Robot, placement mechanism, and injection molding system

Abstract

To provide a robot capable of changing a distance between a plurality of moldings by a simple structure.SOLUTION: A robot that includes a first track body which is extended in a predetermined first direction, a base A on which a first sliding portion provided in a slidable manner to the first track body and a second sliding portion provided in a slidable manner to the first track body, a first holding portion provided on the first sliding portion for holding a first molded product, a second holding portion provided on a second sliding portion for holding a second molded product, and a base B, wherein on the base B, a groove for cam operating at least one of the first holding portion and second holding portion is formed, such that when a relative position of the base B to the base A is the position A, a distance between the first holding portion and second holding portion on the first track body is a first distance, and when the relative position of the base B to the base A is the position B, the distance between the first holding section and the second holding section on the first track body becomes a second distance shorter than the first distance.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present disclosure relates to a robot, a placement mechanism, and an injection molding machine. [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 machine using a molding material containing metal powder, at desired positions.

[0003] In this regard, a placement mechanism is known that can change the intervals between a plurality of placed molded products by using a cylindrical cam (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2004-039706 A Summary of the Invention [Problem to be solved by the invention]

[0005] The arrangement mechanism described in Patent Document 1 is large in size due to the use of a cylindrical cam, and furthermore, the structure is complicated because it requires control of the rotation angle, 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 problem, one embodiment of the present disclosure is a robot comprising: an A base having a first track extending in a predetermined first direction, a first sliding part slidably mounted on the first track, and a second sliding part slidably mounted on the first track; a first holding part provided on the first sliding part and holding a first molded product; a second holding part provided on the second sliding part and holding a second molded product; and a B base, wherein the B base has a groove formed therein for camming at least one of the first holding part and the second holding part such that when the relative position of the B base with respect to the A base is position A, a distance between the first holding part and the second holding part on the first track is a first distance, and when the relative position of the B base with respect to the A base is position B, a distance between the first holding part and the second holding part on the first track is a second distance shorter than the first distance.

[0007] In addition, in order to solve the above-mentioned problems, one embodiment of the present disclosure is an arrangement mechanism comprising: an A base having a first track body extending in a predetermined first direction, a first sliding part slidably mounted on the first track body, and a second sliding part slidably mounted on the first track body; a first mounting part provided on the first sliding part and on which a first molded product is mounted, a second mounting part provided on the second sliding part and on which a second molded product is mounted; and a B base, wherein the B base has a groove formed therein for camming at least one of the first mounting part and the second mounting part such that when the relative position of the B base with respect to the A base is at position A, a distance between the first mounting part and the second mounting part on the first track body is a first distance, and when the relative position of the B base with respect to the A base is at position B, a distance between the first mounting part and the second mounting part on the first track body is a second distance shorter than the first distance.

[0008] In addition, in order to solve the above-mentioned problems, one aspect of the present disclosure is an injection molding machine comprising the robot described above and an injection molding mechanism that molds two or more molded products including the first molded product and the second molded product by injection molding, and the robot palletizes each of the first molded product and the second molded product among the two or more molded products molded by the injection molding mechanism. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing an example of the configuration of an injection molding machine 1. [Diagram 2] FIG. 2 is a top view of the injection molding machine 1 shown in FIG. [Diagram 3] 2 is a top view showing an example of the configuration of the arrangement mechanism 30. FIG. [Figure 4] 4 is a side view of the arrangement mechanism 30 as viewed in the direction indicated by the arrow A1 in FIG. 3. FIG. [Diagram 5] 2 is a diagram showing an example of the configuration of a surface of a core 12 that faces a cavity 11. FIG. [Figure 6] 4 is a diagram showing the arrangement of eight molded products M placed on the arrangement mechanism 30 shown in FIG. 3. FIG. [Figure 7] 7 is a diagram showing the arrangement of the eight molded products M shown in FIG. 6 after the first base 31 approaches the second base 32 by the first base movement distance. [Figure 8] 4 is a top view showing an example of a state after the relative position of the first base 31 with respect to the second base 32 has changed to a second position in the arrangement mechanism 30 shown in FIG. 3. FIG. [Figure 9] 9 is a side view of the arrangement mechanism 30 as viewed in the direction indicated by the arrow A1 in FIG. 8. FIG. [Figure 10] 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. [Figure 11] 11 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 12] 13 is a diagram showing an example of the arrangement of six molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is in a first position. FIG. [Figure 13] 13 is a diagram showing the arrangement of the six molded products M shown in FIG. 12 after the first base 31 approaches the second base 32 by the second base movement distance. [Figure 14] 13 is a diagram showing an example of the arrangement of three molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is in a first position. FIG. [Figure 15] 15 is a diagram showing the arrangement of the three molded products M shown in FIG. 14 after the first base 31 approaches the second base 32 by a third base movement distance. [Figure 16] 2 is a perspective view showing an example of the configuration of an end effector E. FIG. [Figure 17] FIG. 17 is a front view of the end effector E shown in FIG. 16. [Figure 18] FIG. 17 is a bottom view of the end effector E shown in FIG. 16. [Figure 19] 11 is a diagram for explaining the reason why the interval L31 and the interval L32 are narrower than the interval L11. FIG. [Figure 20] 13 is a perspective view of the end effector E when the relative position of the Bth base B2 with respect to the Ath base B1 is at the Bth position. FIG. [Figure 21] FIG. 21 is a front view of the end effector E shown in FIG. 20. [Figure 22] FIG. 21 is a bottom view of the end effector E shown in FIG. 20. 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 machine> First, an outline of an injection molding machine according to an embodiment will be described.

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

[0013] Here, the arrangement mechanism places the multiple molded products molded by the injection molding mechanism and changes the arrangement of the placed multiple molded products to a predetermined arrangement. This allows the injection molding machine 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 machine 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 robot also holds the molded products after their placement has been changed by the placement mechanism, and changes the spacing between the held molded products. This also allows the injection molding machine to increase the number of molded products that can be placed on a pallet without complicating the structure of the pallet on which the molded products are placed in the sintering device, prior to the sintering of the molded products by the sintering device. As a result, the injection molding machine can suppress increases in the manufacturing costs of molded products. The functions of such a robot may be configured as those of the placement mechanism.

[0015] The configuration of the injection molding machine according to the embodiment and modified examples thereof will be described in detail below.

[0016] <Injection molding machine configuration> The configuration of the injection molding machine according to the embodiment will be described below by taking the injection molding machine 1 as an example.

[0017] Fig. 1 is a perspective view showing an example of the configuration of an injection molding machine 1. Fig. 2 is a top view of the injection molding machine 1 shown in Fig. 1. However, in Fig. 1 and Fig. 2, in order to clearly show the configuration of the injection molding machine 1, a part of a housing of the injection molding machine 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 machine 1.

[0018] 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.

[0019] The injection molding machine 1 is a device that molds a plurality of molded products by metal injection molding (MIM). More specifically, the injection molding machine 1 is a device 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 ease of explanation, each molded product molded by the injection molding mechanism 10 will be referred to as a molded product M.

[0020] The injection molding machine 1 includes, for example, an injection molding mechanism 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 machine 1. In addition to the first robot 20, the placement mechanism 30, the second robot 40, and the sintering device 50, the injection molding machine 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. Also, the injection molding machine 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 machine 1 from the outside. Also, the injection molding machine 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 machine 1 from the outside. Also, the injection molding machine 1 may be configured not to include the sintering device 50. In this case, the injection molding machine 1 is connected to another device having the function of the sintering device 50 from the outside.

[0021] The injection molding mechanism 10 molds a plurality of molded products M by MIM. The injection molding mechanism 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 machine 1 may be configured to include the supply device, or may not be configured to include the supply device.

[0022] The cavity 11 is a mold that is fixed so as not to move relative to the housing of the injection molding mechanism 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 is omitted.

[0023] 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.

[0024] 1 and 2, the injection molding mechanism 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 with respect to the housing of the injection molding mechanism 10, in a direction parallel to the Y axis, and connects the cavity 11 and the core 12. On the other hand, in this example, the injection molding mechanism 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 with respect to the housing of the injection molding mechanism 10, in a direction parallel to the Y axis, and separates the cavity 11 and the core 12.

[0025] The method by which the injection molding mechanism 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.

[0026] The first robot 20 is a robot that delivers a plurality of molded articles M molded by the injection molding mechanism 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.

[0027] 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.

[0028] The placement mechanism 30 includes two or more bases whose relative positions can be changed. The first robot 20 described above places each of the multiple molded products M in a distributed manner on each of the two or more bases. 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 two or more bases included in the placement mechanism 30. The placement mechanism 30 changes the relative positions of the two 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 thereon.

[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 an annular arrangement, may be a radial arrangement, or may be another arrangement. The annular arrangement is an arrangement in which the multiple molded products M are arranged in an annular shape. The radial arrangement is an arrangement in which the multiple molded products M are arranged in a radial shape. 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 mechanism 10 to the arrangement mechanism 30 without changing the arrangement of the multiple molded products M. In addition, in the following, as an example, a case where the molding arrangement is an annular arrangement will be described.

[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 two or more bases of the placement mechanism 30, the position when the placement mechanism 30 transfers 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 two 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, in the following, for convenience of explanation, the relative positions of the two or more bases when the placement mechanism 30 transfers the multiple molded products M to the second robot 40 is referred to as the second position. That is, when the relative positions of the two 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] When the molding arrangement is an annular arrangement, the arrangement mechanism 30 has a configuration as shown in FIG. 3 and FIG. 4, for example. FIG. 3 is a top view showing an example of the configuration of the arrangement mechanism 30. FIG. 4 is a side view of the arrangement mechanism 30 when viewed in the direction indicated by the arrow A1 shown in FIG. 3. In the following, as an example, a case where the number of the molded products M molded by the injection molding mechanism 10 is eight will be described. In this case, as described above, the injection molding mechanism 10 molds eight molded products M arranged in an annular shape as shown in FIG. 5. FIG. 5 is a diagram showing an example of the configuration of the surface of the core 12 facing the cavity 11. In the example shown in FIG. 5, the injection molding mechanism 10 molds eight molded products M arranged in an annular shape between the cavity 11 and the core 12. When the molding arrangement is an annular arrangement in this way, the injection pressure of the molding material into the space between the cavity 11 and the core 12 is equalized. As a result, the injection molding mechanism 10 can reduce individual differences in the dimensions, etc. of the molded product M caused by variations in injection pressure.

[0033] In the example shown in FIG. 3 and FIG. 4, the arrangement mechanism 30 includes two bases, a first base 31 and a second base 32, as the above-mentioned two or more bases. In the arrangement mechanism 30, the relative position of the first base 31 with respect to the second base 32 is changeable. The arrangement mechanism 30 may be capable of moving the second base 32 with respect to the first base 31, may be capable of moving the first base 31 with respect to the second base 32, or may be capable of moving both the first base 31 and the second base 32 with respect to each other. In the following, as an example, a case where the arrangement mechanism 30 is configured to be capable of moving the first base 31 with respect to the second base 32 will be described. In addition, in the following, as an example, a case where the first base 31 is capable of moving parallel to a direction perpendicular to both the direction indicated by the arrow A1 and the direction of gravity will be described.

[0034] The first base 31 is, for example, a base on which four of the eight molded products M molded by the injection molding mechanism 10 are placed as the first molded products M1. The upper surface of the first base 31 is provided with an A-th holding part H11, an A-th holding part H12, an A-th holding part H13, and an A-th holding part H14. In the following, for the sake of convenience, the A-th holding part H11, the A-th holding part H12, the A-th holding part H13, and the A-th holding part H14 will be collectively referred to as the A-th holding part H1 unless it is necessary to distinguish between them. Note that the first base 31 may have any configuration as long as it is a base capable of holding the four first molded products M1.

[0035] The A-th holding part H1 is a member that holds the first molded product M1 on the first base 31. An air suction port is formed in the A-th holding part H1 parallel to the Z axis. The A-th holding part H1 can hold the first molded product M1 placed directly above the suction port by sucking air through the suction port. Note that the first holding part HD1 may be configured to hold the first molded product M1 by another method instead of suctioning air.

[0036] For ease of explanation, the first molded product M1 held by the A-th holding part H11 will be referred to as the first molded product M11 below. For ease of explanation, the first molded product M1 held by the A-th holding part H12 will be referred to as the first molded product M12 below. For ease of explanation, the first molded product M1 held by the A-th holding part H13 will be referred to as the first molded product M13 below. For ease of explanation, the first molded product M1 held by the A-th holding part H14 will be referred to as the first molded product M14 below.

[0037] On the other hand, the second base 32 is a table on which the remaining four molded products M, excluding the four first molded products M1, out of the eight molded products M molded by the injection molding mechanism 10, are placed as second molded products M2. The upper surface of the second base 32 is provided with the B-th holding part H21, the B-th holding part H22, the B-th holding part H23, and the B-th holding part H24. In the following, for the sake of convenience, the B-th holding part H21, the B-th holding part H22, the B-th holding part H23, and the B-th holding part H24 will be collectively referred to as the B-th holding part H2 unless it is necessary to distinguish between them. Note that the second base 32 may have any configuration as long as it is a table capable of holding the four second molded products M2.

[0038] The B-holding section H2 is a member that holds the second molded product M2 on the second base 32. The B-holding section H2 has an air suction port formed parallel to the Z-axis. The B-holding section H2 can hold the second molded product M2 placed directly above the suction port by suctioning air through the suction port. The second holding section HD2 may be configured to hold the second molded product M2 by another method instead of suctioning air.

[0039] For ease of explanation, the second molded product M2 held by the B-th holding part H21 will be referred to as the second molded product M21 below. For ease of explanation, the second molded product M2 held by the B-th holding part H22 will be referred to as the second molded product M22 below. For ease of explanation, the second molded product M2 held by the B-th holding part H23 will be referred to as the second molded product M23 below. For ease of explanation, the second molded product M2 held by the B-th holding part H24 will be referred to as the second molded product M24 below.

[0040] Here, the top surfaces of the four A-th holding portions H1 and the top surfaces of the four B-th holding portions H2 are surfaces included in an imaginary plane parallel to both the X-axis and the Y-axis. That is, the top surfaces of the four A-th holding portions H1 and the top surfaces of the four B-th holding portions H2 are surfaces that have the same height in the direction of gravity, except for differences due to manufacturing errors, etc. Therefore, the eight molded products M placed on the arrangement mechanism 30 have the same height in the direction of gravity, except for differences due to manufacturing errors, etc.

[0041] 3, the relative position of the first base 31 with respect to the second base 32 is the first position described above. Therefore, in this example, the arrangement of the eight molded products M placed on the arrangement mechanism 30 is maintained as the arrangement at the time of molding, and is arranged in a circular ring shape. That is, in this example, when the relative position is the first position, the A-th holding part H1 is provided on the first base 31, and the B-th holding part H2 is provided on the second base 32 so that the arrangement of the eight molded products M is maintained as the arrangement at the time of molding.

[0042] Here, the four Ath holding portions H1 on the first base 31 and the four Bth holding portions H2 on the second base 32 are each arranged so as to satisfy the following six conditions 1 to 6 when the relative position of the first base 31 with respect to the second base 32 is in the first position.

[0043] (Condition 1) The first molded product M11 held by the A holding part H11 and the first molded product M12 held by the A holding part H12 are each positioned on a virtual first straight line L1 that is predetermined relative to the first base 31. (Condition 2) The second molded product M21 held by the B holding part H21 and the second molded product M22 held by the B holding part H22 are each located on a virtual second straight line L2 that is determined in advance relative to the second base 32. (Condition 3) The first molded product M13 held by the A holding part H13 and the first molded product M14 held by the A holding part H14 are each located on a virtual third straight line L3 that is predetermined relative to the first base 31. (Condition 4) The second molded product M23 held by the B holding part H23 and the second molded product M24 held by the B holding part H24 are each located on a virtual fourth straight line L4 that is determined in advance relative to the second base 32. (Condition 5) A first molded product M11, a first molded product M12, a first molded product M13, a first molded product M14, a second molded product M21, a second molded product M22, a second molded product M23, and a second molded product M24 are positioned on a predetermined circumference C. (Condition 6) Of the eight molded products M, namely, the first molded product M11, the first molded product M12, the first molded product M13, the first molded product M14, the second molded product M21, the second molded product M22, the second molded product M23, and the second molded product M24, the distance between two adjacent molded products M on the circumference C is the same.

[0044] Here, each of the first straight line L1 and the third straight line L3 is a straight line that is determined in advance for the first base 31 as a straight line that is perpendicular to both the direction in which the first base 31 can approach the second base 32 and the direction of gravity. Also, each of the second straight line L2 and the fourth straight line L4 is a straight line that is determined in advance for the second base 32 as a straight line that is perpendicular to both the direction in which the second base 32 can approach the first base 31 and the direction of gravity. In the example shown in FIG. 3, the direction in which the first base 31 can approach the second base 32 is the direction from the second base 32 to the first base 31, of the two directions perpendicular to the direction indicated by the arrow A1 in FIG. 3. Therefore, in this example, each of the first straight line L1, the second straight line L2, the third straight line L3, and the fourth straight line L4 is a straight line that is parallel to the direction indicated by the arrow A1. In this example, the first straight line L1, the second straight line L2, the third straight line L3, and the fourth straight line L4 are arranged in the order of the second straight line L2, the first straight line L1, the fourth straight line L4, and the third straight line L3 in the direction from the second straight line L2 to the first straight line L1.

[0045] Fig. 6 is a diagram showing the arrangement of eight molded products M placed on the arrangement mechanism 30 shown in Fig. 3. In order to clearly show the arrangement, Fig. 6 shows only the eight molded products M and a number of auxiliary lines, and omits other members, etc.

[0046] As shown in Fig. 6, when the relative position of the first base 31 with respect to the second base 32 is the first position, the eight molded products M are positioned on the circumference C such that the distance between two adjacent molded products M is the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the second molded product M23, the distance between the second molded product M23 and the first molded product M13, the distance between the first molded product M13 and the first molded product M14, the distance between the first molded product M14 and the second molded product M24, the distance between the second molded product M24 and the first molded product M12, the distance between the first molded product M12 and the second molded product M22, and the distance between the second molded product M22 and the second molded product M21 are the same. This means that the above conditions 5 and 6 are satisfied in the example shown in Fig. 3.

[0047] As shown in FIG. 6, when the relative position of the first base 31 with respect to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In this case, the second molded product M21 and the second molded product M22 are located on the second straight line L2. In this case, the first molded product M13 and the first molded product M14 are located on the third straight line L3. In this case, the second molded product M23 and the second molded product M24 are located on the fourth straight line L4. Here, when these eight molded products M are viewed from a direction perpendicular to each of the first straight line L1 to the fourth straight line L4 in FIG. 6, the second molded product M21 and the second molded product M22 are located between the first molded product M11 and the first molded product M12. In this case, the first molded product M13 and the first molded product M14 are located between the second molded product M23 and the second molded product M24. In this case, the first molded product M11 overlaps with the second molded product M23. In this case, the first molded product M12 overlaps with the second molded product M24. In this case, the second molded product M21 overlaps with the first molded product M13. In this case, the second molded product M22 overlaps with the first molded product M14. In addition, on the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in this order in the direction indicated by the arrow A1. Also, on the second straight line L2, the second molded product M21 and the second molded product M22 are lined up in the order of the second molded product M22 and the second molded product M21 in the direction indicated by the arrow A1. Also, on the third straight line L3, the first molded product M13 and the first molded product M14 are lined up in the order of the first molded product M14 and the first molded product M13 in the direction indicated by the arrow A1. Also, on the fourth straight line L4, the second molded product M23 and the second molded product M24 are lined up in the order of the second molded product M24 and the second molded product M23 in the direction indicated by the arrow A1. The distance between the first straight line L1 and the second straight line L2 is the same as the distance between the third straight line L3 and the fourth straight line L4, except for differences due to manufacturing errors, etc. In the following, for convenience of explanation, the distance between the first straight line L1 and the second straight line L2 will be referred to as the first base movement distance.

[0048] Here, when the first base 31 approaches the second base 32 by the first base movement distance, the first straight line L1 shown in FIG. 6 moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, the first molded product M11 and the first molded product M12 are located on the second straight line L2 together with the second molded product M21 and the second molded product M22. On the other hand, in this case, the third straight line L3 shown in FIG. 6 moves together with the first base 31. As a result, in this case, the third straight line L3 overlaps with the fourth straight line L4. That is, in this case, the first molded product M13 and the first molded product M14 are located on the fourth straight line L4 together with the second molded product M23 and the second molded product M24. That is, among the positions where the first base 31 can be located, the position where the first base 31 approaches the second base 32 by the first base movement distance is an example of the above-mentioned second position. Fig. 7 is a diagram showing the arrangement of the eight molded products M shown in Fig. 6 after the arrangement has changed as the first base 31 approaches the second base 32 by the first base movement distance. As shown in Fig. 7, when the first base 31 approaches the second base 32 by the first base movement distance, that is, when the relative position of the first base 31 with respect to the second base 32 is the second position, the arrangement of the eight molded products M, which was annular in Fig. 6, changes to a two-line arrangement.

[0049] FIG. 8 is a top view showing an example of the state after the relative position of the first base 31 with respect to the second base 32 has been changed to the second position in the arrangement mechanism 30 shown in FIG. 3. FIG. 9 is a side view of the arrangement mechanism 30 when viewed in the direction indicated by the arrow A1 shown in FIG. 8. The relative position of the first base 31 with respect to the second base 32 shown in FIG. 8 is an example of the second position. As shown in FIGS. 8 and 9, the arrangement mechanism 30 can change the arrangement of the eight molded products M, which was a circular arrangement at the time of molding, to a two-line arrangement, which is an example of the changed arrangement, by moving the relative position of the first base 31 with respect to the second base 32 to the second position. That is, the arrangement mechanism 30 can change the arrangement of the eight molded products M with a simple structure of changing the relative distance between the two bases. As a result, the injection molding machine 1 can increase the number of molded products M that can be placed on a pallet, for example. Here, the multiple molded products M arranged in two linear arrangements enable palletizing to a pallet with a simple structure as shown in FIG. 10. FIG. 10 is a diagram showing an example of a pallet PT in which multiple linear grooves are formed for placing the molded products M. FIG. 11 is a diagram showing an example of a state in which the molded products M are placed in a groove SL among the multiple linear grooves formed in the pallet PT shown in FIG. 10. Here, in the injection molding machine 1, the pallet PT is made of ceramic, for example. This is because the multiple 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. For these reasons, 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 machine 1 can suppress an increase in the selling price of each molded product M by changing the arrangement of the multiple molded products M using the arrangement mechanism 30.

[0050] In addition, when the relative position of the first base 31 with respect to the second base 32 is the first position, the four A-th holding parts H1 on the first base 31 and the four B-th holding parts H2 on the second base 32 may be configured to satisfy other conditions instead of the six conditions 1 to 6 described above. For example, the four A-th holding parts H1 on the first base 31 and the four B-th holding parts H2 on the second base 32 may be configured to satisfy the four conditions 1 to 4 described above. Also, for example, the four A-th holding parts H1 on the first base 31 and the four B-th holding parts H2 on the second base 32 may be configured to satisfy one or more other conditions not included in the six conditions 1 to 6 described above.

[0051] Further, the arrangement mechanism 30 described above has a configuration in which four first molded products M1 are placed on the first base 31 and four second molded products M2 are placed on the second base 32. However, instead of this, three first molded products M1 may be placed on the first base 31 and three second molded products M2 may be placed on the second base 32. In this case, when the relative position of the first base 31 with respect to the second base 32 is the first position, three A-th holding parts H1 are provided on the first base 31 and three B-th holding parts H2 are provided on the second base 32 so as to satisfy the following six conditions 7 to 12. Note that, hereinafter, as an example, a case will be described in which the three A-th holding parts H1 provided on the first base 31 are the A-th holding part H11, the A-th holding part H12, and the A-th holding part H13. In the following, as an example, a case will be described in which the three B-th holding parts H2 provided on the second base 32 are a B-th holding part H21, a B-th holding part H22, and a B-th holding part H23.

[0052] (Condition 7) The first molded product M11 held by the A holding part H11 and the first molded product M12 held by the A holding part H12 are each located on a virtual first straight line L1 that is predetermined relative to the first base 31. (Condition 8) The second molded product M21 held by the B holding part H21 is positioned relative to the second base 32 on a virtual second straight line L2 that is determined in advance. (Condition 9) The first molded product M13 held by the A-th holding part H13 is positioned relative to the first base 31 on a virtual third straight line L3 that is determined in advance. (Condition 10) The second molded product M22 held by the B holding part H22 and the second molded product M23 held by the B holding part H23 are each located on a virtual fourth straight line L4 that is predetermined relative to the second base 32. (Condition 11) The first molded product M11, the first molded product M12, the first molded product M13, the second molded product M21, the second molded product M22, and the second molded product M23 are positioned on a predetermined circumference C. (Condition 12) Of the six molded products M, namely, the first molded product M11, the first molded product M12, the first molded product M13, the second molded product M21, the second molded product M22, and the second molded product M23, the distance between two adjacent molded products M on the circumference C is the same.

[0053] Fig. 12 is a diagram showing an example of the arrangement of six molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is the first position. In order to clearly show the arrangement, Fig. 12 shows only the six molded products M and a plurality of auxiliary lines, and omits other members, etc.

[0054] As shown in Fig. 12, when the relative position of the first base 31 with respect to the second base 32 is the first position, the six molded products M are positioned on a circumference C such that the distance between two adjacent molded products M is the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the second molded product M22, the distance between the second molded product M22 and the first molded product M13, the distance between the first molded product M13 and the second molded product M23, the distance between the second molded product M23 and the first molded product M12, and the distance between the first molded product M12 and the second molded product M21 are the same. This means that the above conditions 11 and 12 are satisfied.

[0055] Also, as shown in FIG. 12, when the relative position of the first base 31 with respect to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In this case, the second molded product M21 is located on the second straight line L2. In this case, the first molded product M13 is located on the third straight line L3. In this case, the second molded product M22 and the second molded product M23 are located on the fourth straight line L4. Here, when these six molded products M are viewed from a direction perpendicular to each of the first straight line L1 to the fourth straight line L4 in FIG. 12, the second molded product M21 is located between the first molded product M11 and the first molded product M12. In this case, the first molded product M13 is located between the second molded product M22 and the second molded product M23. In this case, the first molded product M11 overlaps with the second molded product M22. In this case, the first molded product M12 overlaps with the second molded product M23. In this case, the second molded product M21 overlaps with the first molded product M13. On the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in the order of the first molded product M12 and the first molded product M11 in the direction indicated by the arrow A1. On the fourth straight line L4, the second molded product M22 and the second molded product M23 are arranged in the order of the second molded product M23 and the second molded product M22 in the direction indicated by the arrow A1. The distance between the first straight line L1 and the second straight line L2 is the same as the distance between the third straight line L3 and the fourth straight line L4, except for differences due to manufacturing errors, etc. In the following, for convenience of explanation, the distance between the first straight line L1 and the second straight line L2 will be referred to as the second base movement distance.

[0056] Here, when the first base 31 approaches the second base 32 by the second base movement distance, the first straight line L1 shown in FIG. 12 moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, the first molded product M11 and the first molded product M12 are each located on the second straight line L2 together with the second molded product M21. On the other hand, in this case, the third straight line L3 shown in FIG. 12 moves together with the first base 31. As a result, in this case, the third straight line L3 overlaps with the fourth straight line L4. That is, in this case, the first molded product M13 is located on the fourth straight line L4 together with the second molded product M22 and the second molded product M23. That is, among the positions where the first base 31 can be located, the position where the first base 31 approaches the second base 32 by the second base movement distance is an example of the second position described above. Fig. 13 is a diagram showing an arrangement of the six molded products M shown in Fig. 12 after the arrangement has changed as a result of the first base 31 approaching the second base 32 by the second base movement distance. As shown in Fig. 13, when the first base 31 approaches the second base 32 by the second base movement distance, that is, when the relative position of the first base 31 with respect to the second base 32 is at the second position, the arrangement of the six molded products M, which was annular in Fig. 12, changes to a two-line arrangement.

[0057] Further, the arrangement mechanism 30 described above has a configuration in which three first molded products M1 are placed on the first base 31 and three second molded products M2 are placed on the second base 32. However, instead of this, two first molded products M1 may be placed on the first base 31 and one second molded product M2 may be placed on the second base 32. In this case, when the relative position of the first base 31 with respect to the second base 32 is the first position, two A-th holding parts H1 are provided on the first base 31 and one B-th holding part H2 is provided on the second base 32 so as to satisfy the following four conditions 13 to 16. Note that, hereinafter, as an example, a case will be described in which the two A-th holding parts H1 provided on the first base 31 are the A-th holding part H11 and the A-th holding part H12. In the following, as an example, a case will be described in which one B-th holding part H2 provided on the second base 32 is a B-th holding part H21.

[0058] (Condition 13) The first molded product M11 held by the A holding part H11 and the first molded product M12 held by the A holding part H12 are each located on a virtual first straight line L1 that is predetermined relative to the first base 31. (Condition 14) The second molded product M21 held by the B holding part H21 is positioned relative to the second base 32 on a virtual second straight line L2 that is determined in advance. (Condition 15) The first molded product M11, the first molded product M12, and the second molded product M21 are located on a predetermined circumference C. (Condition 16) Of the three molded products M, the first molded product M11, the first molded product M12, and the second molded product M21, the distance between two adjacent molded products M on the circumference C is the same.

[0059] Fig. 14 is a diagram showing an example of the arrangement of three molded products M placed on the arrangement mechanism 30 when the relative position of the first base 31 with respect to the second base 32 is the first position. In order to clearly show the arrangement, Fig. 14 shows only the three molded products M and a plurality of auxiliary lines, and omits other members, etc.

[0060] 14, when the relative position of the first base 31 with respect to the second base 32 is the first position, the three molded products M are positioned on a circumference C such that the distance between any two adjacent molded products M is the same. That is, on the circumference C, the distance between the second molded product M21 and the first molded product M11, the distance between the first molded product M11 and the first molded product M12, and the distance between the first molded product M12 and the second molded product M21 are the same. This means that the above conditions 15 and 16 are satisfied.

[0061] Also, as shown in FIG. 14, when the relative position of the first base 31 with respect to the second base 32 is the first position, the first molded product M11 and the first molded product M12 are located on the first straight line L1. In this case, the second molded product M21 is located on the second straight line L2. Here, when these three molded products M are viewed from a direction perpendicular to each of the first straight line L1 and the second straight line L2 in FIG. 14, the second molded product M21 is located between the first molded product M11 and the first molded product M12. Also, on the first straight line L1, the first molded product M11 and the first molded product M12 are arranged in the order of the first molded product M12 and the first molded product M11 toward the direction indicated by the arrow A1. In the following, for convenience of explanation, the distance between the first straight line L1 and the second straight line L2 will be referred to as the third base movement distance.

[0062] Here, when the first base 31 approaches the second base 32 by the third base movement distance, the first straight line L1 shown in FIG. 14 moves together with the first base 31. As a result, in this case, the first straight line L1 overlaps with the second straight line L2. That is, in this case, each of the first molded product M11 and the first molded product M12 is located on the second straight line L2 together with the second molded product M21. That is, among the positions at which the first base 31 can be located, the position at which the first base 31 approaches the second base 32 by the third base movement distance is an example of the above-mentioned second position. FIG. 15 is a diagram showing the arrangement of the three molded products M shown in FIG. 14 after the arrangement has changed as the first base 31 approaches the second base 32 by the third base movement distance. As shown in Fig. 15, when the first base 31 approaches the second base 32 by the third base movement distance, that is, when the relative position of the first base 31 with respect to the second base 32 is at the second position, the arrangement of the three molded products M, which was annular in Fig. 14, changes to the above-mentioned linear arrangement. In this case, too, the injection molding machine 1 can increase, for example, the number of molded products M that can be placed on a pallet PT. Also in this case, too, the injection molding machine 1 can simplify the structure of the pallet PT, and as a result, can suppress an increase in the selling price of each molded product M.

[0063] The arrangement mechanism 30 described above may be configured to place three or more molded products M and change the arrangement of the three or more molded products M. For example, the number of molded products M placed on the arrangement mechanism 30 may be four, five, nine, eleven, etc. However, when the number of molded products M placed on the arrangement mechanism 30 is five, nine, or eleven, the number of molded products M placed on the first base 31 is different from the number of molded products M placed on the second base 32, as shown in Figs. 14 and 15. Here, when nine or more molded products M are placed on the arrangement mechanism 30, the arrangement mechanism 30 includes three or more bases including the first base 31 and the second base 32 and one or more other bases. As a result, the arrangement mechanism 30 can change the arrangement of the nine or more molded products M by changing the relative positions of the three or more bases. For example, the placement mechanism 30 can change the placement of an even number of molded products M, such as 10, 12, 14 or more, by changing the relative positions of the three or more bases. However, in the injection molding industry, the practical number of molded products M to be placed on the placement mechanism 30 is about eight. This is because when molding more than eight molded products M, the structure of the injection molding mechanism 10 becomes too complicated.

[0064] Here, the placement mechanism 30 further includes a first base moving unit 33 that changes the relative positions of the two bases, the first base 31 and the second base 32. The placement mechanism 30 also includes a housing (not shown) in which the first base 31, the second base 32, and the first base moving unit 33 are provided. The placement mechanism 30 may also be configured to include other members, other devices, and the like in addition to the first base 31, the second base 32, the first base moving unit 33, and the housing of the placement mechanism 30.

[0065] In this example, the second base 32 is fixed to the housing of the arrangement mechanism 30, and the first base 31 is movable relative to the second base 32 fixed to the housing of the arrangement mechanism 30. Therefore, the first base moving unit 33 changes the relative positions of the two bases, the first base 31 and the second base 32, by moving the first base 31. Note that the first base moving unit 33 may be configured to change the relative positions of the two bases, the first base 31 and the second base 32, by moving the second base 32. Also, the first base moving unit 33 may be configured to change the relative positions of the two bases, the first base 31 and the second base 32, by moving both the first base 31 and the second base 32.

[0066] More specifically, the first base moving unit 33 moves the first base 31 to change the relative position of the first base 31 with respect to the second base 32 between a first position and a second position. The first base moving unit 33 changes the relative position of the first base 31 with respect to the second base 32 between the first position and the second position, for example, by a balance between the air pressure in an air cylinder and the atmospheric pressure. Note that the first base moving unit 33 may have another configuration as long as it is capable of changing the relative position of the first base 31 with respect to the second base 32 between the first position and the second position.

[0067] Furthermore, the housing of the placement mechanism 30 is movable between a predetermined first transfer position and a predetermined second 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 as a position to which 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 as a position to which the eight molded products M are held by the second robot 40. In the example shown in Figs. 1 and 2, the housing of the placement mechanism 30 is movable parallel to the Y axis.

[0068] The change in the arrangement of the eight 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 A-th holding unit H1 and the B-th holding unit H2 hold the molded products M as the first end effector and the second end effector, respectively. Also, in this case, the first robot 20 includes an end effector moving unit that changes the relative positions of these two end effectors instead of the first base moving unit 33. Also, the change in the arrangement of the eight 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 A-th holding unit H1 and the B-th holding unit H2 hold the molded products M as the first end effector and the second end effector, respectively. Also in this case, the second robot 40 includes, instead of the first base moving unit 33, an end effector moving unit that changes the relative positions of these two end effectors.

[0069] 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.

[0070] 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 passes through the tip of the second arm parallel to the direction of gravity, and an end effector E provided at the tip of the shaft.

[0071] Here, FIG. 16 is a perspective view showing an example of the configuration of the end effector E. FIG. 17 is a front view of the end effector E shown in FIG. 16. FIG. 18 is a bottom view of the end effector E shown in FIG. 16. In FIG. 16 to FIG. 18, three mutually orthogonal directions, that is, a first direction, a second direction, and a third direction, are indicated by arrows. In FIG. 16 to FIG. 18, the first direction is the direction indicated by the arrow A2. In FIG. 16 to FIG. 18, the second direction is the direction indicated by the arrow A3. In FIG. 16 to FIG. 18, the third direction is the direction indicated by the arrow A4. That is, FIG. 17 is a view of the end effector E when viewed in the direction opposite to the second direction. In FIG. 18, the end effector E is a view when viewed in the third direction.

[0072] The end effector E includes an A-th base B1, a first holding part HD1, a second holding part HD2, a third holding part HD3, a fourth holding part HD4, a B-th base B2, and an A-th base moving part MT.

[0073] The A-th base B1 is attached to the tip of the manipulator. The A-th base B1 is a member provided with a first track body OB, a first sliding part SL1, a second sliding part SL2, a third sliding part SL3, and a fourth sliding part SL4.

[0074] The first track body OB is a member extending in a predetermined direction. In Fig. 16 to Fig. 18, the first track body OB extends in the first direction. The first track body OB is, for example, a rail extending in the first direction, but may be another member extending in the first direction instead.

[0075] The first sliding part SL1, the second sliding part SL2, the third sliding part SL3, and the fourth sliding part SL4 are members that are slidably provided on the first track body OB. In the example shown in Fig. 16 and Fig. 17, the first sliding part SL1, the second sliding part SL2, the third sliding part SL3, and the fourth sliding part SL4 are arranged on the first track body OB in the order of the fourth sliding part SL4, the second sliding part SL2, the first sliding part SL1, and the third sliding part SL3 in the first direction.

[0076] The first sliding part SL1 is provided with a first holding part HD1 that holds the molded product M. That is, the first holding part HD1 provided on the first sliding part SL1 is movable on the first track body OB in parallel to the first direction.

[0077] The second sliding part SL2 is provided with a second holding part HD2 that holds the molded product M. That is, the second holding part HD2 provided on the second sliding part SL2 is movable on the first track body OB in parallel to the first direction.

[0078] The third sliding part SL3 is provided with a third holding part HD3 that holds the molded product M. That is, the third holding part HD3 provided on the third sliding part SL3 is movable on the first track body OB in parallel to the first direction.

[0079] The fourth sliding portion SL4 is provided with a fourth holding portion HD4 that holds the molded product M. That is, the fourth holding portion HD4 provided on the fourth sliding portion SL4 is movable on the first track body OB in parallel to the first direction.

[0080] The B base B2 is a flat plate-like member that supports the first to fourth holding parts HD1 to HD4 so that each of the first to fourth holding parts HD1 to HD4 protrudes in a predetermined direction. In the example shown in Figs. 16 to 18, the B base B2 supports the first to fourth holding parts HD1 to HD4 so that each of the first to fourth holding parts HD1 to HD4 protrudes in the second direction. In this case, the B base B2 is a flat plate-like member that is parallel to an imaginary plane stretched by the first and third directions. The B base B2 is provided on the A base B1 so as to be movable between a predetermined A position and a predetermined B position. The B base B2 is movable, for example, parallel to the third direction. The B base B2 may be configured to be movable parallel to an imaginary axis that is parallel to another direction. Here, in the following, as an example, a case will be described in which the position A is the position furthest in the third direction among the positions to which the B base B2 can move relative to the A base B1. Note that the position A may be, instead, another position among the positions to which the B base B2 can move relative to the A base B1. In the following, as an example, a case will be described in which the position B is the position furthest in the direction opposite to the third direction among the positions to which the B base B2 can move relative to the A base B1. Note that the position B may be, instead, another position among the positions to which the B base B2 can move relative to the A base B1. The positions of the B base B2 relative to the A base B1 shown in FIG. 16 to FIG. 18 are examples of the position A.

[0081] The B base B2 has a groove formed therein for guiding a cam follower, with at least one of the end of the first holding part HD1 on the B base B2 side and the end of the second holding part HD2 on the B base B2 side being used as a cam follower. More specifically, the B base B2 has a groove formed therein for camming at least one of the first holding part HD1 and the second holding part HD2 so that when the relative position of the B base B2 with respect to the A base B1 is the A position, the interval between the first holding part HD1 and the second holding part HD2 on the first track body OB becomes a first interval, and when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the first holding part HD1 and the second holding part HD2 on the first track body OB becomes a second interval shorter than the first interval. In the following, as an example, a case will be described in which a first groove G1 that guides the end of the first holding part HD1 on the B base B2 side as a cam follower and a second groove G2 that guides the end of the second holding part HD2 on the B base B2 side as a cam follower are formed in the B base B2. For convenience of explanation, the end of the first holding part HD1 on the B base B2 side will be referred to as a first insertion part CF1. This is because this end is the part that is inserted into the first groove G1 as a cam follower. For convenience of explanation, the end of the second holding part HD2 on the B base B2 side will be referred to as a second insertion part CF2. This is because this end is the part that is inserted into the second groove G2 as a cam follower.

[0082] The first groove G1 guides the first insertion portion CF1 in response to the movement of the Bth base B2 between position A and position B, thereby moving the first holding portion HD1 provided on the first sliding portion SL1 parallel to the first direction. Also, the first groove G1 moves the first holding portion HD1 closer to the second holding portion HD2 in response to the movement of the Bth base B2 from position A to position B. Also, the first groove G1 moves the first holding portion HD1 away from the second holding portion HD2 in response to the movement of the Bth base B2 from position B to position A.

[0083] The second groove G2 guides the second insertion portion CF2 in response to the movement of the B base B2 between position A and position B, thereby moving the second holding portion HD2 provided on the second sliding portion SL2 parallel to the first direction. Also, the second groove G2 moves the second holding portion HD2 closer to the first holding portion HD1 in response to the movement of the B base B2 from position A to position B. Also, the second groove G2 moves the second holding portion HD2 away from the first holding portion HD1 in response to the movement of the B base B2 from position B to position A.

[0084] Here, the shape of the first groove G1 when viewed in the direction opposite to the second direction and the shape of the second groove G2 when viewed in the direction opposite to the second direction are plane-symmetrical with respect to a virtual plane that passes through the midpoint between the first insertion portion CF1 and the second insertion portion CF2 and is perpendicular to the first direction. Note that the shape of the first groove G1 when viewed in the direction opposite to the second direction and the shape of the second groove G2 when viewed in the direction opposite to the second direction may not be plane-symmetrical with respect to the plane.

[0085] In addition, in Figs. 16 and 17, the first groove G1 and the second groove G2 are covered by other members and are almost invisible.

[0086] The first holding part HD1 is a member that holds the molded product M delivered from the placement mechanism 30. The first holding part HD1 supported by the B base B2 extends toward the second direction. A first tip part BC1 that holds the molded product M is provided at the tip of the first holding part HD1 on the second direction side. The first tip part BC1 holds the molded product M by, for example, suctioning air. Note that the first tip part BC1 may be configured to hold the molded product M by other methods. The first tip part BC1 is a member in which an air suction port is formed parallel to the second direction. In this embodiment, the position of the first holding part HD1 is represented by, for example, the position of the first tip part BC1, but is not limited to this.

[0087] The first holding portion HD1 is provided with a first position adjustment mechanism AJ1 that adjusts the relative position of the first tip portion BC1 with respect to the first holding portion HD1. In the example shown in FIG. 17, the first position adjustment mechanism AJ1 is a pin that is inserted into an elongated hole formed in the first tip portion BC1. Here, the elongated hole is an elongated hole that is long in the third direction. Therefore, the first position adjustment mechanism AJ1 in this example is a mechanism that adjusts the relative position of the first tip portion BC1 with respect to the first holding portion HD1 in the third direction. Note that the first position adjustment mechanism AJ1 may be a mechanism that adjusts the relative position of the first tip portion BC1 with respect to the first holding portion HD1 in one or more other directions. Also, the first position adjustment mechanism AJ1 may be another configuration that can adjust the relative position of the first tip portion BC1 with respect to the first holding portion HD1. Also, in this embodiment, the first holding portion HD1 is a member separate from the first tip portion BC1, but instead, it may be configured integrally with the first tip portion BC1. In this case, the first holding portion HD1 may not include the first position adjustment mechanism AJ1.

[0088] The second holding part HD2 is a member that holds the molded product M delivered from the placement mechanism 30. The second holding part HD2 supported by the B base B2 extends toward the second direction. A second tip part BC2 that holds the molded product M is provided at the tip of the second direction side of the second holding part HD2. The second tip part BC2 holds the molded product M by, for example, suctioning air. Note that the second tip part BC2 may be configured to hold the molded product M by other methods. The second tip part BC2 is a member in which an air suction port is formed parallel to the second direction. In this embodiment, the position of the second holding part HD2 is represented by, for example, the position of the second tip part BC2, but is not limited thereto.

[0089] The second holding portion HD2 is provided with a second position adjustment mechanism AJ2 that adjusts the relative position of the second tip portion BC2 with respect to the second holding portion HD2. In the example shown in FIG. 17, the second position adjustment mechanism AJ2 is a pin that is inserted into an elongated hole formed in the second tip portion BC2. Here, the elongated hole is an elongated hole that is long in the third direction. Therefore, the second position adjustment mechanism AJ2 in this example is a mechanism that adjusts the relative position of the second tip portion BC2 with respect to the second holding portion HD2 in the third direction. Note that the second position adjustment mechanism AJ2 may be a mechanism that adjusts the relative position of the second tip portion BC2 with respect to the second holding portion HD2 in one or more other directions. Also, the second position adjustment mechanism AJ2 may be another configuration that can adjust the relative position of the second tip portion BC2 with respect to the second holding portion HD2. Also, in this embodiment, the second holding portion HD2 is a member separate from the second tip portion BC2, but instead, it may be configured integrally with the second tip portion BC2. In this case, the second holding portion HD2 may not include the second position adjustment mechanism AJ2.

[0090] Here, the shape of the first holding portion HD1 and the shape of the second holding portion HD2 are plane-symmetrical with respect to a virtual plane that passes through the midpoint between the first insertion portion CF1 and the second insertion portion CF2 and is perpendicular to the first direction. In this embodiment, the shape of the first holding portion HD1 and the shape of the second holding portion HD2 are crank-shaped, but they may be other shapes instead. Also, the shape of the first holding portion HD1 and the shape of the second holding portion HD2 may not be plane-symmetrical with respect to the plane.

[0091] Also, as shown in FIG. 18, when the relative position of the B base B2 with respect to the A base B1 is the A position, the interval between the first tip BC1 and the second tip BC2 is narrower than the interval between the first insertion portion CF1 and the second insertion portion CF2. The shapes of the first groove G1 and the second groove G2 when viewed in the direction opposite to the second direction are determined as shapes such that the relationship between the width of these two intervals is maintained regardless of the relative position of the B base B2 with respect to the A base B1 from the A position to the B position. This allows the second robot 40 to have a cam structure with a margin even if the interval between the multiple molded products M held by it is narrowed. In FIG. 18, the interval between the first tip BC1 and the second tip BC2 is indicated by the interval L11. In FIG. 18, the interval between the first insertion portion CF1 and the second insertion portion CF2 is indicated by the interval L12.

[0092] Further, the B base B2 is formed with a groove for guiding a cam follower, using at least one of the end of the third holding part HD3 on the B base B2 side and the end of the fourth holding part HD4 on the B base B2 side as a cam follower. More specifically, the B base B2 is formed with a groove for camming at least one of the third holding part HD3 and the fourth holding part HD4 so that when the relative position of the B base B2 with respect to the A base B1 is the A position, the interval between the third holding part HD3 and the fourth holding part HD4 on the first track body OB becomes a third interval, and when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the third holding part HD3 and the fourth holding part HD4 on the first track body OB becomes a fourth interval shorter than the first interval. In the following, as an example, a case will be described in which the third groove G3 that guides the end of the third holding part HD3 on the B base B2 side as a cam follower and the fourth groove G4 that guides the end of the fourth holding part HD4 on the B base B2 side as a cam follower are formed in the B base B2. For convenience of explanation, the end of the third holding part HD3 on the B base B2 side will be referred to as the third insertion part CF3. This is because this end is the part that is inserted into the third groove G3 as a cam follower. For convenience of explanation, the end of the fourth holding part HD4 on the B base B2 side will be referred to as the fourth insertion part CF4. This is because this end is the part that is inserted into the fourth groove G4 as a cam follower.

[0093] The third groove G3 guides the third insertion portion CF3 in response to the movement of the Bth base B2 between position A and position B, thereby moving the third holding portion HD3 provided on the third sliding portion SL3 parallel to the first direction. Also, the third groove G3 moves the third holding portion HD3 closer to the fourth holding portion HD4 in response to the movement of the Bth base B2 from position A to position B. Also, the third groove G3 moves the third holding portion HD3 away from the fourth holding portion HD4 in response to the movement of the Bth base B2 from position B to position A.

[0094] The fourth groove G4 guides the fourth insertion portion CF4 in response to the movement of the Bth base B2 between position A and position B, thereby moving the fourth holding portion HD4 provided on the fourth sliding portion SL4 parallel to the first direction. Also, the fourth groove G4 moves the fourth holding portion HD4 closer to the third holding portion HD3 in response to the movement of the Bth base B2 from position A to position B. Also, the fourth groove G4 moves the fourth holding portion HD4 away from the third holding portion HD3 in response to the movement of the Bth base B2 from position B to position A.

[0095] Here, the shape of the third groove G3 when viewed in the direction opposite to the second direction and the shape of the fourth groove G4 when viewed in the direction opposite to the second direction are symmetrical with respect to a virtual plane that passes through the midpoint between the third insertion portion CF3 and the fourth insertion portion CF4 and is perpendicular to the first direction. Note that the shape of the third groove G3 when viewed in the direction opposite to the second direction and the shape of the fourth groove G4 when viewed in the direction opposite to the second direction may not be symmetrical with respect to the plane.

[0096] In addition, in Figs. 16 and 17, the third groove G3 and the fourth groove G4 are covered by other members and are almost invisible.

[0097] The third holding part HD3 is a member that holds the molded product M delivered from the placement mechanism 30. The third holding part HD3 supported by the B base B2 extends toward the second direction. A third tip part BC3 that holds the molded product M is provided at the tip of the third holding part HD3 on the second direction side. The third tip part BC3 holds the molded product M by, for example, suctioning air. Note that the third tip part BC3 may be configured to hold the molded product M by other methods. The third tip part BC3 is a member in which an air suction port is formed parallel to the second direction. In this embodiment, the position of the third holding part HD3 is represented by, for example, the position of the third tip part BC3, but is not limited thereto.

[0098] The third holding part HD3 is provided with a third position adjustment mechanism AJ3 that adjusts the relative position of the third tip part BC3 with respect to the third holding part HD3. In the example shown in FIG. 17, the third position adjustment mechanism AJ3 is a pin that is inserted into an elongated hole formed in the third tip part BC3. Here, the elongated hole is an elongated hole that is long in the third direction. Therefore, the third position adjustment mechanism AJ3 in this example is a mechanism that adjusts the relative position of the third tip part BC3 with respect to the third holding part HD3 in the third direction. Note that the third position adjustment mechanism AJ3 may be a mechanism that adjusts the relative position of the third tip part BC3 with respect to the third holding part HD3 in one or more other directions. Also, the third position adjustment mechanism AJ3 may be another configuration that can adjust the relative position of the third tip part BC3 with respect to the third holding part HD3. Also, in this embodiment, the third holding part HD3 is a member separate from the third tip part BC3, but instead, it may be configured integrally with the third tip part BC3. In this case, the third holding portion HD3 may not include the third position adjustment mechanism AJ3.

[0099] The fourth holding part HD4 is a member that holds the molded product M delivered from the placement mechanism 30. The fourth holding part HD4 supported by the B base B2 extends toward the second direction. A fourth tip part BC4 that holds the molded product M is provided at the tip of the fourth holding part HD4 on the second direction side. The fourth tip part BC4 holds the molded product M by, for example, suctioning air. Note that the fourth tip part BC4 may be configured to hold the molded product M by other methods. The fourth tip part BC4 is a member in which an air suction port is formed parallel to the second direction. In this embodiment, the position of the fourth holding part HD4 is represented by, for example, the position of the fourth tip part BC4, but is not limited thereto.

[0100] The fourth holding portion HD4 is provided with a fourth position adjustment mechanism AJ4 that adjusts the relative position of the fourth tip portion BC4 with respect to the fourth holding portion HD4. In the example shown in FIG. 17, the fourth position adjustment mechanism AJ4 is a pin that is inserted into an elongated hole formed in the fourth tip portion BC4. Here, the elongated hole is an elongated hole that is long in the third direction. Therefore, the fourth position adjustment mechanism AJ4 in this example is a mechanism that adjusts the relative position of the fourth tip portion BC4 with respect to the fourth holding portion HD4 in the third direction. Note that the fourth position adjustment mechanism AJ4 may be a mechanism that adjusts the relative position of the fourth tip portion BC4 with respect to the fourth holding portion HD4 in one or more other directions. Also, the fourth position adjustment mechanism AJ4 may be another configuration that can adjust the relative position of the fourth tip portion BC4 with respect to the fourth holding portion HD4. Also, in this embodiment, the fourth holding portion HD4 is a member separate from the fourth tip portion BC4, but instead, it may be configured integrally with the fourth tip portion BC4. In this case, the fourth holding portion HD4 may not include the fourth position adjustment mechanism AJ4.

[0101] Here, the shape of the third holding portion HD3 and the shape of the fourth holding portion HD4 are plane-symmetrical with respect to a virtual plane that passes through the midpoint between the third insertion portion CF3 and the fourth insertion portion CF4 and is perpendicular to the first direction. In this embodiment, the shape of the third holding portion HD3 and the shape of the fourth holding portion HD4 are crank-shaped, but they may be other shapes instead. Also, the shape of the third holding portion HD3 and the shape of the fourth holding portion HD4 may not be plane-symmetrical with respect to the plane.

[0102] Also, as shown in FIG. 18, when the relative position of the B base B2 with respect to the A base B1 is the A position, the distance between the third tip BC3 and the fourth tip BC4 is narrower than the distance between the third insertion portion CF3 and the fourth insertion portion CF4. The shapes of the third groove G3 and the fourth groove G4 when viewed in the direction opposite to the second direction are determined as shapes such that the relationship between the width of these two distances is maintained regardless of the relative position of the B base B2 with respect to the A base B1 from the A position to the B position. This allows the second robot 40 to have a cam structure with a margin even if the distance between the multiple molded products M held by it is narrowed. In FIG. 18, the distance between the third tip BC3 and the fourth tip BC4 is indicated by the distance L21. In FIG. 18, the distance between the third insertion portion CF3 and the fourth insertion portion CF4 is indicated by the distance L22.

[0103] In addition, the interval between the molded product M held by the first holding unit HD1 in the case where the relative position of the B base B2 with respect to the A base B1 is the A position and the molded product M held by the third holding unit HD3 in this case is narrower than the interval L11 described above. In addition, the interval between the molded product M held by the second holding unit HD2 in this case and the molded product M held by the fourth holding unit HD4 in this case is also narrower than the interval L11. The interval L32 is the same as the interval L31, except for differences due to manufacturing errors, etc. This is because the second robot 40 holds four molded products M arranged in one line out of the eight molded products M arranged in two lines by changing the arrangement by the arrangement mechanism 30, by the end effector E. In addition, in FIG. 18, the interval between the molded product M held by the first holding unit HD1 in this case and the molded product M held by the third holding unit HD3 in this case is indicated by the interval L31. In addition, in FIG. 18, the distance between the molded product M held by the second holding portion HD2 in this case and the molded product M held by the fourth holding portion HD4 in this case is indicated by a distance L32.

[0104] FIG. 19 is a diagram for explaining the reason why the intervals L31 and L32 are narrower than the interval L11. FIG. 19 shows eight molded products M arranged in a circular arrangement, which is the arrangement at the time of molding, on the arrangement mechanism 30. As shown in FIG. 19, in this case, as described in FIG. 6, these eight molded products M are arranged at equal intervals on the circumference C. In addition, the first molded product M11 and the first molded product M12 of these eight molded products M are located on the first straight line L1. In addition, the second molded product M21 and the second molded product M22 of these eight molded products M are located on the second straight line L2. In addition, the first molded product M13 and the first molded product M14 of these eight molded products M are located on the third straight line L3. In addition, the second molded product M23 and the second molded product M24 of these eight molded products M are located on the fourth straight line L4. For the above reasons, in FIG. 19, these eight molded products M form a regular octagon.

[0105] Here, the aforementioned interval L11 is determined so as to coincide with the interval between the second molded product M21 and the second molded product M22 when these eight molded products M are viewed from a direction perpendicular to each of the first straight line L1 to the fourth straight line L4. For this reason, in FIG. 19, the interval between the second molded product M21 and the second molded product M22 in this case is shown as the interval L11. Meanwhile, since these eight molded products M are arranged at equal intervals on the circumference C, the linear distance from the second molded product M21 to the first molded product M11 also coincides with the interval L11 as shown in FIG. 19. The acute angle between the direction from the second molded product M21 to the first molded product M11 and the direction perpendicular to each of the first straight line L1 to the fourth straight line L4 is 45°. Therefore, when these eight molded products M are viewed from a direction perpendicular to each of the first straight line L1 to the fourth straight line L4, the interval between the second molded product M21 and the first molded product M11 is found to be narrower than the interval L11 by calculation using trigonometric functions. When the molding arrangement is changed to the changed arrangement by the arrangement mechanism 30, as described above, the first straight line L1 moves in a direction approaching the second straight line L2 and finally overlaps. Therefore, the interval L31 coincides with the interval between the second molded product M21 and the first molded product M11 arranged on the second straight line L2. In addition, the aforementioned interval L31 is determined so as to coincide with the interval between the second molded product M21 and the first molded product M11 in this case. From the above, the interval L31 is narrower than the interval L11. The same situation applies to the interval L32. Moreover, it can be found by a similar calculation that the interval L32 is the same as the interval L31.

[0106] The second robot 40 palletizes the eight molded products M arranged in the two linear arrangement, which is the changed arrangement, to the pallet PT in two batches of four each, using the end effector E. That is, the second robot 40 palletizes the four molded products M arranged in one linear arrangement of the eight molded products M arranged in the two linear arrangement to the pallet PT, and then palletizes the remaining four molded products M arranged in one linear arrangement to the pallet PT. The method by which the second robot 40 pallets the molded products M to the pallet PT may be a known method or a method to be developed in the future. However, the second robot 40 changes the interval between the four molded products M held by the end effector E before palletizing the four molded products M to the pallet PT. The second robot 40 narrows the interval between the four molded products M by moving the relative position of the B base B2 with respect to the A base B1 of the end effector E from position A to position B.

[0107] Fig. 20 is a perspective view of the end effector E when the relative position of the B-th base B2 with respect to the A-th base B1 is the B-th position. Fig. 21 is a front view of the end effector E shown in Fig. 20. Fig. 22 is a bottom view of the end effector E shown in Fig. 20. Here, Fig. 21 is a view of the end effector E when viewed in the direction opposite to the second direction. Also, Fig. 22 is a view of the end effector E when viewed in the third direction.

[0108] As shown in Figures 20 to 22, the first holding part HD1 and the second holding part HD2 move parallel to the first direction and approach each other as the relative position of the B base B2 with respect to the A base B1 moves from position A to position B. As a result, the distance between the first tip BC1 and the second tip BC2 narrows from distance L11 to distance L41. Therefore, the distance between the molded product M held by the first holding part HD1 and the molded product M held by the second holding part HD2 narrows as the relative position of the B base B2 with respect to the A base B1 moves from position A to position B.

[0109] 20 to 22, the third holding part HD3 and the fourth holding part HD4 move parallel to the first direction and approach each other as the relative position of the B base B2 with respect to the A base B1 moves from position A to position B. As a result, the distance between the third tip BC3 and the fourth tip BC4 narrows from distance L21 to distance L51. Therefore, the distance between the molded product M held by the third holding part HD3 and the molded product M held by the fourth holding part HD4 narrows as the relative position of the B base B2 with respect to the A base B1 moves from position A to position B.

[0110] Also, as mentioned above, even when the relative position of the B base B2 with respect to the A base B1 is the B position, the distance L41 between the first tip portion BC1 and the second tip portion BC2 is narrower than the distance L42 between the first insertion portion CF1 and the second insertion portion CF2.

[0111] Also, as mentioned above, even when the relative position of the B base B2 with respect to the A base B1 is the B position, the distance L51 between the third tip portion BC3 and the fourth tip portion BC4 is narrower than the distance L52 between the third insertion portion CF3 and the fourth insertion portion CF4.

[0112] On the other hand, when the relative position of the B base B2 with respect to the A base B1 is the B position, the interval between the first tip BC1 and the third tip BC3 is the same as the interval L41, except for differences due to manufacturing errors, etc. In this case, the interval between the second tip BC2 and the fourth tip BC4 is the same as the interval L41, except for differences due to manufacturing errors, etc. Here, in FIG. 22, the interval between the first tip BC1 and the third tip BC3 in this case is indicated by the interval L61. In addition, in FIG. 22, the interval between the second tip BC2 and the fourth tip BC4 in this case is indicated by the interval L62. And, each of the intervals L41, L61, and L62 is the same interval as each other. This means that the four molded products M held by the end effector E in this case are held in a straight line at equal intervals. Therefore, the second robot 40 can palletize the four molded products M onto the pallet PT more densely.

[0113] The A-th base moving unit MT changes the relative position of the B-th base B2 with respect to the A-th base B1 between position A and position B. The A-th base moving unit MT may have any configuration as long as it is capable of changing the relative position of the B-th base B2 with respect to the A-th base B1 between position A and position B.

[0114] The second robot 40 may be configured to include two or more end effectors E. In this case, the two or more end effectors E are provided on the manipulator of the second robot 40 so that the four molded products M held by each end effector E are arranged in parallel. This enables the second robot 40 to increase the number of molded products M that can be placed on a pallet PT in one palletizing operation, and also increases the number of molded products M that can be placed on a pallet PT. As a result, the second robot 40 can shorten the cycle time of the manufacturing process of the molded products M.

[0115] The change in the spacing between the four molded products M by the second robot 40 may be performed by the arrangement mechanism 30. In this case, the arrangement mechanism 30 has at least a part of the configuration of the second robot 40 described above. In this case, the arrangement mechanism 30 has a first placement part on which the molded product M is placed instead of the first holding part HD1, and a second placement part on which the molded product M is placed instead of the second holding part HD2. The change in the spacing between the four molded products M by the second robot 40 may be performed by the first robot 20 together with the change in the placement of the eight molded products M by the arrangement mechanism 30. In this case, the first robot 20 has at least a part of the configuration of the second robot 40 described above together with at least a part of the configuration of the arrangement mechanism 30 described above.

[0116] Furthermore, the end effector E described above may be configured to further include, in addition to the first holding portion HD1 to the fourth holding portion HD4, an even number of holding portions, two or more, so as to have a plane-symmetrical shape with respect to a virtual plane perpendicular to the first direction.

[0117] The sintering device 50 stores the pallet PT together with the second robot 40, and heats the molded product M placed on the pallet PT by the second robot 40 together with the pallet PT, thereby sintering the molded product M. The sintering device 50 may be configured to include a device that automatically stores the pallet PT after palletization and supplies new pallets PT, or may be configured to manually replace the pallet PT.

[0118] With the above-described configuration, the injection molding machine 1 can change the arrangement of the multiple molded products M with a simple structure. Also, the injection molding machine 1 can change the intervals between the multiple molded products M with a simple structure.

[0119] The above-described contents may be combined in any manner.

[0120] <Appendix 1> [1] A placement mechanism that changes the placement of three or more molded products, comprising: a first base on which two or more first molded products including an eleventh molded product and a twelfth molded product among the three or more molded products are placed; a second base on which one or more second molded products including a twenty-first molded product among the three or more molded products are placed; and a first base movement unit that changes a relative position of the first base with respect to the second base between a first position and a second position, wherein the eleventh molded product and the twelfth molded product placed on the first base are located on a first virtual line that is predetermined with respect to the first base, and the twenty-first molded product placed on the second base is located on a second virtual line that is predetermined with respect to the second base and is parallel to the first line, and when the relative position is at the first position, the first line and the second line do not overlap, and when the relative position is at the second position, the first line and the second line overlap. [2] The arrangement mechanism described in [1], wherein, when the relative position is the first position, the 11th molded product, the 12th molded product, and the 21st molded product are further located on a predetermined circumference, and when the relative position is the first position, the distance between two adjacent molded products among the three molded products, the 11th molded product, the 12th molded product, and the 21st molded product, is the same as each other. [3] The first base has three or more of the first molded products placed thereon, including a 13th molded product, the 11th molded product, and each of the 12th molded product, out of the three or more molded products; the second base has three or more of the second molded products placed thereon, including a 22nd molded product and a 23rd molded product, out of the three or more molded products, and the 21st molded product; the 13th molded product placed on the first base is located on a third straight line, which is a predetermined imaginary line with respect to the first base and parallel to the first straight line; the 22nd molded product and the 23rd molded product placed on the second base are located on a fourth straight line, which is a predetermined imaginary line with respect to the second base and parallel to the second straight line; when the relative position is the first position, the 11th molded product and the 1st molded product are located on a third straight line, which is a predetermined imaginary line with respect to the second base and parallel to the second straight line; The arrangement mechanism described in [2], wherein the second molded product, the thirteenth molded product, the twenty-first molded product, the twenty-second molded product, and the twenty-third molded product are further located on the circumference, and when the relative position is the first position, the first straight line, the second straight line, the third straight line, and the fourth straight line are arranged in the order of the second straight line, the first straight line, the fourth straight line, and the third straight line in a direction from the second straight line to the first straight line, and when the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, and when the relative position is the second position, the second straight line and the first straight line overlap, and the fourth straight line and the third straight line overlap. [4] The arrangement mechanism described in [3], wherein when the relative position is the first position, the distance between any two adjacent molded parts among the six molded parts, i.e., the 11th molded part, the 12th molded part, the 13th molded part, the 21st molded part, the 22nd molded part, and the 23rd molded part, is the same as each other. [5] The first base has four or more of the first molded products placed thereon, including each of the 13th molded product and the 14th molded product, and each of the 11th molded product and the 12th molded product, among the three or more molded products; the second base has four or more of the second molded products placed thereon, including each of the 22nd molded product, the 23rd molded product, and the 24th molded product, among the three or more molded products, and the 21st molded product; the 13th molded product and the 14th molded product placed on the first base are located on a third straight line, which is a predetermined imaginary straight line with respect to the first base and is parallel to the first straight line; the 21st molded product and the 22nd molded product placed on the second base are located on the second straight line; the 23rd molded product and the 24th molded product placed on the second base are located on a fourth straight line, which is a predetermined imaginary straight line with respect to the second base and is parallel to the second straight line; 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, and the 24th molded product are further located on the circumference, and when the relative position is the first position, the first straight line, the second straight line, the third straight line, and the fourth straight line are arranged in the order of the second straight line, the first straight line, the fourth straight line, and the third straight line in a direction from the second straight line to the first straight line, and when the relative position is the first position, the distance between the second straight line and the first straight line in the direction is the same as the distance between the fourth straight line and the third straight line in the direction, and when the relative position is the second position, the second straight line and the first straight line overlap, and the fourth straight line and the third straight line overlap. [6] The arrangement mechanism described in [5], wherein when the relative position is the first position, the distance between two adjacent molded parts on the circumference among the eight molded parts, i.e., the 11th molded part, the 12th molded part, the 13th molded part, the 14th molded part, the 21st molded part, the 22nd molded part, the 23rd molded part, and the 24th molded part, is the same as each other. [7] The arrangement mechanism described in any one of [1] to [6], wherein the first base moving unit changes the relative position between the first position and the second position by moving at least one of the first base and the second base parallel to a direction perpendicular to each of the first straight line and the second straight line. [8] A robot that transports three or more molded products, comprising: a first end effector that holds two or more first molded products including an eleventh molded product and a twelfth molded product among the three or more molded products; a second end effector that holds one or more second molded products including a twenty-first molded product among the three or more molded products; and an end effector movement unit that changes a relative position of the first end effector with respect to the second end effector between a first position and a second position, wherein the eleventh molded product and the twelfth molded product held by the first end effector are located on a first virtual line that is predetermined with respect to the first end effector, and the twenty-first molded product held by the second end effector is located on a second virtual line that is predetermined with respect to the second end effector and is parallel to the first line, and when the relative position is at the first position, the first line and the second line do not overlap, and when the relative position is at the second position, the first line and the second line overlap. [9] [1] to [7]. An injection molding machine comprising: a placement mechanism according to any one of the above [1] to [7]; an injection molding mechanism which molds the three or more molded products by injection molding; and a robot which places the two or more first molded products among the three or more molded products molded by the injection molding mechanism on the first base, and places the one or more second molded products among the three or more molded products molded by the injection molding mechanism on the second base.

[0121] <Appendix 2> [1] a first track extending in a predetermined first direction, a first sliding part provided slidably on the first track, and a second sliding part provided slidably on the first track, an A base provided with a first holding part provided on the first sliding part and holding a first molded product, a second holding part provided on the second sliding part and holding a second molded product, and a B base, wherein a groove is formed in the B base for camming at least one of the first holding part and the second holding part so that when the relative position of the B base with respect to the A base is position A, a distance between the first holding part and the second holding part on the first track is a first distance, and when the relative position of the B base with respect to the A base is position B, a distance between the first holding part and the second holding part on the first track is a second distance shorter than the first distance. [2] The robot according to [1], further comprising an Ath base moving unit that changes the relative position of the Bth base with respect to the Ath base between the A position and the B position. [3] The robot described in [1] or [2], wherein the B base is formed with a first groove for camming the first holding part and a second groove for camming the second holding part as grooves for camming at least one of the first holding part and the second holding part. [4] the first holding part is provided at a tip of the first holding part and has a first tip part that holds the first molded product and a first insertion part that is inserted into the first groove, the second holding part is provided at a tip of the second holding part and has a second tip part that holds the second molded product and a second insertion part that is inserted into the second groove, a distance between the first holding part and the second holding part on the first track body is a distance between the first tip part and the second tip part, and regardless of whether the relative position of the B base with respect to the A base is any position included between the A position and the B position, the distance between the first tip part and the second tip part is narrower than the distance between the first insertion part and the second insertion part. [5] The robot described in [4], wherein the first holding part is provided with a first position adjustment mechanism that adjusts the relative position of the first tip part with respect to the first holding part, and the second holding part is provided with a second position adjustment mechanism that adjusts the relative position of the second tip part with respect to the second holding part. [6] The robot described in [4] or [5], wherein the shape of the first holding part and the shape of the second holding part are symmetrical to each other with respect to a virtual plane that passes through the midpoint between the first insertion portion and the second insertion portion and is perpendicular to the first direction. [7] The robot according to any one of [1] to [6], wherein the B base moves relative to the A base in a direction perpendicular to the first direction. [8] the A base is further provided with a third holding part for holding a third molded product and a fourth holding part for holding a fourth molded product, the A base is further provided with a third sliding part provided slidably on the first track body and a fourth sliding part provided slidably on the first track body, the first sliding part, the second sliding part, and the fourth sliding part are arranged on the first track body in the order of the third sliding part, the first sliding part, the second sliding part, and the fourth sliding part in the first direction, the third sliding part is provided with the third holding part and the fourth sliding part is provided with the fourth holding part, the B base is The robot according to any one of [1] to [7], wherein a groove is formed for camming at least one of the third holding part and the fourth holding part so that when the relative position of the B base with respect to the A base is the A position, a distance between the third holding part and the fourth holding part on the first track body becomes a third distance, and when the relative position of the B base with respect to the A base is the B position, a distance between the third holding part and the fourth holding part on the first track body becomes a fourth distance shorter than the third distance, wherein the third distance is longer than the first distance and the fourth distance is longer than the second distance. [9] A distance between the first molded product held by the first holding unit when the relative position of the B base with respect to the A base is the A position, and the third molded product held by the third holding unit when the relative position of the B base with respect to the A base is the A position, is narrower than a distance between the first molded product held by the first holding unit when the relative position of the B base with respect to the A base is the A position, and the second molded product held by the second holding unit when the relative position of the B base with respect to the A base is the A position, The robot described in [8], wherein a distance between the first molded product held by the first holding unit when the relative position of the B base with respect to the A base is at the B position, and the third molded product held by the third holding unit when the relative position of the B base with respect to the A base is at the B position, is the same as a distance between the first molded product held by the first holding unit when the relative position of the B base with respect to the A base is at the B position, and the second molded product held by the second holding unit when the relative position of the B base with respect to the A base is at the B position.

[10] the C base is provided with a second track body extending in the first direction and aligned in parallel with the first track body, a fifth sliding part slidably provided with respect to the second track body, a sixth sliding part slidably provided with respect to the second track body, a seventh sliding part slidably provided with respect to the second track body, and an eighth sliding part slidably provided with respect to the second track body, a fifth holding part provided with the fifth sliding part and holding a fifth molded product, a sixth holding part provided with the sixth sliding part and holding a sixth molded product, a seventh holding part provided with the seventh sliding part and holding a seventh molded product, an eighth holding part provided with the eighth sliding part and holding an eighth molded product, and a D base, The robot according to [8] or [9], further comprising: a groove that cams at least one of the fifth holding part and the sixth holding part so that, when the relative position of the D base is position D, the interval between the fifth holding part and the sixth holding part on the second track body becomes a sixth interval shorter than the fifth interval; and a groove that cams at least one of the seventh holding part and the eighth holding part so that, when the relative position of the D base with respect to the C base is position C, the interval between the seventh holding part and the eighth holding part on the second track body becomes a seventh interval, and when the relative position of the D base with respect to the C base is position D, the interval between the seventh holding part and the eighth holding part on the second track body becomes an eighth interval shorter than the seventh interval, wherein the seventh interval is longer than the fifth interval and the eighth interval is longer than the sixth interval.

[11] A distance between the fifth molded product held by the fifth holding unit when the relative position of the D base with respect to the C base is at the C position, and the seventh molded product held by the seventh holding unit when the relative position of the D base with respect to the C base is at the C position, is narrower than a distance between the fifth molded product held by the fifth holding unit when the relative position of the D base with respect to the C base is at the C position, and the sixth molded product held by the sixth holding unit when the relative position of the D base with respect to the C base is at the C position, The robot described in

[10] , wherein a distance between the fifth molded product held by the fifth holding unit when the relative position of the D base to the C base is at the D position, and the seventh molded product held by the seventh holding unit when the relative position of the D base to the C base is at the D position, is the same as a distance between the fifth molded product held by the fifth holding unit when the relative position of the D base to the C base is at the D position, and the sixth molded product held by the sixth holding unit when the relative position of the D base to the C base is at the D position.

[12] an A base having a first track extending in a predetermined first direction, a first sliding part slidably mounted on the first track, and a second sliding part slidably mounted on the first track, a first mounting part provided on the first sliding part and on which a first molded product is mounted, a second mounting part provided on the second sliding part and on which a second molded product is mounted, and a B base, wherein a groove is formed in the B base for camming at least one of the first mounting part and the second mounting part so that when a relative position of the B base with respect to the A base is at position A, a distance between the first mounting part and the second mounting part on the first track is a first distance, and when a relative position of the B base with respect to the A base is at position B, a distance between the first mounting part and the second mounting part on the first track is a second distance shorter than the first distance.

[13] [1] to

[11] . An injection molding machine comprising: a robot according to any one of claims 1 to 11; and an injection molding mechanism that molds two or more molded products including the first molded product and the second molded product by injection molding, wherein the robot palletizes each of the first molded product and the second molded product among the two or more molded products molded by the injection molding mechanism.

[0122] 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]

[0123] 1...injection molding machine, 10...injection molding mechanism, 11...cavity, 12...core, 20...first robot, 30...placement mechanism, 31...first base, 32...second base, 33...first base moving section, 40...second robot, 50...sintering device, AJ1...first position adjustment mechanism, AJ2...second position adjustment mechanism, AJ3...third position adjustment mechanism, AJ4...fourth position adjustment mechanism, B1...Ath base, B2...Bth base, BC1...first tip portion, BC2...second tip portion, BC3...third tip portion, BC4...fourth tip portion, CF1...first insertion portion, CF2...second Insertion portion, CF3...third insertion portion, CF4...fourth insertion portion, E...end effector, G1...first groove, G2...second groove, G3...third groove, G4...fourth groove, H1, H11, H12, H13, H14...Ath holding portion, H2, H21, H22, H23, H24...Bth holding portion, HD1...first holding portion, HD2...second holding portion, HD3...third holding portion, HD4...fourth holding portion, OB...first track, PT...pallet, SL1...first sliding portion, SL2...second sliding portion, SL3...third sliding portion, SL4...fourth sliding portion, TC...three-dimensional coordinate system

Claims

1. a first track extending in a predetermined first direction, a first sliding portion provided slidably relative to the first track, and a second sliding portion provided slidably relative to the first track; A first holding portion provided on the first sliding portion and configured to hold a first molded product; A second holding portion provided on the second sliding portion and configured to hold a second molded product; Base B; Equipped with a groove is formed on the B base for camming at least one of the first holding portion and the second holding portion so that when the relative position of the B base with respect to the A base is at position A, a distance between the first holding portion and the second holding portion on the first track body becomes a first distance, and when the relative position of the B base with respect to the A base is position B, a distance between the first holding portion and the second holding portion on the first track body becomes a second distance shorter than the first distance; robot.

2. a base A moving unit that changes the relative position of the base B with respect to the base A between the position A and the position B; The robot according to claim 1.

3. The B base is formed with a first groove for camming the first holding portion and a second groove for camming the second holding portion, as grooves for camming at least one of the first holding portion and the second holding portion. The robot according to claim 1.

4. the first holding portion is provided at a tip of the first holding portion and has a first tip portion that holds the first molded product and a first insertion portion that is inserted into the first groove, the second holding portion is provided at a tip of the second holding portion and has a second tip portion that holds the second molded product and a second insertion portion that is inserted into the second groove, a distance between the first holding portion and the second holding portion on the first track body is a distance between the first tip portion and the second tip portion, When the relative position of the B base with respect to the A base is any position between the A position and the B position, the distance between the first tip portion and the second tip portion is narrower than the distance between the first insertion portion and the second insertion portion. The robot according to claim 3.

5. The first holding portion is provided with a first position adjustment mechanism that adjusts a relative position of the first tip portion with respect to the first holding portion, The second holding portion is provided with a second position adjustment mechanism that adjusts the relative position of the second tip portion with respect to the second holding portion. The robot according to claim 4.

6. The shape of the first holding portion and the shape of the second holding portion are symmetrical to each other with respect to a virtual plane that passes through a midpoint between the first insertion portion and the second insertion portion and is perpendicular to the first direction. The robot according to claim 4.

7. The B base moves relative to the A base in a direction perpendicular to the first direction. The robot according to claim 1.

8. A third holding portion that holds the third molded product; A fourth holding portion that holds the fourth molded product; Further comprising: The A base is further provided with a third sliding portion slidably provided on the first track body and a fourth sliding portion slidably provided on the first track body, the first sliding portion, the second sliding portion, the third sliding portion, and the fourth sliding portion are arranged on the first track body in the first direction in the order of the third sliding portion, the first sliding portion, the second sliding portion, and the fourth sliding portion, The third sliding portion is provided with the third holding portion, The fourth sliding portion is provided with the fourth holding portion, a groove is formed in the B base for camming at least one of the third retaining portion and the fourth retaining portion so that, when the relative position of the B base with respect to the A base is the A position, a distance between the third retaining portion and the fourth retaining portion on the first track body becomes a third distance, and, when the relative position of the B base with respect to the A base is the B position, a distance between the third retaining portion and the fourth retaining portion on the first track body becomes a fourth distance shorter than the third distance; The third interval is longer than the first interval; The fourth interval is longer than the second interval. The robot according to claim 1.

9. a distance between the first molded product held by the first holding part when the relative position of the B base with respect to the A base is the A position, and the third molded product held by the third holding part when the relative position of the B base with respect to the A base is the A position, is narrower than a distance between the first molded product held by the first holding part when the relative position of the B base with respect to the A base is the A position, and the second molded product held by the second holding part when the relative position of the B base with respect to the A base is the A position, a distance between the first molded product held by the first holding part when the relative position of the B base with respect to the A base is the B position, and the third molded product held by the third holding part when the relative position of the B base with respect to the A base is the B position, is the same as a distance between the first molded product held by the first holding part when the relative position of the B base with respect to the A base is the B position, and the second molded product held by the second holding part when the relative position of the B base with respect to the A base is the B position. The robot according to claim 8.

10. a C-th base provided with a second track body extending in the first direction and arranged in parallel with the first track body, a fifth sliding portion provided slidably with respect to the second track body, a sixth sliding portion provided slidably with respect to the second track body, a seventh sliding portion provided slidably with respect to the second track body, and an eighth sliding portion provided slidably with respect to the second track body; A fifth holding portion provided on the fifth sliding portion and holding a fifth molded product; A sixth holding portion provided on the sixth sliding portion and configured to hold a sixth molded product; A seventh holding portion provided on the seventh sliding portion and holding a seventh molded product; an eighth holding portion provided on the eighth sliding portion and configured to hold an eighth molded product; The Dth base, Further comprising: the D base is formed with a groove for camming at least one of the fifth holding portion and the sixth holding portion such that, when the relative position of the D base with respect to the C base is position C, a distance between the fifth holding portion and the sixth holding portion on the second track body becomes a fifth distance, and, when the relative position of the D base with respect to the C base is position D, a distance between the fifth holding portion and the sixth holding portion on the second track body becomes a sixth distance that is shorter than the fifth distance; and a groove for camming at least one of the seventh holding portion and the eighth holding portion such that, when the relative position of the D base with respect to the C base is position C, a distance between the seventh holding portion and the eighth holding portion on the second track body becomes a seventh distance, and, when the relative position of the D base with respect to the C base is position D, a distance between the seventh holding portion and the eighth holding portion on the second track body becomes an eighth distance that is shorter than the seventh distance, The seventh interval is longer than the fifth interval; The eighth interval is longer than the sixth interval. The robot according to claim 8.

11. a distance between the fifth molded product held by the fifth holding part when the relative position of the D base with respect to the C base is at the C position, and the seventh molded product held by the seventh holding part when the relative position of the D base with respect to the C base is at the C position, is narrower than a distance between the fifth molded product held by the fifth holding part when the relative position of the D base with respect to the C base is at the C position, and the sixth molded product held by the sixth holding part when the relative position of the D base with respect to the C base is at the C position, a distance between the fifth molded product held by the fifth holding unit when the relative position of the D base with respect to the C base is at the D position, and the seventh molded product held by the seventh holding unit when the relative position of the D base with respect to the C base is at the D position, is the same as a distance between the fifth molded product held by the fifth holding unit when the relative position of the D base with respect to the C base is at the D position, and the sixth molded product held by the sixth holding unit when the relative position of the D base with respect to the C base is at the D position. The robot according to claim 10.

12. a first track extending in a predetermined first direction, a first sliding portion provided slidably relative to the first track, and a second sliding portion provided slidably relative to the first track; a first placement portion provided on the first sliding portion, on which a first molded product is placed; a second placement portion provided on the second sliding portion, on which a second molded product is placed; Base B; Equipped with a groove is formed on the B base for camming at least one of the first mounting portion and the second mounting portion such that, when the relative position of the B base with respect to the A base is at position A, a distance between the first mounting portion and the second mounting portion on the first track body becomes a first distance, and, when the relative position of the B base with respect to the A base is position B, a distance between the first mounting portion and the second mounting portion on the first track body becomes a second distance shorter than the first distance; Placement mechanism.

13. A robot according to any one of claims 1 to 11; an injection molding mechanism that molds two or more molded articles including the first molded article and the second molded article by injection molding; Equipped with palletizing, by the robot, each of the first molded product and the second molded product among the two or more molded products molded by the injection molding mechanism; Injection molding machine.

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