Placement mechanism, robot, and injection molding system

Abstract

To provide a placement mechanism capable of changing placement of a plurality of moldings by a simple structure.SOLUTION: A placement mechanism that changes an arrangement of three or more molded products, comprising: a first base fixed to a frame such that it does not move, on which one or more first molded products including the eleventh molded product are placed; a second base provided to be relatively movable with respect to the first base, on which one or more second molded products including the twenty-first molded product are placed; and a third base that is provided to be movable in accordance with the movement of the second base, on which one or more third molded products including the thirty-first molded product are placed. The placement mechanism changes the arrangement of multiple molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product, corresponding to the relative movement of the second base with respect to the first base.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] This disclosure relates to a placement mechanism, a robot, and an injection molding system. [Background technology]

[0002] 2. Description of the Related Art Research and development is being conducted on a technique for arranging a plurality of molded articles, which are molded by an injection molding device using a molding material containing metal powder, at desired positions.

[0003] In this regard, a placement mechanism capable of changing the intervals between a plurality of placed molded products is known (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-017575 A Summary of the Invention [Problem to be solved by the invention]

[0005] The arrangement mechanism described in Patent Document 1 has many moving parts and is a complex, large-scale structure, which is undesirable because it increases the manufacturing cost of the arrangement mechanism. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the present disclosure is an arrangement mechanism for changing the arrangement of three or more molded products, the arrangement mechanism comprising: a first base that is fixed so as not to move relative to a stand and on which one or more first molded products including an 11th molded product are placed; a second base that is arranged so as to be movable relative to the first base and on which one or more second molded products including a 21st molded product are placed; and a third base that is arranged so as to be movable in response to the movement of the second base and on which one or more third molded products including a 31st molded product are placed, the arrangement mechanism changing the arrangement of multiple molded products including the 11th molded product, the 21st molded product, and the 31st molded product in response to the relative movement of the second base with respect to the first base.

[0007] In addition, in order to solve the above-mentioned problems, one embodiment of the present disclosure is a robot for transporting three or more molded products, comprising an end effector, the end effector having a first base that is fixed so as not to move relative to a frame and on which one or more first molded products including an eleventh molded product are placed, a second base that is arranged so as to be movable relative to the first base and on which one or more second molded products including a twenty-first molded product are placed, and a third base that is arranged so as to be movable in response to the movement of the second base and on which one or more third molded products including a thirty-first molded product are placed, and the end effector changes the arrangement of the multiple molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product in response to the relative movement of the second base with respect to the first base.

[0008] In addition, in order to solve the above-mentioned problems, one embodiment of the present disclosure is an injection molding system comprising: the above-described positioning mechanism; an injection molding device that molds the three or more molded products by injection molding; and a robot that places the one or more first molded products among the three or more molded products molded by the injection molding device on the first base, places the one or more second molded products among the three or more molded products molded by the injection molding device on the second base, and places the one or more third molded products among the three or more molded products molded by the injection molding device on the third base. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing an example of the configuration of an injection molding system 1. [Diagram 2] FIG. 2 is a top view of the injection molding system 1 shown in FIG. [Diagram 3] 1 is a diagram showing an example of the state of twelve molded products M arranged in a circular ring shape on an arrangement mechanism 30. FIG. [Figure 4] 1 is a diagram showing an example of a pallet PT on which a plurality of linear grooves for placing a molded product M are formed. [Diagram 5] FIG. 5 is a diagram showing an example of a state in which a molded product M is placed in a groove SL among a plurality of linear grooves formed in the pallet PT shown in FIG. [Figure 6] 2 is a perspective view showing an example of the configuration of an arrangement mechanism 30. FIG. [Figure 7] 7 is a perspective view of the arrangement mechanism 30 shown in FIG. 6, seen from a different direction. [Figure 8] 7 is a perspective view of the arrangement mechanism 30 shown in FIG. 6, seen from a different direction. [Figure 9] 11 is a top view showing an example of the arrangement mechanism 30 when the relative positions of the four bases are in a first position. FIG. [Figure 10] FIG. 10 is a perspective view of the arrangement mechanism 30 shown in FIG. 9. [Figure 11] 21 is a top view showing an example of the arrangement mechanism 30 when the second base 32 is in a 23rd position. FIG. [Figure 12] FIG. 12 is a perspective view of the arrangement mechanism 30 shown in FIG. [Figure 13] 13 is a top view showing an example of the arrangement mechanism 30 when the second base 32 is in a 24th position. FIG. [Figure 14] FIG. 14 is a perspective view of the arrangement mechanism 30 shown in FIG. [Figure 15] 2 is a top view showing an example of the arrangement mechanism 30 when the second base 32 is in a 22nd position. FIG. [Figure 16] FIG. 16 is a perspective view of the arrangement mechanism 30 shown in FIG. [Figure 17] 1 is a diagram showing an example of an arrangement mechanism 30 including a moving portion 35. FIG. [Figure 18] FIG. 13 is a diagram showing an example of a placement mechanism 30 provided on a one-axis robot 36 so as to be movable parallel to the Y axis. [Figure 19] 13 is a diagram showing an example of the arrangement mechanism 30 immediately after the wall member W and the second base 32 come into contact with each other. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] <Embodiment> Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0011] <Outline of injection molding system> First, an outline of an injection molding system according to an embodiment will be described.

[0012] The injection molding system according to the embodiment includes an injection molding device that molds a plurality of molded products by injection molding, a placement mechanism, a robot, and a sintering device. The injection molding system may be configured without either the placement mechanism or the robot. The injection molding system may also be configured without the sintering device.

[0013] Here, the arrangement mechanism places the multiple molded products molded by the injection molding device and changes the arrangement of the placed multiple molded products to a predetermined arrangement. This allows the injection molding system to increase the number of multiple molded products that can be placed on a pallet without complicating the structure of the pallet on which the multiple molded products are placed in the sintering device, prior to the sintering of the multiple molded products by the sintering device. As a result, the injection molding system can suppress an increase in the manufacturing cost of the molded products. The function of such an arrangement mechanism may be configured to be possessed by a robot.

[0014] The configuration of the injection molding system according to the embodiment will be described in detail below.

[0015] <Injection molding system configuration> The configuration of the injection molding system according to the embodiment will be described below by taking the injection molding system 1 as an example.

[0016] Fig. 1 is a perspective view showing an example of the configuration of an injection molding system 1. Fig. 2 is a top view of the injection molding system 1 shown in Fig. 1. However, in Fig. 1 and Fig. 2, in order to clearly show the configuration of the injection molding system 1, a part of a housing of the injection molding system 1 is omitted. The part of the housing is, for example, a cover that constitutes at least a part of the outer surface of the injection molding system 1.

[0017] Here, the three-dimensional coordinate system TC is a three-dimensional orthogonal coordinate system that indicates the direction in the drawing in which the three-dimensional coordinate system TC is drawn. In the following, for convenience of explanation, the X-axis in the three-dimensional coordinate system TC will be simply referred to as the X-axis. In addition, in the following, for convenience of explanation, the Y-axis in the three-dimensional coordinate system TC will be simply referred to as the Y-axis. In addition, in the following, for convenience of explanation, the Z-axis in the three-dimensional coordinate system TC will be simply referred to as the Z-axis. In addition, in the following, as an example, a case will be described in which the negative direction of the Z-axis coincides with the direction of gravity. Therefore, in the following, for convenience of explanation, the positive direction of the Z-axis will be referred to as the upward or simply the upward, and the negative direction of the Z-axis will be referred to as the downward or simply the downward.

[0018] The injection molding system 1 is an apparatus that molds a plurality of molded products by metal injection molding (MIM). More specifically, the injection molding system 1 is an apparatus that automatically performs various processes within itself, such as a molding process of a molded product by MIM, a cleaning process after the molding process, a palletizing process after the cleaning process, and a sintering process after the palletizing process. For convenience of explanation, each molded product molded by the injection molding system 1 will be referred to as a molded product M below.

[0019] The injection molding system 1 includes, for example, an injection molding device 10, a first robot 20, a placement 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 system 1. In addition to the first robot 20, the placement mechanism 30, the second robot 40, and the sintering device 50, the injection molding system 1 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 devices is omitted. The injection molding system 1 may be configured not to include the first robot 20. In this case, for example, another device having the function of the first robot 20 is connected to the injection molding system 1 from the outside. The injection molding system 1 may be configured not to include either one of the placement mechanism 30 and the second robot 40. In this case, for example, another device having the function of the device is connected to the injection molding system 1 from the outside. The injection molding system 1 may be configured not to include the sintering device 50. In this case, the injection molding system 1 is connected to another device having the function of the sintering device 50 from the outside.

[0020] The injection molding apparatus 10 molds a plurality of molded products M by MIM. The injection molding apparatus 10 includes, 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 molding material, which is a mixture of metal powder and wax, from a supply device that supplies the molding material to a space formed between the cavity 11 and the core 12 by connecting the cavity 11 and the core 12. Note that the injection molding system 1 may be configured to include the supply device, or may not be configured to include the supply device.

[0021] The cavity 11 is a mold that is fixed so as not to move relative to the housing of the injection molding apparatus 10. The configuration of the cavity 11 may be a known configuration or a configuration to be developed in the future. Therefore, in this embodiment, a further detailed description of the cavity 11 will be omitted.

[0022] The core 12 is a movable die that moves relatively to the cavity 11. The configuration of the core 12 may be a known configuration or a configuration to be developed in the future. Therefore, in this embodiment, further detailed description of the core 12 will be omitted.

[0023] 1 and 2, the injection molding apparatus 10, in response to control from the control device, moves the core 12 toward the cavity 11, which is fixed so as not to move relative to the housing of the injection molding apparatus 10, in a direction parallel to the Y axis, and connects the cavity 11 and the core 12. Meanwhile, in this example, the injection molding apparatus 10, in response to control from the control device, moves the core 12 away from the cavity 11, which is fixed so as not to move relative to the housing of the injection molding apparatus 10, in a direction parallel to the Y axis, and separates the cavity 11 and the core 12.

[0024] The method by which the injection molding apparatus 10 uses the cavity 11 and the core 12 to mold the multiple molded products M may be a known method or a method to be developed in the future. Therefore, in this embodiment, a further detailed description of the method will be omitted.

[0025] The first robot 20 is a robot that delivers a plurality of molded articles M molded by the injection molding apparatus 10 to the arrangement mechanism 30. The first robot 20 holds the plurality of molded articles M, for example, by air suction, and places each of the held molded articles M at a predetermined placement position. In this way, the first robot 20 delivers the plurality of molded articles M to the placement mechanism 30. The placement position is a position that is predetermined as a position on the placement mechanism 30 where the plurality of molded articles M are placed. The first robot 20 may have any configuration as long as it is capable of placing each of the plurality of molded articles M at the placement position.

[0026] The placement mechanism 30 is a mechanism that receives the plurality of molded products M from the first robot 20 and changes the placement of the plurality of molded products M. After changing the placement of the plurality of molded products M that have been received, the placement mechanism 30 transfers the plurality of molded products M after the placement has been changed to the second robot 40.

[0027] The arrangement mechanism 30 includes three or more bases that can change the relative positions of each other. In the following, as an example, a case where the arrangement mechanism 30 includes a frame BS that supports these three or more bases will be described. The frame BS may have any configuration as long as it is capable of supporting these three or more bases so that they can move relatively to each other parallel to a predetermined first direction. Note that the arrangement mechanism 30 may not include a frame BS. In this case, another frame having the function of the frame BS is connected to the arrangement mechanism 30 from the outside. In the following, as an example, a case where the first direction is a direction parallel to the Y axis will be described. Note that the first direction may be a direction non-parallel to the Y axis.

[0028] The above-mentioned first robot 20 places each of the multiple molded products M in a distributed manner on each of the three or more bases provided in the placement mechanism 30. That is, after the multiple molded products M are handed over from the first robot 20, at least one molded product M is placed on each of the three or more bases provided in the placement mechanism 30. The placement mechanism 30 changes the relative positions of the three or more bases on which the multiple molded products M are placed in a distributed manner, thereby changing the placement of the multiple molded products M placed.

[0029] Here, the arrangement of the multiple molded products M before the change of arrangement by the arrangement mechanism 30 may be any arrangement, for example, may be a circular arrangement, may be a radial arrangement, or may be another arrangement. The circular arrangement is an arrangement in which the multiple molded products M are arranged at equal intervals in a circular ring. The radial arrangement is an arrangement in which the multiple molded products M are arranged radially. In the following, for convenience of explanation, the arrangement of the multiple molded products M before the change of arrangement by the arrangement mechanism 30 is referred to as the molding arrangement. This is because the first robot 20 delivers the multiple molded products M molded by the injection molding device 10 to the arrangement mechanism 30 without changing the arrangement of the multiple molded products M. In addition, in the following, a case where the molding arrangement is a circular arrangement will be described as an example.

[0030] Furthermore, the arrangement of the multiple molded products M after the arrangement has been changed by the arrangement mechanism 30 may be any arrangement, for example, a one-line arrangement, a two-line arrangement, or another arrangement. The one-line arrangement is an arrangement in which the multiple molded products M are arranged in one line. The two-line arrangement is an arrangement in which the multiple molded products M are arranged in two lines parallel to each other. For ease of explanation, the arrangement of the multiple molded products M after the arrangement has been changed by the arrangement mechanism 30 will be referred to as the changed arrangement below. Also, the following will explain the case where the changed arrangement is a two-line arrangement as an example.

[0031] In the following, for convenience of explanation, among the relative positions of the three or more bases provided in the placement mechanism 30, the position when the placement mechanism 30 receives the multiple molded products M from the first robot 20 is referred to as the first position. That is, when the relative positions of the three or more bases are the first position, the arrangement of the multiple molded products M placed on the placement mechanism 30 is the molding arrangement. In addition, for convenience of explanation, in the following, the relative positions of the three or more bases when the placement mechanism 30 receives the multiple molded products M from the second robot 40 is referred to as the second position. That is, when the relative positions of the three or more bases are the second position, the arrangement of the multiple molded products M placed on the placement mechanism 30 is the changed arrangement.

[0032] In the following, as an example, a case will be described in which the number of molded articles M molded by the injection molding apparatus 10, i.e., the number of molded articles M placed on the arrangement mechanism 30, is 12. In this case, the arrangement mechanism 30 can change the arrangement of the 12 molded articles M from a circular arrangement to a two-linear arrangement, as will be described with reference to FIG.

[0033] FIG. 3 is a diagram showing an example of the state of 12 molded products M arranged in a circular arrangement on the arrangement mechanism 30. The 12 molded products M immediately after being placed on the arrangement mechanism 30 by the first robot 20 are arranged at equal intervals on a circumference C that is determined in advance for the arrangement mechanism 30. More specifically, the 12 molded products M are placed on each of 12 circular division points that divide the circumference C into 12 equal parts. Therefore, the central angles of the sectors connecting two adjacent molded products M among the 12 molded products M and the center of the circumference C are all the same except for differences due to manufacturing errors. In the example shown in FIG. 3, the 12 molded products M are placed on the arrangement mechanism 30 so that two of them overlap when viewed in the negative direction of the X-axis. In this case, the 12 molded products M are located two by two on each of six imaginary straight lines parallel to the X-axis. In the following, for convenience of explanation, as shown in FIG. 3, these six straight lines are referred to as straight line L4, straight line L6, straight line L5, straight line L1, straight line L3, and straight line L2 in order from the negative direction of the Y axis to the positive direction of the Y axis. Note that such a method of assigning symbols is a measure to make the following explanation easier to understand. Here, due to the symmetry of the arrangement of these 12 molded products M, the distance between the straight line L1 and the straight line L2 is equal to the distance between the straight line L4 and the straight line L5. Also, due to the symmetry, the distance between the straight line L1 and the straight line L3 is equal to the distance between the straight line L5 and the straight line L6. In the following, for convenience of explanation, the distance between the straight line L1 and the straight line L2 and the distance between the straight line L4 and the straight line L5 are each referred to as distance X1. Also, in the following, for convenience of explanation, the distance between the straight line L1 and the straight line L3 and the distance between the straight line L5 and the straight line L6 are each referred to as distance X2. For ease of explanation, the difference between the distance X1 and the distance X2 will be referred to as the distance X3 below. The distance X3 is the distance between the straight lines L2 and L3, and also the distance between the straight lines L4 and L6.

[0034] When the arrangement of the 12 molded products M placed on the arrangement mechanism 30 is an annular arrangement as shown in FIG. 3, the arrangement mechanism 30 can change the arrangement from an annular arrangement to a two-line arrangement, for example, as described below. That is, the arrangement mechanism 30 moves the two molded products M located on the line L2 and the two molded products M located on the line L3 onto the line L1 by changing the relative positions of the above-mentioned three or more bases. Also, the arrangement mechanism 30 moves the two molded products M located on the line L5 and the two molded products M located on the line L6 onto the line L4 by changing the relative positions of the three or more bases. In this case, the two molded products M located on the line L2 move a distance X1 toward the line L1 together with the line L2. Also, in this case, the two molded products M located on the line L3 move a distance X2 toward the line L1 together with the line L3. In this case, the two molded products M located on the line L5 move a distance X1 toward the line L4 together with the line L5. In this case, the two molded products M located on the straight line L6 move a distance X3 along the straight line L6 toward the straight line L4. In this manner, the arrangement mechanism 30 can change the arrangement of the 12 molded products M from a circular arrangement to a two-straight line arrangement. Note that the arrangement mechanism 30 may be configured to change the arrangement of the 12 molded products M from a circular arrangement to a two-straight line arrangement by another method.

[0035] The housing of the placement mechanism 30 is movable between a first predetermined transfer position and a second predetermined transfer position. The first transfer position is a position that is predetermined among the positions to which the housing of the placement mechanism 30 can be moved, where the eight molded products M are transferred from the first robot 20. The second transfer position is a position that is predetermined among the positions to which the housing of the placement mechanism 30 can be moved, where the eight molded products M are held by the second robot 40. In the example shown in FIG. 1 and FIG. 2, the housing of the placement mechanism 30 is movable parallel to the Y axis. The above-mentioned stand BS may be configured to be provided on the housing of the placement mechanism 30, or may be a part of the housing of the placement mechanism 30.

[0036] The second robot 40 is, for example, a SCARA robot. Note that the second robot 40 may be a single-arm multi-joint robot, a multi-arm multi-joint robot, or another type of robot, instead of a SCARA robot.

[0037] The second robot 40 comprises a support base (not shown) that supports the entire second robot 40, a first arm rotatably supported by the support base, a second arm rotatably supported by the first arm, a shaft that is attached to the end of the second arm so as to be able to rise and fall, and an end effector E attached to the end of the shaft.

[0038] The end effector E holds each of the 12 molded products M, for example, by suctioning air. Note that the end effector E may have other configurations as long as it is capable of holding each of the 12 molded products M. For example, the end effector E may be configured to include a clamping portion capable of clamping each of the 12 molded products M.

[0039] The second robot 40 holds the 12 molded products M with the end effector E from the placement mechanism 30 located at the second delivery position, and palletizes the 12 molded products M held by it onto a pallet PT stored in the sintering device 50.

[0040] FIG. 4 is a diagram showing an example of a pallet PT in which a plurality of linear grooves are formed for placing the molded product M. FIG. 5 is a diagram showing an example of a state in which the molded product M is placed in a groove SL among the plurality of linear grooves formed in the pallet PT shown in FIG. 4. Here, in the injection molding system 1, the pallet PT is made of, for example, ceramic. This is because the plurality of molded products M placed on the pallet PT are heated together with the pallet PT in the sintering device 50. It is known that the more complex the structure of such a ceramic pallet PT is, the higher the manufacturing cost increases. An increase in the manufacturing cost of the pallet PT leads to an increase in the selling price of each molded product M, which is not desirable. Under these circumstances, simplifying the structure of the pallet PT is important because it leads to suppressing an increase in the selling price of each molded product M. Therefore, the injection molding system 1 can suppress an increase in the selling price of each molded product M by changing the arrangement of the plurality of molded products M by the arrangement mechanism 30.

[0041] The sintering device 50 is a device in which a pallet PT is stored together with the second robot 40, and which heats the molded products M palletized on the pallet PT by the second robot 40 together with the pallet PT to sinter the molded products M. The sintering device 50 may be configured to include a device that automatically stores the pallet PT after the molded products M have been palletized and supplies a new pallet PT, or may be configured to manually replace the pallet PT.

[0042] <Configuration of placement mechanism> The configuration of the arrangement mechanism 30 will be described in more detail below with reference to FIGS.

[0043] Fig. 6 is a perspective view showing an example of the configuration of the arrangement mechanism 30. Fig. 7 is a perspective view of the arrangement mechanism 30 shown in Fig. 6, seen from a different direction. Fig. 8 is a perspective view of the arrangement mechanism 30 shown in Fig. 6, seen from yet another different direction. Note that Figs. 6 and 7 are perspective views of the arrangement mechanism 30 seen in a direction in which the top surface of the arrangement mechanism 30 is visible. Also, Fig. 8 is a perspective view of the arrangement mechanism 30 seen in a direction in which the bottom surface of the arrangement mechanism 30 is visible.

[0044] 6 to 8, the arrangement mechanism 30 includes the above-mentioned stand BS. The arrangement mechanism 30 also includes four bases, namely, a first base 31, a second base 32, a third base 33, and a fourth base 34, as the above-mentioned three or more bases. For ease of explanation, the four bases, namely, the first base 31, the second base 32, the third base 33, and the fourth base 34 will be simply referred to as four bases in the following explanation.

[0045] The first base 31 is a plate-like member on which two molded products M positioned on a straight line L1 shown in Fig. 3 and two molded products M positioned on a straight line L4 shown in Fig. 3 are placed. Therefore, each of the straight lines L1 and L4 is a virtual straight line determined in advance with respect to the first base 31. The first base 31 is fixed so as not to move with respect to the frame BS. Therefore, the straight lines L1 and L4 do not move with respect to the frame BS. The first base 31 may have a shape other than a plate shape.

[0046] On the first base 31, a placement portion on which the molded product M is placed is provided at each of two positions where the circumference C and the straight line L1 intersect. In the following, for convenience of explanation, the placement portions provided at the two positions are referred to as the first placement portion H11 and the first placement portion H12 in order from the negative direction of the X axis to the positive direction of the X axis. In addition, on the first base 31, a placement portion on which the molded product M is placed is provided at each of two positions where the circumference C and the straight line L4 intersect. In the following, for convenience of explanation, the placement portions provided at the two positions are referred to as the first placement portion H13 and the first placement portion H14 in order from the negative direction of the X axis to the positive direction of the X axis. In the following description, for convenience of explanation, the first receiver portion H11, the first receiver portion H12, the first receiver portion H13, and the first receiver portion H14 will be collectively referred to as the first receiver portion H1 unless there is a need to distinguish between them.

[0047] The first placement section H1 may have any configuration as long as it is capable of placing the molded product M thereon. In the following, as an example, a case where the first placement section H1 is capable of holding the molded product M by suctioning air will be described. In this case, an air suction port is formed in the first placement section H1 parallel to the Z axis. The first placement section H1 holds the molded product M placed directly above the suction port by suctioning air through the suction port. This makes it possible for the first placement section H1 to prevent the placed molded product M from unintentionally falling due to vibration or the like. Note that the first placement section H1 may be configured to hold the first molded product M1 by another method instead of suctioning air.

[0048] In the following, for convenience of explanation, the molded product M held by the first placement part H11 will be referred to as the first molded product M11. In addition, in the following, for convenience of explanation, the molded product held by the first placement part H12 will be referred to as the first molded product M12. In addition, in the following, for convenience of explanation, the molded product M held by the first placement part H13 will be referred to as the first molded product M13. In addition, in the following, for convenience of explanation, the molded product M held by the first placement part H14 will be referred to as the first molded product M14. In addition, in the following, for convenience of explanation, the first molded product M11, the first molded product M12, the first molded product M13, and the first molded product M14 will be collectively referred to as the first molded product M1 unless it is necessary to distinguish between them.

[0049] The second base 32 is a plate-like member on which two molded products M positioned on a line L2 shown in Fig. 3 and two molded products M positioned on a line L5 shown in Fig. 3 are placed. Therefore, each of the line L2 and the line L5 is a virtual line determined in advance with respect to the second base 32, and is a line that moves together with the second base 32. The second base 32 may have a shape other than a plate shape.

[0050] Moreover, the second base 32 is a member provided so as to be movable in parallel to the first direction relative to the first base 31. In the example shown in Figs. 6 to 8, the second base 32 is supported by the frame BS so as to be movable in parallel to the first direction relative to the first base 31. In addition, in this example, the second base 32 is provided below the first base 31 so as to overlap with the first base 31. In other words, in this example, the first base 31 is provided on the second base 32 so that the second base 32 is slidable relative to the first base 31. In the following, for convenience of explanation, the relative position of the second base 32 with respect to the first base 31 when the relative positions of the four bases are the first position will be referred to as the 21st position. In addition, for convenience of explanation, the relative position of the second base 32 with respect to the first base 31 when the relative positions of the four bases are the second position will be referred to as the 22nd position in the following description. In addition, for convenience of explanation, the position of the second base 32 with respect to the first base 31 will be simply referred to as the position of the second base 32 in the following description. Note that the second base 32 may be configured to be provided on the first base 31.

[0051] Among the positions on the second base 32, when the position of the second base 32 is the 21st position, two positions where the circumference C and the straight line L2 intersect are provided with a placement part on which the molded product M is placed. In the following, for convenience of explanation, the placement parts provided at the two positions are referred to as the second placement part H21 and the second placement part H22 in order from the negative direction of the X axis to the positive direction of the X axis. In addition, among the positions on the second base 32, when the position of the second base 32 is the 21st position, two positions where the circumference C and the straight line L5 intersect are provided with a placement part on which the molded product M is placed. In the following, for convenience of explanation, the placement parts provided at the two positions are referred to as the second placement part H23 and the second placement part H24 in order from the negative direction of the X axis to the positive direction of the X axis. In the following, for convenience of explanation, the second receiver portion H21, the second receiver portion H22, the second receiver portion H23, and the second receiver portion H24 will be collectively referred to as the second receiver portion H2 unless it is necessary to distinguish between them.

[0052] The second placement section H2 may have any configuration as long as it is capable of placing the molded product M. In the following, as an example, a case where the second placement section H2 is a cylindrical member extending parallel to the Z axis will be described. In addition, in the following, as an example, a case where the second placement section H2 can hold the molded product M by suctioning air will be described. In this case, an air suction port is formed in the second placement section H2 parallel to the Z axis. The second placement section H2 holds the molded product M placed directly above the suction port by suctioning air through the suction port. This makes it possible for the second placement section H2 to prevent the placed molded product M from unintentionally falling due to vibration or the like. Note that the second placement section H2 may be configured to hold the second molded product M2 by another method instead of suctioning air.

[0053] In the following, for convenience of explanation, the molded product M held by the second placing part H21 will be referred to as the second molded product M21. In addition, in the following, for convenience of explanation, the molded product held by the second placing part H22 will be referred to as the second molded product M22. In addition, in the following, for convenience of explanation, the molded product M held by the second placing part H23 will be referred to as the second molded product M23. In addition, in the following, for convenience of explanation, the molded product M held by the second placing part H24 will be referred to as the second molded product M24. In addition, in the following, for convenience of explanation, the second molded product M21, the second molded product M22, the second molded product M23, and the second molded product M24 will be collectively referred to as the second molded product M2 unless it is necessary to distinguish between them.

[0054] Each of the third base 33 and the fourth base 34 is a member supported by the frame BS so as to be movable in parallel to the first direction relative to the second base 32. In the example shown in Figs. 6 to 8, each of the third base 33 and the fourth base 34 is provided below the second base 32 so as to be slidable relative to the second base 32 in the order of the fourth base 34 and the third base 33 in the positive direction of the Y axis. In other words, in this example, the second base 32 is provided on the third base 33 and the fourth base 34 so that each of the third base 33 and the fourth base 34 is slidable relative to the second base 32. At least one of the third base 33 and the fourth base 34 may be configured to be provided on the second base 32 or may be configured to be provided on the first base 31.

[0055] Moreover, each of the third base 33 and the fourth base 34 is a member provided so as to be movable in parallel to the first direction in response to the movement of the second base 32. In the example shown in Figs. 6 to 8, each of the third base 33 and the fourth base 34 is supported by the frame BS so as to be movable in parallel to the first direction relative to the second base 32 in response to the movement of the second base 32. Moreover, in this example, each of the third base 33 and the fourth base 34 is provided below the second base 32 so as to overlap with the second base 32. In other words, in this example, the second base 32 is provided on each of the third base 33 and the fourth base 34 so that each of the third base 33 and the fourth base 34 is slidable relative to the second base 32. In the following, for convenience of explanation, the relative position of the third base 33 with respect to the first base 31 when the relative positions of the four bases are in the first position will be referred to as the 31st position. In addition, in the following, for convenience of explanation, the relative position of the third base 33 with respect to the first base 31 when the relative positions of the four bases are in the second position will be referred to as the 32nd position. In addition, in the following, for convenience of explanation, the position of the third base 33 with respect to the first base 31 will be simply referred to as the position of the third base 33. In addition, in the following, for convenience of explanation, the relative position of the fourth base 34 with respect to the first base 31 when the relative positions of the four bases are in the first position will be referred to as the 41st position. In addition, for convenience of explanation, the relative position of the fourth base 34 with respect to the first base 31 when the relative positions of the four bases are the second position will be referred to as the 42nd position in the following description. In addition, for convenience of explanation, the position of the fourth base 34 with respect to the first base 31 will be referred to simply as the position of the fourth base 34 in the following description.

[0056] The third base 33 is a plate-like member on which two molded products M located on a straight line L3 shown in Fig. 3 are placed. Therefore, the straight line L3 is a virtual straight line determined in advance with respect to the third base 33, and is a straight line that moves together with the third base 33. Note that the third base 33 may have a shape other than a plate shape.

[0057] Among the positions on the third base 33, when the position of the third base 33 is position 31, two positions where the circumference C and the straight line L3 intersect are provided with a placement portion on which the molded product M is placed. For convenience of explanation, the placement portions provided at the two positions are referred to as the third placement portion H31 and the third placement portion H32 in that order from the negative direction of the X axis to the positive direction of the X axis. For convenience of explanation, the third placement portion H31 and the third placement portion H32 are collectively referred to as the third placement portion H3 unless it is necessary to distinguish between them.

[0058] The third placement section H3 may have any configuration as long as it is capable of placing the molded product M. In the following, as an example, a case where the third placement section H3 is a cylindrical member extending parallel to the Z axis will be described. In addition, in the following, as an example, a case where the third placement section H3 can hold the molded product M by suctioning air will be described. In this case, an air suction port is formed in the third placement section H3 parallel to the Z axis. The third placement section H3 holds the molded product M placed directly above the suction port by suctioning air through the suction port. This makes it possible for the third placement section H3 to prevent the placed molded product M from unintentionally falling due to vibration or the like. Note that the third placement section H3 may be configured to hold the third molded product M3 by another method instead of suctioning air.

[0059] For ease of explanation, the molded product M held by the third mounting portion H31 will be referred to as the third molded product M31. For ease of explanation, the molded product held by the third mounting portion H32 will be referred to as the third molded product M32. For ease of explanation, the third molded product M31 and the third molded product M32 will be collectively referred to as the third molded product M3.

[0060] The fourth base 34 is a plate-like member on which two molded products M located on a straight line L6 shown in Fig. 3 are placed. Therefore, the straight line L6 is a virtual straight line determined in advance with respect to the fourth base 34, and is a straight line that moves together with the fourth base 34. The fourth base 34 may have a shape other than a plate shape.

[0061] Among the positions on the fourth base 34, when the position of the fourth base 34 is position 41, two positions where the circumference C and the straight line L6 intersect are provided with a placement portion on which the molded product M is placed. For convenience of explanation, the placement portions provided at the two positions are referred to as the fourth placement portion H41 and the fourth placement portion H42 in order from the negative direction of the X axis to the positive direction of the X axis. For convenience of explanation, the fourth placement portion H41 and the fourth placement portion H42 are collectively referred to as the fourth placement portion H4 unless it is necessary to distinguish between them.

[0062] The fourth placement portion H4 may have any configuration as long as it is capable of placing the molded product M. In the following, as an example, a case where the fourth placement portion H4 is a cylindrical member extending parallel to the Z axis will be described. In addition, in the following, as an example, a case where the fourth placement portion H4 can hold the molded product M by suctioning air will be described. In this case, an air suction port is formed in the fourth placement portion H4 parallel to the Z axis. The fourth placement portion H4 holds the molded product M placed directly above the suction port by suctioning air through the suction port. This makes it possible for the fourth placement portion H4 to prevent the placed molded product M from unintentionally falling due to vibration or the like. Note that the fourth placement portion H4 may be configured to hold the fourth molded product M4 by another method instead of suctioning air.

[0063] For ease of explanation, the molded product M held by the fourth mounting portion H41 will be referred to as the fourth molded product M41. For ease of explanation, the molded product held by the fourth mounting portion H42 will be referred to as the fourth molded product M42. For ease of explanation, the fourth molded product M41 and the fourth molded product M42 will be collectively referred to as the fourth molded product M4 unless there is a need to distinguish between them.

[0064] The lengths in the direction of gravity of each of the first mounting portion H1, the second mounting portion H2, the third mounting portion H3, and the fourth mounting portion H4 described above are determined to satisfy a certain condition. The condition is that the positions in the direction of gravity of the first molded product M1 placed on the first mounting portion H1, the second molded product M2 placed on the second mounting portion H2, the third molded product M3 placed on the third mounting portion H3, and the fourth molded product M4 placed on the fourth mounting portion H4 are the same except for differences due to manufacturing errors, etc.

[0065] Here, the movement of the four bases of the arrangement mechanism 30 when changing the arrangement of the twelve molded products M will be described. As described above, the first base 31 is fixed to the frame BS and does not move. The third base 33 and the fourth base 34 move in accordance with the movement of the second base 32.

[0066] First, the movement of the four bases of the arrangement mechanism 30 when the relative positions of the four bases are moved from the first position to the second position will be described. For example, after the first robot 20 places 12 molded products M, the arrangement mechanism 30 moves the relative positions of the four bases from the first position to the second position. Specifically, after the first robot 20 places 12 molded products M, the second base 32 located at the 21st position moves to the 22nd position by passing through the 23rd position and the 24th position in order. Here, the 23rd position is the position where the second base 32 comes into contact with the third base 33 located at the 31st position when the second base 32 moves from the 21st position to the 22nd position. The contact between the third base 33 and the second base 32 may be contact between the third base 33 itself and the second base 32, may be contact between the third mounting portion H3 provided on the third base 33 and the second base 32, or may be contact between another member provided on the third base 33 and the second base 32. The 24th position is a position where the second base 32 comes into contact with the fourth base 34 located at the 41st position when the second base 32 moves from the 21st position to the 22nd position. The contact between the fourth base 34 and the second base 32 may be contact between the fourth base 34 itself and the second base 32, may be contact between the fourth mounting portion H4 provided on the fourth base 34 and the second base 32, or may be contact between another member provided on the fourth base 34 and the second base 32. After coming into contact with the third base 33 at the 23rd position, the second base 32 moves together with the third base 33 to the 22nd position via the 24th position while pushing or pulling the third base 33. Then, after coming into contact with the fourth base 34 at the 24th position, the second base 32 moves together with the third base 33 and the fourth base 34 to the 22nd position while pushing or pulling each of the third base 33 and the fourth base 34. Here, the distance between the 21st position and the 23rd position is the distance X3. Also, the distance between the 21st position and the 24th position is the distance X2. And the distance between the 24th position and the 22nd position is the distance X3. Therefore, when the second base 32 moves from the 21st position to the 23rd position, the straight line L2 overlaps with the straight line L3. Furthermore, when the second base 32 moves from the 21st position to the 24th position, the straight line L5 overlaps with the straight line L6.When the second base 32 moves from the 24th position to the 22nd position, the third base 33 reaches the 32nd position, and the fourth base 34 reaches the 42nd position. As a result, the straight lines L2 and L3 overlap with the straight line L1. The straight lines L5 and L6 overlap with the straight line L4. In this way, by moving the second base 32 from the 21st position to the 22nd position, the arrangement mechanism 30 can move the relative positions of the four bases from the first position to the second position, and can change the arrangement of the twelve molded products M from a circular arrangement to a two-linear arrangement.

[0067] Next, the movement of the four bases of the arrangement mechanism 30 when the relative positions of the four bases are moved from the second position to the first position will be described. For example, the arrangement mechanism 30 transfers 12 molded products M to the second robot 40, and then moves the relative positions of the four bases from the second position to the first position. Specifically, after transferring 12 molded products M to the second robot 40, the second base 32 located at the 22nd position moves to the 21st position via the 25th position and the 26th position in order. Here, the 25th position is the position where the second base 32 comes into contact with the third base 33 located at the 32nd position when the second base 32 moves from the 22nd position to the 21st position. The contact between the third base 33 and the second base 32 may be contact between the third base 33 itself and the second base 32, may be contact between the third mounting portion H3 provided on the third base 33 and the second base 32, or may be contact between another member provided on the third base 33 and the second base 32. The 26th position is a position where the second base 32 contacts the fourth base 34 located at the 42nd position when the second base 32 moves from the 22nd position to the 21st position. The contact between the fourth base 34 and the second base 32 may be contact between the fourth base 34 itself and the second base 32, may be contact between the fourth mounting portion H4 provided on the fourth base 34 and the second base 32, or may be contact between another member provided on the fourth base 34 and the second base 32. After contacting the third base 33 at the 25th position, the second base 32 moves together with the third base 33 to the 21st position via the 26th position while pushing or pulling the third base 33. Then, after contacting the fourth base 34 at the 26th position, the second base 32 moves together with the third base 33 and the fourth base 34 to the 21st position while pushing or pulling each of the third base 33 and the fourth base 34. Here, the distance between the 22nd position and the 25th position is the distance X3. Also, the distance between the 22nd position and the 26th position is the distance X2. And the distance between the 26th position and the 21st position is the distance X3. In this way, the arrangement mechanism 30 moves the relative positions of the four bases from the second position to the first position.

[0068] The shape of each of the four bases may be any shape as long as it is possible to perform the operations of the four bases described above. The shape of each of the four bases provided in the arrangement mechanism 30 shown in Figures 6 to 8 is merely one example of a shape that is possible to perform the operations of the four bases described above.

[0069] In the example shown in Figures 6 to 8, the first base 31 is formed with a first gap HL11 through which the second mounting portion H21, the second mounting portion H22, the third mounting portion H31, and the third mounting portion H32 pass, a first gap HL12 through which the second mounting portion H23 and the fourth mounting portion H41 pass, and a first gap HL13 through which the second mounting portion H24 and the fourth mounting portion H42 pass.

[0070] The shape of the first gap HL11 may be any shape as long as the second placement portion H21, the second placement portion H22, the third placement portion H31, and the third placement portion H32 do not interfere with the first base 31 during the movement of the second base 32 between the 21 position and the 22 position. In the example shown in Figs. 6 to 8, the first gap HL11 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited to this. In this example, the face on the negative side of the Y-axis among the three faces of the first base 31 facing the first gap HL11 contacts each of the second placement portion H21 and the second placement portion H22 when the position of the second base 32 is the 22 position. This allows the first base 31 to suppress the second base 32 from moving toward the negative side of the Y-axis from the 22 position. Note that a shock absorbing material such as a sponge may be provided on each side surface of the second mounting portion H21 and the second mounting portion H22 to prevent the second molded product M21 and the second molded product M22 from falling due to an impact caused by contact with the first base 31. Also, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis among the three surfaces of the first base 31 facing the first gap HL11 to prevent the second molded product M21 and the second molded product M22 from falling from the second mounting portion H21 and the second mounting portion H22 due to an impact caused by contact with the second mounting portion H21 and the second mounting portion H22. In this example, the first base 31 has three faces facing the first gap HL11, and the faces on the negative side of the Y axis come into contact with the third mounting portion H31 and the third mounting portion H32 when the second base 32 is at position 22. This allows the first base 31 to prevent the third base 33 from moving further toward the negative side of the Y axis than position 32. Note that shock absorbing material such as sponge may be provided on the side surfaces of the third mounting portion H31 and the third mounting portion H32 to prevent the third molded product M31 and the third molded product M32 from falling due to an impact or the like caused by contact with the first base 31.In addition, of the three faces of the first base 31 facing the first gap HL11, the face on the negative side of the Y axis may be provided with an impact cushioning material such as a sponge to prevent the third molded product M31 and the third molded product M32 from falling off the third mounting portion H31 and the third mounting portion H32, respectively, due to impact caused by contact with the third mounting portion H31 and the third mounting portion H32, respectively.

[0071] The shape of the first gap HL12 may be any shape as long as the second placement portion H23 and the fourth placement portion H41 do not interfere with the first base 31 during the movement of the second base 32 between the 21st position and the 22nd position. In the example shown in FIG. 7, the first gap HL12 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited thereto. In this example, the face on the negative side of the Y-axis among the three faces of the first base 31 facing the first gap HL12 comes into contact with the second placement portion H23 when the position of the second base 32 is the 22nd position. This allows the first base 31 to suppress the second base 32 from moving toward the negative side of the Y-axis from the 22nd position. In addition, a shock absorbing material such as sponge may be provided on the side surface of the second mounting portion H23 to prevent the second molded product M23 from falling due to an impact caused by contact with the first base 31. In addition, a shock absorbing material such as sponge may be provided on the negative side of the Y axis among the three faces of the first base 31 facing the first gap HL12 to prevent the second molded product M23 from falling from the second mounting portion H23 due to an impact caused by contact with the second mounting portion H23. In this example, the negative side of the Y axis among the three faces of the first base 31 facing the first gap HL12 contacts the fourth mounting portion H41 when the position of the second base 32 is the 22 position. This allows the first base 31 to prevent the fourth base 34 from moving toward the negative side of the Y axis from the 42 position. Note that a shock absorbing material such as a sponge may be provided on the side surface of the fourth mounting portion H41 to prevent the fourth molded product M41 from falling due to an impact caused by contact with the first base 31. Also, of the three surfaces of the first base 31 facing the first gap HL12, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis to prevent the fourth molded product M41 from falling from the fourth mounting portion H41 due to an impact caused by contact with the fourth mounting portion H41.

[0072] The shape of the first gap HL13 may be any shape as long as the second placement portion H24 and the fourth placement portion H42 do not interfere with the first base 31 during the movement of the second base 32 between the 21st position and the 22nd position. In the example shown in FIG. 7, the first gap HL13 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited thereto. In this example, the face on the negative side of the Y-axis among the three faces of the first base 31 facing the first gap HL13 comes into contact with the second placement portion H24 when the position of the second base 32 is the 22nd position. This allows the first base 31 to suppress the second base 32 from moving toward the negative side of the Y-axis from the 22nd position. In addition, a shock absorbing material such as sponge may be provided on the side surface of the second mounting portion H24 to prevent the second molded product M24 from falling due to the impact caused by contact with the first base 31. In addition, a shock absorbing material such as sponge may be provided on the negative side of the Y axis among the three faces of the first base 31 facing the first gap HL13 to prevent the second molded product M24 from falling from the second mounting portion H24 due to the impact caused by contact with the second mounting portion H24. In this example, the negative side of the Y axis among the three faces of the first base 31 facing the first gap HL13 contacts the fourth mounting portion H42 when the position of the second base 32 is the 22 position. This allows the first base 31 to prevent the fourth base 34 from moving toward the negative side of the Y axis from the 42 position. Note that a shock absorbing material such as a sponge may be provided on the side surface of the fourth mounting portion H42 to prevent the fourth molded product M42 from falling due to an impact caused by contact with the first base 31. Also, of the three surfaces of the first base 31 facing the first gap HL13, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis to prevent the fourth molded product M42 from falling from the fourth mounting portion H42 due to an impact caused by contact with the fourth mounting portion H42.

[0073] In addition, in the example shown in Figures 6 to 8, the second base 32 is formed with a second gap HL21 through which the third mounting portion H31 passes, a second gap HL22 through which the third mounting portion H32 passes, a second gap HL23 through which the third mounting portion H31 passes, and a second gap HL24 through which the third mounting portion H32 passes.

[0074] The shape of the second gap HL21 may be any shape as long as the third placement portion H31 does not interfere with the second base 32 during the movement of the second base 32 between the 21st position and the 23rd position. In the example shown in FIG. 7, the second gap HL21 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited to this. In this example, the face on the negative side of the Y-axis among the four faces of the second base 32 facing the second gap HL21 contacts the third placement portion H31 when the second base 32 is at the 21st position. In this example, the face on the positive side of the Y-axis among the four faces contacts the third placement portion H31 when the second base 32 is at the 23rd position. As a result, when the second base 32 moves from the 23rd position to the 22nd position, it can move while pushing the third base 33 in the negative direction of the Y axis. Also, when the second base 32 moves from the 25th position to the 21st position, it can move while pushing the third base 33 in the positive direction of the Y axis. Note that a shock absorbing material such as a sponge may be provided on the side surface of the third mounting portion H31 to prevent the third molded product M31 from falling due to an impact caused by contact with the second base 32. Also, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis among the four surfaces to prevent the third molded product M31 from falling from the third mounting portion H31 due to an impact caused by contact with the third mounting portion H31. In addition, among the four faces, the face on the positive side of the Y axis may be provided with an impact cushioning material such as a sponge to prevent the third molded product M31 from falling off the third mounting portion H31 due to an impact caused by contact with the third mounting portion H31.

[0075] The shape of the second gap HL22 may be any shape as long as the third placement portion H32 does not interfere with the second base 32 when the second base 32 moves between the 21st position and the 23rd position. In the example shown in FIG. 7, the second gap HL22 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited to this. In this example, the face on the negative side of the Y-axis among the four faces of the second base 32 facing the second gap HL22 comes into contact with the third placement portion H32 when the second base 32 is at the 21st position. In this example, the face on the positive side of the Y-axis among the four faces comes into contact with the third placement portion H32 when the second base 32 is at the 23rd position. As a result, when the second base 32 moves from the 23rd position to the 22nd position, it can move while pushing the third base 33 in the negative direction of the Y axis. Also, when the second base 32 moves from the 25th position to the 21st position, it can move while pushing the third base 33 in the positive direction of the Y axis. Note that a shock absorbing material such as a sponge may be provided on the side surface of the third mounting portion H32 to prevent the third molded product M32 from falling due to an impact caused by contact with the second base 32. Also, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis among the four surfaces to prevent the third molded product M32 from falling from the third mounting portion H32 due to an impact caused by contact with the third mounting portion H32. In addition, of the four faces, the face on the positive side of the Y axis may be provided with an impact cushioning material such as a sponge to prevent the third molded product M32 from falling off the third mounting portion H32 due to an impact caused by contact with the third mounting portion H32.

[0076] The shape of the second gap HL23 may be any shape as long as the fourth placement portion H41 does not interfere with the second base 32 during the movement of the second base 32 between the 21st position and the 24th position. In the example shown in FIG. 7, the second gap HL23 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited to this. In this example, the face on the negative side of the Y-axis among the four faces of the second base 32 facing the second gap HL23 contacts the fourth placement portion H41 when the second base 32 is at the 21st position. In this example, the face on the positive side of the Y-axis among the four faces contacts the fourth placement portion H41 when the second base 32 is at the 24th position. As a result, when the second base 32 moves from the 24th position to the 22nd position, it can move while pushing the fourth base 34 in the negative direction of the Y axis. Also, when the second base 32 moves from the 26th position to the 21st position, it can move while pushing the fourth base 34 in the positive direction of the Y axis. Note that a shock absorbing material such as a sponge may be provided on the side surface of the fourth mounting portion H41 to prevent the fourth molded product M41 from falling due to an impact caused by contact with the second base 32. Also, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis to prevent the fourth molded product M41 from falling from the fourth mounting portion H41 due to an impact caused by contact with the fourth mounting portion H41. In addition, among the four faces, the face on the positive side of the Y axis may be provided with an impact cushioning material such as a sponge to prevent the fourth molded product M41 from falling off the fourth mounting portion H41 due to an impact caused by contact with the fourth mounting portion H41.

[0077] The shape of the second gap HL24 may be any shape as long as the fourth placement portion H42 does not interfere with the second base 32 when the second base 32 moves between the 21st position and the 24th position. In the example shown in FIG. 7, the second gap HL24 is a rectangular parallelepiped gap having faces parallel to the X-axis and the Y-axis, but is not limited to this. In this example, the face on the negative side of the Y-axis among the four faces of the second base 32 facing the second gap HL24 contacts the fourth placement portion H42 when the second base 32 is at the 21st position. In this example, the face on the positive side of the Y-axis among the four faces contacts the fourth placement portion H42 when the second base 32 is at the 24th position. As a result, when the second base 32 moves from the 24th position to the 22nd position, it can move while pushing the fourth base 34 in the negative direction of the Y axis. Also, when the second base 32 moves from the 26th position to the 21st position, it can move while pushing the fourth base 34 in the positive direction of the Y axis. Note that a shock absorbing material such as a sponge may be provided on the side surface of the fourth mounting portion H42 to prevent the fourth molded product M42 from falling due to an impact caused by contact with the second base 32. Also, a shock absorbing material such as a sponge may be provided on the surface on the negative side of the Y axis among the four surfaces to prevent the fourth molded product M42 from falling from the fourth mounting portion H42 due to an impact caused by contact with the fourth mounting portion H41. In addition, of the four faces, the face on the positive side of the Y axis may be provided with an impact cushioning material such as a sponge to prevent the fourth molded product M42 from falling off the fourth mounting portion H42 due to an impact caused by contact with the fourth mounting portion H42.

[0078] When the four bases include a first base 31 and a second base 32 having gaps formed therein as shown in Figures 6 to 8, the movement of the four bases described above will be as shown in Figures 9 to 16.

[0079] FIG. 9 is a top view showing an example of the arrangement mechanism 30 when the relative positions of the four bases are in the first position. FIG. 10 is a perspective view of the arrangement mechanism 30 shown in FIG. 9. As described above, in the arrangement mechanism 30, as shown in FIG. 9 and FIG. 10, when the relative positions of the four bases are in the first position, the arrangement of the 12 molded products M is in a circular arrangement. The position of the second base 32 shown in FIG. 9 and FIG. 10 is an example of the 21st position. The position of the third base 33 shown in FIG. 9 and FIG. 10 is an example of the 31st position. The position of the fourth base 34 shown in FIG. 9 and FIG. 10 is an example of the 41st position.

[0080] When the second base 32 moves from the 21st position to the 23rd position, the arrangement of the 12 molded products M shown in FIGS. 9 and 10 becomes the arrangement shown in FIGS. 11 and 12. FIG. 11 is a top view showing an example of the arrangement mechanism 30 when the position of the second base 32 is the 23rd position. FIG. 12 is a perspective view of the arrangement mechanism 30 shown in FIG. 11. In the arrangement mechanism 30, as shown in FIGS. 11 and 12, when the position of the second base 32 is the 23rd position, the second base 32 is in contact with each of the third placement portion H31 and the third placement portion H32. Therefore, when the second base 32 further moves from the 23rd position toward the negative direction of the Y axis, that is, when the second base 32 moves from the 23rd position toward the 22nd position, the second base 32 pushes the third base 33 toward the negative direction of the Y axis. Furthermore, when the position of the second base 32 is the 23rd position, the straight line L2 overlaps with the straight line L3. This is because the second base 32 has moved the distance X3 from the 21st position to the 23rd position. As a result, in this case, the second molded product M21, the second molded product M22, the third molded product M31, and the third molded product M32 are each located on the straight line L2 and the straight line L3.

[0081] When the second base 32 moves from the 21st position to the 23rd position and then from the 23rd position to the 24th position, the arrangement of the 12 molded products M shown in Figs. 11 and 12 becomes the arrangement shown in Figs. 13 and 14. Fig. 13 is a top view showing an example of the arrangement mechanism 30 when the position of the second base 32 is the 24th position. Fig. 14 is a perspective view of the arrangement mechanism 30 shown in Fig. 13. In the arrangement mechanism 30, as shown in Figs. 13 and 14, when the position of the second base 32 is the 24th position, the second base 32 remains in contact with each of the third placement portion H31 and the third placement portion H32. Therefore, in this case, the straight line L2 remains overlapped with the straight line L3. That is, in this case, the second molded product M21, the second molded product M22, the third molded product M31, and the third molded product M32 are located on the straight line L2 and the straight line L3, respectively. In addition, in this case, the second base 32 is newly in contact with the fourth mounting portion H41 and the fourth mounting portion H42, respectively. Therefore, when the second base 32 moves further from the 24th position toward the negative direction of the Y axis, that is, when the second base 32 moves from the 24th position toward the 22nd position, the second base 32 pushes the third base 33 and the fourth base 34 toward the negative direction of the Y axis, respectively. In addition, when the position of the second base 32 is the 24th position, the straight line L5 overlaps with the straight line L6. This is because the second base 32 moves a distance X2 from the 21st position to the 24th position. As a result, in this case, the second molded product M23, the second molded product M24, the fourth molded product M41, and the fourth molded product M42 are located on the straight lines L5 and L6, respectively.

[0082] Then, when the second base 32 moves from the 23rd position to the 24th position and then moves from the 24th position to the 21st position, the arrangement of the 12 molded products M shown in FIGS. 13 and 14 becomes the arrangement shown in FIGS. 15 and 16. FIG. 15 is a top view showing an example of the arrangement mechanism 30 when the position of the second base 32 is the 22nd position. FIG. 16 is a perspective view of the arrangement mechanism 30 shown in FIG. 15. In the arrangement mechanism 30, as shown in FIGS. 15 and 16, even when the position of the second base 32 is the 22nd position, the second base 32 remains in contact with each of the third placement portion H31 and the third placement portion H32. In this case, the first base 31 is in contact with each of the third placement portion H31, the third placement portion H32, the fourth placement portion H41, and the fourth placement portion H42 so as to be sandwiched between the first base 31 and the second base 32. As a result, the arrangement mechanism 30 can suppress the second base 32 from moving further in the negative direction of the Y axis than the 22nd position. In this case, the straight lines L2 and L3 overlap with the straight line L1. In this case, the straight lines L5 and L6 overlap with the straight line L4. This is because the second base 32 moves a distance X3 from the 24th position to the 22nd position. As a result, in this case, the first molded product M11, the first molded product M12, the second molded product M21, the second molded product M22, the third molded product M31, and the third molded product M32 are each located on the straight line L1. In this case, the first molded product M13, the first molded product M14, the second molded product M23, the second molded product M24, the fourth molded product M41, and the fourth molded product M42 are each located on the straight line L4. That is, in this case, the arrangement of the twelve molded products M on the arrangement mechanism 30 is a two-linear arrangement.

[0083] As described above, when the four bases include the first base 31 and the second base 32 in which a gap is formed as shown in Figs. 6 to 8, the arrangement mechanism 30 can change the arrangement of the twelve molded products M from a circular arrangement to a two-line arrangement. That is, the arrangement mechanism 30 can change the arrangement of the multiple molded products M in accordance with the relative movement of the second base 32 with respect to the first base 31. In addition, in the arrangement mechanism 30, the roles of the first base 31, the second base 32, the third base 33, and the fourth base 34 may be interchanged in any manner. For example, in the arrangement mechanism 30, the second base 32 may be fixed to the frame BS, the first base 31 may move relative to the second base 32, and the third base 33 and the fourth base 34 may move in accordance with the movement of the first base 31.

[0084] <Specific example 1 of a method for moving a second base relative to a first base in a placement mechanism> A first specific example of a method for relatively moving the second base 32 with respect to the first base 31 in the arrangement mechanism 30 will be described below.

[0085] For example, the positioning mechanism 30 may be configured to include an air cylinder and change the relative position of the first base 31 with respect to the second base 32 between position 21 and position 22 by balancing the air pressure in the air cylinder and atmospheric pressure.

[0086] <Specific example 2 of a method for relatively moving a second base with respect to a first base in a placement mechanism> Hereinafter, a specific example 2 of a method for relatively moving the second base 32 with respect to the first base 31 in the arrangement mechanism 30 will be described.

[0087] For example, the arrangement mechanism 30 may be configured to include a moving unit 35 that moves the second base 32 relatively to the first base 31, as shown in Fig. 17. Fig. 17 is a diagram showing an example of the arrangement mechanism 30 including the moving unit 35.

[0088] The moving unit 35 includes, for example, a motor MT and a pinion G provided on the rotation shaft of the motor MT.

[0089] The motor MT may be any motor as long as the rotation angle, rotation speed, etc. can be controlled by the above-mentioned control device.

[0090] The pinion G is a pinion of a rack and pinion. When the moving unit 35 moves the second base 32, a gear functioning as a rack of the rack and pinion is formed on a surface of the second base 32 that comes into contact with the pinion G. In other words, the pinion G meshes with the gear.

[0091] The moving unit 35 configured as above moves the second base 32 parallel to the Y axis by rotating the pinion G by the motor MT. Note that the moving unit 35 may instead have another configuration capable of moving the second base 32 relatively to the first base 31.

[0092] <Specific example 3 of a method for relatively moving a second base with respect to a first base in a placement mechanism> Hereinafter, a specific example 3 of a method for relatively moving the second base 32 with respect to the first base 31 in the arrangement mechanism 30 will be described.

[0093] For example, the placement mechanism 30 may be configured to move the second base 32 relative to the first base 31 in response to movement of the housing of the placement mechanism 30 by a single-axis robot 36 that moves the housing between a first delivery position and a second delivery position. Note that the single-axis robot 36 may be a component included in the placement mechanism 30 or a component included in the injection molding system 1.

[0094] Fig. 18 is a diagram showing an example of a placement mechanism 30 provided on a single-axis robot 36 so as to be movable parallel to the Y axis. In the example shown in Fig. 18, a plate-shaped wall member W is provided on the single-axis robot 36 in addition to the placement mechanism 30 provided so as to be movable parallel to the Y axis.

[0095] The wall member W is provided on the single-axis robot 36 on the positive side of the Y axis relative to the placement mechanism 30. More specifically, the wall member W is provided so that the second base 32 of the placement mechanism 30 comes into contact with the wall member W when the placement mechanism 30 moves from the first transfer position to a position distant by a distance X1 from the second transfer position toward the first transfer position. Therefore, when the placement mechanism 30 is moved from that position to the second transfer position by the single-axis robot 36 in the positive direction of the Y axis, the second base 32 is pushed by the wall member W and moves from the 21st position to the 22nd position. This allows the single-axis robot 36 to move the second base 32 relatively to the first base 31. FIG. 19 is a diagram showing an example of the placement mechanism 30 immediately after the wall member W comes into contact with the second base 32. That is, when the single-axis robot 36 shown in FIG. 19 moves the placement mechanism 30 toward the second delivery position, the position of the second base 32 moves from the 21st position to the 22nd position.

[0096] Any method may be used for the single-axis robot 36 to move the second base 32 from the 22nd position to the 21st position in response to the movement of the placement mechanism 30 by the single-axis robot 36. For example, the single-axis robot 36 may be configured to include a second wall member at a position opposite to the wall member W and the placement mechanism 30. The method for moving the second base 32 relative to the first base 31 by the second wall member is the same as the method for moving the second base 32 relative to the first base 31 by the wall member W. For this reason, the method for moving the second base 32 relative to the first base 31 by the second wall member will not be described. In addition, the second wall member is omitted in Figs. 18 and 19 to prevent the drawings from becoming complicated. Further, the above-described attraction of the molded product M by air may be achieved by attraction by magnetic force or the like. Furthermore, the arrangement mechanism 30 described above may be configured to change the relative positions of the four bases using the shapes of the four bases in response to the movement of the second base 32 relative to the first base 31, but may also be configured to move the relative positions of the four bases using an actuator that moves the second base 32 relative to the first base 31 and multiple gears with different diameters that transmit the driving force of the actuator. In this case as well, the arrangement mechanism 30 can change the arrangement of the multiple molded products M with a simple structure. Furthermore, the change in arrangement by the arrangement mechanism 30 described above becomes more effective as the number of molded products M placed on the arrangement mechanism 30 increases. For example, as described above, even when changing the arrangement of 10 or more molded products M, the arrangement mechanism 30 can change the arrangement of the multiple molded products M with a simple structure.

[0097] <Modification of injection molding system> The change in the arrangement of the twelve molded products M by the arrangement mechanism 30 may be performed by the first robot 20. In this case, the first robot 20 has at least a part of the configuration of the arrangement mechanism 30 described above. Also, in this case, the first placement unit H1, the second placement unit H2, the third placement unit H3, and the fourth placement unit H4 each hold the molded product M as an end effector of the first robot 20. Also, in this case, the first robot 20 includes a base moving unit that moves the second base 32 relatively to the first base 31. Also, the change in the arrangement of the twelve molded products M by the arrangement mechanism 30 may be performed by the second robot 40. In this case, the second robot 40 has at least a part of the configuration of the arrangement mechanism 30 described above. Also, in this case, the first placement unit H1, the second placement unit H2, the third placement unit H3, and the fourth placement unit H4 each hold the molded product M as an end effector E. Also in this case, the second robot 40 includes a base moving unit that moves the second base 32 relatively to the first base 31.

[0098] As described above, the injection molding system 1 can change the arrangement of the multiple molded products M with a simple structure.

[0099] The above-described contents may be combined in any manner.

[0100] <Additional Notes> [1] An arrangement mechanism that changes the arrangement of three or more molded products, comprising: a first base that is fixed so as not to move with respect to a stand, and on which one or more first molded products including an eleventh molded product are placed; a second base that is provided so as to be movable relative to the first base, and on which one or more second molded products including a twenty-first molded product are placed; and a third base that is provided so as to be movable in response to the movement of the second base, and on which one or more third molded products including a thirty-first molded product are placed, and the arrangement mechanism changes the arrangement of multiple molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product in response to the relative movement of the second base with respect to the first base. [2] The 11th molded product is located on a virtual first line, and a relative position of the second base with respect to the first base changes between a first position and a second position, and when the relative position of the second base with respect to the first base is the first position, the 21st molded product and the 31st molded product are not lined up on the first line, and when the relative position of the second base with respect to the first base is the second position, the 21st molded product and the 31st molded product are lined up on the first line, and a movement distance of the 21st molded product in response to a change in the relative position of the second base with respect to the first base from the first position to the second position is different from a movement distance of the 31st molded product in response to the change. [3] The first base is provided with an 11th mounting portion on which the 11th molded product is placed, the second base is provided with a 21st mounting portion on which the 21st molded product is placed, and the third base is provided with a 31st mounting portion on which the 31st molded product is placed. The arrangement mechanism described in [2]. [4] The first base is provided on the second base, and an 11th gap through which the 21st mounting portion passes is formed in the first base, and the second base is provided on the third base, and a 21st gap through which the 31st mounting portion passes is formed in the second base. The arrangement mechanism described in [3]. [5] [4] The arrangement mechanism described in, when the relative position of the second base with respect to the first base is the first position, the 21st molded product and the 31st molded product are not aligned on the first straight line, and when the relative position of the second base with respect to the first base is the second position, the 21st molded product and the 31st molded product are aligned on the first straight line, and when the second base moves between the first position and the second position, it contacts the 31st mounting portion at a third position between the first position and the second position. [6] The press machine further includes a fourth base that is movable in response to the movement of the second base and on which one or more fourth molded products including a 41st molded product are placed, and the first base has four first molded products, i.e., the 11th molded product, the 12th molded product, the 13th molded product, and the 14th molded product, placed thereon, the second base has four second molded products, i.e., the 21st molded product, the 22nd molded product, the 23rd molded product, and the 24th molded product, placed thereon, the third base has two third molded products, i.e., the 31st molded product and the 32nd molded product, placed thereon, and the fourth base has two third molded products, i.e., the 41st molded product and the 4th molded product. The arrangement mechanism described in any one of [1] to [5], wherein two of the fourth molded products out of two molded products are placed on the second base, and the arrangement mechanism arranges the 11th molded product, the 12th molded product, the 21st molded product, the 22nd molded product, the 31st molded product, and the 32nd molded product on an imaginary first line, and arranges the 13th molded product, the 14th molded product, the 23rd molded product, the 24th molded product, the 41st molded product, and the 42nd molded product on a second line parallel to the first line, in accordance with the relative movement of the second base with respect to the first base. [7] The relative position of the second base with respect to the first base changes between a first position and a second position, the 11th molded product and the 12th molded product are located on the first straight line, and the 13th molded product and the 14th molded product are located on the second straight line, and when the relative position of the second base with respect to the first base is the first position, the 11th molded product, the 12th molded product, the 13th molded product, the 14th molded product, the 21st molded product, the 22nd molded product, the 23rd molded product, the 24th molded product, the 31st molded product, the 32nd molded product, The 41st molded product and the 42nd molded product are each arranged on a predetermined virtual circumference with respect to the first base, and when the relative position of the second base with respect to the first base is the second position, the 11th molded product, the 12th molded product, the 21st molded product, the 22nd molded product, the 31st molded product, and the 32nd molded product are arranged on the first straight line, and the 13th molded product, the 14th molded product, the 23rd molded product, the 24th molded product, the 41st molded product, and the 42nd molded product are arranged on the second straight line. [6] An arrangement mechanism as described in. [8] A robot for transporting three or more molded products, comprising an end effector, the end effector having a first base that is fixed so as not to move with respect to a frame and on which one or more first molded products including an eleventh molded product are placed, a second base that is provided so as to be movable relative to the first base and on which one or more second molded products including a twenty-first molded product are placed, and a third base that is provided so as to be movable in response to the movement of the second base and on which one or more third molded products including a thirty-first molded product are placed, the end effector changing the arrangement of the multiple molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product in response to the relative movement of the second base with respect to the first base. [9] [1] to [7]. An injection molding system comprising: an arrangement mechanism according to any one of the above [1] to [7]; an injection molding device that molds the three or more molded products by injection molding; and a robot that places the one or more first molded products among the three or more molded products molded by the injection molding device on the first base, places the one or more second molded products among the three or more molded products molded by the injection molding device on the second base, and places the one or more third molded products among the three or more molded products molded by the injection molding device on the third base.

[0101] Although an embodiment of the present disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and may be changed, substituted, deleted, etc. without departing from the gist of this disclosure. [Explanation of symbols]

[0102] 1. Injection molding system 10…Injection molding equipment 11...Cavity 12…Core 20…First robot 30…Arrangement mechanism 31…First Foundation 32…Second Foundation 33…The third foundation 34…The Fourth Foundation 35…Moving section 36...1-axis robot 40…Second robot 50…Sintering equipment BS: stand E...End effector G…Pinion H1, H11, H12, H13, H14...First placement section H2, H21, H22, H23, H24...Second placement section H3, H31, H32...Third placement section H4, H41, H42...Fourth placement section HL11, HL12, HL13…1st cavity HL21, HL22, HL23, HL24...Second cavity M…Molded product M1, M11, M12, M13, M14…First molded product M2, M21, M22, M23, M24…Second molded product M3, M31, M32…3rd molded product M4, M41, M42…4th molded product MT…モーター PT...パレット TC…Three-dimensional coordinate system W…Wall material

Claims

1. A placement mechanism for changing the placement of three or more molded products, A first base is fixed so as not to move relative to the stand and on which one or more first molded products including an eleventh molded product are placed; a second base provided so as to be movable relative to the first base and on which one or more second molded products including a 21st molded product are placed; a third base on which one or more third molded products including a 31st molded product are placed, the third base being movable in response to the movement of the second base; Equipped with changing the arrangement of a plurality of molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product in response to a relative movement of the second base with respect to the first base; Placement mechanism.

2. The eleventh molded product is located on a virtual first straight line, a position of the second base relative to the first base varies between a first position and a second position; When the relative position of the second base with respect to the first base is the first position, the 21st molded product and the 31st molded product are not aligned on the first straight line, When the relative position of the second base with respect to the first base is the second position, the 21st molded product and the 31st molded product are aligned on the first straight line, A movement distance of the 21st molded product in response to a change in the relative position of the second base with respect to the first base from the first position to the second position is different from a movement distance of the 31st molded product in response to the change. The arrangement of claim 1 .

3. The first base is provided with an eleventh mounting portion on which the eleventh molded product is mounted, The second base is provided with a 21st mounting portion on which the 21st molded product is mounted, The third base is provided with a 31st mounting portion on which the 31st molded product is mounted. The arrangement of claim 2 .

4. The first base is provided on the second base, The first base has an eleventh gap through which the twenty-first mounting portion passes, The second base is provided on the third base, The second base has a 21st gap through which the 31st mounting portion passes. The arrangement of claim 3.

5. When the relative position of the second base with respect to the first base is the first position, the 21st molded product and the 31st molded product are not aligned on the first straight line, When the relative position of the second base with respect to the first base is the second position, the 21st molded product and the 31st molded product are aligned on the first straight line, When the second base moves between the first position and the second position, the second base comes into contact with the third placement portion at a third position between the first position and the second position. The arrangement of claim 4.

6. Further comprising a fourth base on which one or more fourth molded products including a 41st molded product are placed, the fourth base being movable in response to the movement of the second base; The first base is provided with four first molded products, i.e., the 11th molded product, the 12th molded product, the 13th molded product, and the 14th molded product, The second base is provided with four second molded products, i.e., the 21st molded product, the 22nd molded product, the 23rd molded product, and the 24th molded product, Two third molded products, the 31st molded product and the 32nd molded product, are placed on the third base, Two fourth molded products, the 41st molded product and the 42nd molded product, are placed on the fourth base, The arrangement mechanism arranges the 11th molded product, the 12th molded product, the 21st molded product, the 22nd molded product, the 31st molded product, and the 32nd molded product on a virtual first straight line, and arranges the 13th molded product, the 14th molded product, the 23rd molded product, the 24th molded product, the 41st molded product, and the 42nd molded product on a second straight line parallel to the first straight line, in response to the relative movement of the second base with respect to the first base. The arrangement of claim 1 .

7. a position of the second base relative to the first base varies between a first position and a second position; The 11th molded product and the 12th molded product are located on the first straight line, The thirteenth molded product and the fourteenth molded product are located on the second straight line, When the relative position of the second base with respect to the first base is the first position, each of the 11th molded product, the 12th molded product, the 13th molded product, the 14th molded product, the 21st molded product, the 22nd molded product, the 23rd molded product, the 24th molded product, the 31st molded product, the 32nd molded product, the 41st molded product, and the 42nd molded product is disposed on a predetermined imaginary circumference with respect to the first base, When the relative position of the second base with respect to the first base is the second position, the 11th molded product, the 12th molded product, the 21st molded product, the 22nd molded product, the 31st molded product, and the 32nd molded product are arranged on the first straight line, and the 13th molded product, the 14th molded product, the 23rd molded product, the 24th molded product, the 41st molded product, and the 42nd molded product are arranged on the second straight line. The arrangement of claim 6.

8. A robot that transports three or more molded products, Equipped with an end effector, The end effector is A first base is fixed so as not to move relative to the stand and on which one or more first molded products including an eleventh molded product are placed; a second base provided so as to be movable relative to the first base and on which one or more second molded products including a 21st molded product are placed; a third base on which one or more third molded products including a 31st molded product are placed, the third base being movable in response to the movement of the second base; having The end effector changes the arrangement of a plurality of molded products including the eleventh molded product, the twenty-first molded product, and the thirty-first molded product in response to a relative movement of the second base with respect to the first base. robot.

9. An arrangement according to any one of claims 1 to 7; an injection molding device for molding the three or more molded products by injection molding; a robot that places one or more first molded products among the three or more molded products molded by the injection molding device on the first base, places one or more second molded products among the three or more molded products molded by the injection molding device on the second base, and places one or more third molded products among the three or more molded products molded by the injection molding device on the third base; An injection molding system comprising:

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