjustment mechanism, which adjusts the relative position of the second terminal portion relative to the second holding portion.

[0191] [6] The robot according to [4] or [5], wherein:

[0192] The shape of the first holding portion and the shape of the second holding portion are plane-symmetrical with respect to a virtual plane that passes through a midpoint between the first insertion portion and the second insertion portion and is orthogonal to the first direction.

[0193] [7] A robot according to any one of [1] to [6], wherein:

[0194] The B-th base moves relative to the A-th base in a direction perpendicular to the first direction.

[0195] [8] A robot according to any one of [1] to [7], wherein:

[0196] The robot further comprises a third holding portion for holding a third molded product and a fourth holding portion for holding a fourth molded product, the Ath base is further provided with a third sliding portion capable of sliding relative to the first rail body and a fourth sliding portion capable of sliding relative to the first rail body, the first sliding portion, the second sliding portion, the third sliding portion and the fourth sliding portion are arranged on the first rail body in the order of the third sliding portion, the first sliding portion, the second sliding portion and the fourth sliding portion in the first direction, the third holding portion is provided on the third sliding portion, and the fourth holding portion is provided on the fourth sliding portion , a groove for causing at least one of the third holding portion and the fourth holding portion to perform a cam action is formed on the B base, so that when the relative position of the B base relative to the A base is the A position, the interval between the third holding portion and the fourth holding portion on the first track body is the third interval, and when the relative position of the B base relative to the A base is the B position, the interval between the third holding portion and the fourth holding portion on the first track body is the fourth interval shorter than the third interval, the third interval is longer than the first interval, and the fourth interval is longer than the second interval.

[0197] [9] The robot according to [8], wherein:

[0198] When the relative position of the B base with respect to the A base is the A position, the interval between the first molded product held by the first holding portion and the third molded product held by the third holding portion when the relative position of the B base with respect to the A base is the A position is narrower than the interval between the first molded product held by the first holding portion when the relative position of the B base with respect to the A base is the A position and the second molded product held by the second holding portion when the relative position of the B base with respect to the A base is the A position, and in the The interval between the first molded product held by the first holding portion when the relative position of the B base relative to the A base is the B position and the third molded product held by the third holding portion when the relative position of the B base relative to the A base is the B position is the same as the interval between the first molded product held by the first holding portion when the relative position of the B base relative to the A base is the B position and the second molded product held by the second holding portion when the relative position of the B base relative to the A base is the B position.

[0199]

[10] The robot according to [8] or [9], wherein:

[0200] The robot further comprises: a C base, provided with a second rail body, a fifth sliding part, a sixth sliding part, a seventh sliding part and an eighth sliding part, the second rail body extending along the first direction and arranged in parallel with the first rail body, the fifth sliding part being arranged to be able to slide relative to the second rail body, the sixth sliding part being arranged to be able to slide relative to the second rail body, the seventh sliding part being arranged to be able to slide relative to the second rail body, and the eighth sliding part being arranged to be able to slide relative to the second rail body; a fifth holding part being arranged on the fifth sliding part and holding the fifth molded product; a sixth holding part being arranged on the sixth sliding part and holding the sixth molded product; a seventh holding part being arranged on the seventh sliding part and holding the seventh molded product; an eighth holding part being arranged on the eighth sliding part and holding the eighth molded product; and a D base, a groove for causing at least one of the fifth holding part and the sixth holding part to perform a cam action being formed on the D base, so that when the D base is relative to the fifth holding part, the fifth holding part is moved relative to the sixth holding part. When the relative position of the C-th base is the C-th position, the interval between the fifth holding portion and the sixth holding portion on the second rail body is the fifth interval, and when the relative position of the D-th base relative to the C-th base is the D-th position, the interval between the fifth holding portion and the sixth holding portion on the second rail body is the sixth interval shorter than the fifth interval, and a groove for causing at least one of the seventh holding portion and the eighth holding portion to perform a cam action is formed on the D-th base, so that when the relative position of the D-th base relative to the C-th base is the C-th position, the interval between the seventh holding portion and the eighth holding portion on the second rail body is the seventh interval, and when the relative position of the D-th base relative to the C-th base is the D-th position, the interval between the seventh holding portion and the eighth holding portion on the second rail body is the eighth interval shorter than the seventh interval, the seventh interval is longer than the fifth interval, and the eighth interval is longer than the sixth interval.

[0201]

[11] The robot according to

[10] , wherein:

[0202] When the relative position of the D base with respect to the C base is the C position, the interval between the fifth molded product held by the fifth holding portion and the seventh molded product held by the seventh holding portion when the relative position of the D base with respect to the C base is the C position is narrower than the interval between the fifth molded product held by the fifth holding portion when the relative position of the D base with respect to the C base is the C position and the sixth molded product held by the sixth holding portion when the relative position of the D base with respect to the C base is the C position. The interval between the fifth molded product held by the fifth holding portion when the relative position of the D base relative to the C base is the D position and the seventh molded product held by the seventh holding portion when the relative position of the D base relative to the C base is the D position is the same as the interval between the fifth molded product held by the fifth holding portion when the relative position of the D base relative to the C base is the D position and the sixth molded product held by the sixth holding portion when the relative position of the D base relative to the C base is the D position.

[0203]

[12] A configuration mechanism comprising:

[0204] The A base is provided with a first rail body, a first sliding portion and a second sliding portion, the first rail body extends along a predetermined first direction, the first sliding portion is configured to be able to slide relative to the first rail body, and the second sliding portion is configured to be able to slide relative to the first rail body; a first loading portion is provided on the first sliding portion and is used to load a first molded product; a second loading portion is provided on the second sliding portion and is used to load a second molded product; and a B base, a groove for causing at least one of the first loading portion and the second loading portion to perform a cam action is formed on the B base, so that when the relative position of the B base relative to the A base is the A position, the interval between the first loading portion and the second loading portion on the first rail body is a first interval, and when the relative position of the B base relative to the A base is the B position, the interval between the first loading portion and the second loading portion on the first rail body is a second interval shorter than the first interval.

[0205]

[13] An injection molding machine comprising:

[0206] The robot described in any one of [1] to

[11] ; and an injection molding mechanism, which molds two or more molded products including the first molded product and the second molded product by injection molding, and the robot stacks the first molded product and the second molded product of the two or more molded products molded by the injection molding mechanism.

[0207] The embodiments of the disclosure are described in detail above with reference to the accompanying drawings, but the specific structure is not limited to the embodiments and may be changed, replaced, deleted, etc. as long as it does not deviate from the gist of the disclosure.

Claims

1. A configuration mechanism, characterized in that: For changing the arrangement of three or more molded products, the arrangement mechanism comprises: A first base, used for placing two or more first molded products among the three or more molded products, wherein the first molded products include a first-first molded product and a first-second molded product; A second base, used for placing one or more second molded products among the three or more molded products, wherein the second molded products include a second first molded product; as well as a first base moving unit, which changes the relative position of the first base with respect to the second base between a first position and a second position; The first first molded product and the first second molded product placed on the first base are located on a virtual first straight line predetermined relative to the first base. The second first molded product placed on the second base is located on a second straight line parallel to the first straight line, and the second straight line is a virtual straight line predetermined relative to the second base. When the relative position is the first position, the first straight line does not overlap with the second straight line. When the relative position is the second position, the first straight line overlaps with the second straight line.

2. The configuration mechanism according to claim 1, characterized in that: When the relative position is the first position, the first-first molded product, the first-second molded product, and the second-first molded product are also located on a predetermined circumference. When the relative position is the first position, distances between two adjacent molded products among the three molded products, namely, the first-first molded product, the first-second molded product, and the second-first molded product, are the same as each other.

3. The configuration mechanism according to claim 2, characterized in that: The first base carries three or more of the three or more molded products, wherein the first molded products include a first third molded product and each of the first first molded product and the first second molded product. The second base carries three or more of the second molded products among the three or more molded products, wherein the second molded products include each of the second-second molded product and the second-third molded product and the second-first molded product. The first three molded products placed on the first base are located on a third straight line parallel to the first straight line, and the third straight line is a virtual straight line predetermined relative to the first base. The second second molded product and the second third molded product placed on the second base are located on a fourth straight line parallel to the second straight line, and the fourth straight line is a virtual straight line predetermined relative to the second base. When the relative position is the first position, the first-first molded product, the first-second molded product, the first-third molded product, the second-first molded product, the second-second molded product, and the second-third molded product are also located on the circumference. When the relative position is the first position, the first straight line, the second straight line, the third straight line, and the fourth straight line are arranged in the order of the second straight line, the first straight line, the fourth straight line, and the third straight line in a direction from the second straight line toward the first straight line. When the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, When the relative position is the second position, the second straight line overlaps with the first straight line, and the fourth straight line overlaps with the third straight line.

4. The configuration mechanism according to claim 3, characterized in that: When the relative position is the first position, distances between two adjacent molded products among the six molded products, namely, the first-first molded product, the first-second molded product, the first-third molded product, the second-first molded product, the second-second molded product, and the second-third molded product, are the same.

5. The configuration mechanism according to claim 2, characterized in that: The first base carries four or more of the three or more molded products, wherein the first molded products include each of the first-third molded products and the first-fourth molded products and each of the first-first molded products and the first-second molded products. The second base carries four or more of the three or more molded products, wherein the second molded products include each of the second-second molded product, the second-third molded product, the second-fourth molded product, and the second-first molded product. The first three molded products and the first four molded products placed on the first base are located on a third straight line parallel to the first straight line, and the third straight line is a virtual straight line predetermined relative to the first base. The second first molded product and the second second molded product placed on the second base are located on the second straight line. The second third molded product and the second fourth molded product placed on the second base are located on a fourth straight line parallel to the second straight line, and the fourth straight line is a virtual straight line predetermined relative to the second base. When the relative position is the first position, the first-first molded product, the first-second molded product, the first-third molded product, the first-fourth molded product, the second-first molded product, the second-second molded product, the second-third molded product, and the second-fourth molded product are also located on the circumference, When the relative position is the first position, the first straight line, the second straight line, the third straight line, and the fourth straight line are arranged in the order of the second straight line, the first straight line, the fourth straight line, and the third straight line in a direction from the second straight line toward the first straight line. When the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, When the relative position is the second position, the second straight line overlaps with the first straight line, and the fourth straight line overlaps with the third straight line.

6. The configuration mechanism according to claim 5, characterized in that: When the relative position is the first position, the distance between two molded products adjacent to each other on the circumference among the eight molded products, namely, the first-first molded product, the first-second molded product, the first-third molded product, the first-fourth molded product, the second-first molded product, the second-second molded product, the second-third molded product and the second-fourth molded product, is the same as each other.

7. The configuration mechanism according to claim 1, characterized in that: The first base moving unit changes the relative position between the first position and the second position by moving at least one of the first base and the second base in parallel with a direction orthogonal to the first straight line and the second straight line, respectively.

8. A robot, characterized in that: For carrying three or more molded products, the robot has: A first end effector holds two or more first molded products among the three or more molded products, wherein the first molded products include a first-first molded product and a first-second molded product; A second end effector holds one or more second molded products among the three or more molded products, wherein the second molded products include a second-first molded product; and an end effector moving unit, which changes the relative position of the first end effector with respect to the second end effector between a first position and a second position, The first first molded product and the first second molded product held by the first end effector are located on a virtual first straight line predetermined relative to the first end effector, The second molded product held by the second end effector is located on a second straight line parallel to the first straight line, and the second straight line is a virtual straight line predetermined relative to the second end effector. When the relative position is the first position, the first straight line does not overlap with the second straight line. When the relative position is the second position, the first straight line overlaps with the second straight line.

9. An injection molding machine, characterized in that: have: The configuration mechanism according to any one of claims 1 to 7; An injection molding mechanism that molds three or more of the molded products by injection molding; and The robot places the two or more first molded products among the three or more molded products molded by the injection molding mechanism on the first base, and places the one or more second molded products among the three or more molded products molded by the injection molding mechanism on the second base.

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