JP2011235397A - Robot and molding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot which does not require a wide space for passing an arm at action and can move the arm at a high speed.SOLUTION: The robot 10 includes: a base part 11 fixed to a base end side; a drive part 12 provided on the base part 11; and an expandable/contractable arm 20 connected to the base part 11 and expandable/contactable along an axial direction (Z direction) by motive power from the drive part 12. On a distal end of the expandable/contractable arm 20, a slider 14 having an end effector mounting surface 13 parallel to the axial direction (Z direction) is provided. The expandable/contractable arm 20 is constituted of a plurality of movement bodies 40, 60, 80 advanced/retreated along the axial direction (Z direction) while interlocked with each other and superposed in a direction (X direction) perpendicular to the axial direction on each other. The slider 14 is relatively moved relative to the movement body 80 along the axial direction (Z direction).

Description

  The present invention relates to a robot and a molding apparatus, and more particularly, to a robot that can move an arm at high speed without requiring a large space for the arm to pass during operation, and such a robot. The present invention relates to a molding apparatus.

  Conventionally, a molded product after molding is taken out from a molding apparatus such as an injection molding machine using a robot.

  However, in such a conventional robot, since the range through which the arm passes when taking out the molded product is wide, a large space is required in the injection molding apparatus in order to prevent interference with the arm. Also, a space for storing the arm is required when the robot is not operating. Further, many conventional robots are provided with a drive servo motor for controlling each arm for each arm. In this case, there is a problem that a mechanism for controlling these arms by the controller is complicated and it is difficult to increase the operation speed.

JP 2000-190260 A

  The present invention has been made in consideration of such points, and a robot capable of moving an arm at a high speed without requiring a large space for the arm to pass during operation and such a robot. An object of the present invention is to provide a molding apparatus including a simple robot.

  The present invention includes a base portion fixed to the base end side, a drive portion provided in the base portion, a telescopic arm connected to the base portion and capable of extending and contracting along the axial direction by power from the drive portion, And a slider having an end effector mounting surface parallel to the axial direction. The telescopic arms are interlocked with each other and advanced and retracted along the axial direction and stacked in a direction perpendicular to the axial direction. The robot is composed of a plurality of moving bodies, and the slider moves relative to the moving body at the distal end of the telescopic arm along the axial direction.

  In the present invention, each movable body is provided rotatably on the main body, the base body pulley that rotates as the main body moves, and is connected to the base end pulley and interlocked with the base end pulley. An intermediate pulley that rotates, a front-end pulley that rotates in conjunction with the intermediate pulley, and a transmission belt wound between the intermediate pulley and the front-end pulley, and the transmission belt moves adjacent to the front end side A robot connected to a body or a slider.

  In the present invention, each moving body has a pulley driving belt that is stretched on the main body and extends along the axial direction, and the pulley driving belt moves in accordance with the movement of the moving body adjacent to the leading end side. And a proximal end pulley of a moving body adjacent to the robot is rotated.

  The present invention is characterized in that the proximal pulley and the intermediate pulley of each moving body are connected to each other via a rotating rod arranged perpendicular to the axial direction and perpendicular to the stacking direction of the plurality of moving bodies. It is a robot that does.

  In the robot according to the present invention, the transmission belt is an endless belt.

  The present invention is the robot characterized in that the pulley drive belt is composed of an end belt and both ends thereof are fixed to the main body.

  The present invention is a robot characterized in that a guide member for guiding a moving body or a slider adjacent to the distal end side along an axial direction is attached to a main body of each moving body.

  The present invention is a robot characterized in that a linear motion device that transmits power from a drive unit to the most proximal moving body is provided in a base portion.

  The present invention provides an apparatus main body, an openable / closable mold for forming a molded product provided on the apparatus main body, fixed on the apparatus main body, and attached to an end effector mounting surface of a robot and a slider of the robot. And a hand for taking out a molded product from the mold.

  In the present invention, the mold has a fixed die and a movable die movable relative to the fixed die. When the mold is opened by moving the movable die relative to the fixed die, In the molding apparatus, the slider enters between the movable die and the fixed die.

  According to the present invention, the telescopic arm is composed of a plurality of moving bodies that are interlocked with each other and advanced and retracted along the axial direction and stacked in a direction perpendicular to the axial direction. This makes it possible to move the telescopic arm at a high speed without requiring a large space during operation of the telescopic arm.

The perspective view (extension state) which shows the robot by one embodiment of the present invention. The perspective view which shows the robot by one embodiment of this invention (degenerated state). The front view which shows the robot by one embodiment of this invention (III direction arrow line view of FIG. 1). The left view which shows the robot by one embodiment of this invention (IV direction arrow view of FIG. 1). The rear view which shows the robot by one embodiment of this invention (V direction arrow directional view of FIG. 1). The right view which shows the robot by one embodiment of this invention (VI direction arrow view of FIG. 1). Schematic which shows the shaping | molding apparatus by one embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 thru | or FIG. 7 is a figure which shows one Embodiment of this invention.

(Robot configuration)
First, an outline of a robot according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6 are diagrams showing a robot according to the present embodiment.

  As shown in FIGS. 1 to 6, the robot 10 according to the present embodiment includes a base portion 11 fixed to the base end side, a drive portion 12 made of, for example, an electric servo motor provided on the base portion 11, and a base A telescopic arm 20 that is connected to the unit 11 and that can expand and contract in the axial direction (Z direction) by power from the driving unit 12 is provided. A slider 14 having an end effector mounting surface 13 parallel to the axial direction (Z direction) is provided at the distal end of the telescopic arm 20.

  Of these, the telescopic arm 20 is telescopic between the extended position shown in FIG. 1 and the retracted position shown in FIG. The telescopic arm 20 is composed of a plurality (three in the present embodiment) of moving bodies 40, 60, and 80 that advance and retract along the axial direction (Z direction) in conjunction with each other.

  Hereinafter, of the three moving bodies 40, 60, 80, the moving body on the proximal end side is referred to as the first moving body 40, the intermediate moving body is referred to as the second moving body 60, and the moving body on the distal end side is referred to as the third moving body. This is called a moving body 80. In addition, the number of the mobile bodies which comprise the expansion-contraction arm 20 should just be two or more, and is not restricted to three. The number of moving bodies can be appropriately set according to the work content of the robot 10, the moving distance of the slider 14, and the like.

  On the other hand, the slider 14 moves relative to the moving body 80 located at the distal end of the telescopic arm 20 along the axial direction (Z direction). An appropriate end effector such as a hand 19 described later can be attached to the end effector mounting surface 13 of the slider 14.

  Hereinafter, the configuration of the robot 10 will be described in more detail with reference to FIGS. 1 to 6.

  As shown in FIGS. 1 to 6, the drive unit 12 has a substantially rectangular parallelepiped shape and is disposed in parallel with the base unit 11. The drive unit 12 is connected to a power source (not shown) via a connection cord 25, and is driven by a current from the power source. A pulley 23 is directly connected to the rotation shaft of the drive unit 12, and a timing belt 24 is wound around the pulley 23. The pulley 23 and the timing belt 24 are accommodated in the base mounting portion 15.

  The base portion 11 as a whole is formed of an elongated member extending in the axial direction (Z direction), and a ball screw (linear motion device) 16 is provided along the axial direction (Z direction). . The ball screw 16 is for transmitting the power from the drive unit 12 to the first moving body 40 on the most proximal side. The ball screw 16 includes a screw shaft 17 supported by a pair of bearings 26, 27, a nut 18 that can move linearly along the axial direction (Z direction) along the screw shaft 17, and one end of the screw shaft 17. And an attached pulley 28. Of these, the timing belt 24 is wound around the pulley 28 and the pulley 23 of the drive unit 12.

  In addition, an elongated slit 31 is formed on the side surface of the base portion 11 on the first moving body 40 side along the axial direction (Z direction). Further, a connector 32 is connected to the nut 18 of the ball screw 16. The connector 32 is connected to a first moving body main body 41 (described later) of the first moving body 40 via the slit 31. Therefore, as the nut 18 moves along the screw shaft 17, the first movable body main body 41 also moves along the axial direction (Z direction).

  A base pulley drive belt 35 is stretched on the side surface of the base portion 11 along the axial direction (Z direction). The base pulley drive belt 35 is an endless belt, and is fixed to the base portion 11 via brackets 36 and 37 at both ends thereof.

  On the other hand, as described above, the telescopic arm 20 includes three moving bodies 40, 60, and 80 that move in conjunction with each other along the axial direction (Z direction). These moving bodies 40, 60, and 80 have a structure in which they are stacked on each other in a direction perpendicular to the axial direction (that is, the X direction). As shown in FIGS. 1 to 6, these moving bodies 40, 60 and 80 have substantially the same configuration.

  Hereinafter, the configuration of the three moving bodies 40, 60, and 80 constituting the telescopic arm 20 will be further described. In this specification, the “moving body adjacent to the distal end side” refers to a moving body located farther from the base portion 11 (or the base end side) out of two moving bodies adjacent to a certain moving body. Specifically, it refers to the second moving body 60 viewed from the first moving body 40 or the third moving body 80 viewed from the second moving body 60.

  First, the first moving body 40 will be described. The first moving body 40 is provided in a substantially flat first moving body main body 41 and the first moving body main body 41 so as to be rotatable, and the first moving body main body 41 moves in the axial direction (Z direction). A first base end pulley 42 that rotates is provided.

  A pair of guide pulleys 43 and 44 for guiding the base pulley drive belt 35 are provided on both sides of the first base end side pulley 42. The above-described base pulley drive belt 35 is guided by the pair of guide pulleys 43 and 44 and is in close contact with the first base end side pulley 42. With such a configuration, when the first moving body main body 41 moves, the first base end side pulley 42 is rotated by the base pulley drive belt 35.

  The first proximal end pulley 42 is connected to the first intermediate pulley 45 via the first rotating rod 51. As a result, the first base end side pulley 42 rotates in conjunction with the first intermediate pulley 45. The first rotating rod 51 is arranged perpendicular to the axial direction and perpendicular to the stacking direction of the moving bodies 40, 60, 80 (that is, parallel to the Y direction).

  Further, the first moving body 40 is provided with a first distal end side pulley 46 that rotates in conjunction with the first intermediate pulley 45. A first transmission belt 47 formed of an endless belt is wound between the first intermediate pulley 45 and the first front end pulley 46. Further, the first transmission belt 47 is connected to the second moving body main body 61 of the second moving body 60 adjacent to the distal end side via an L-shaped first connecting member 48.

  A first pulley drive belt 55 extending along the axial direction (Z direction) is stretched on the first moving body 41. The first pulley drive belt 55 is an endless belt, and is fixed to the first moving body main body 41 via brackets 56 and 57 at both ends thereof. The first pulley drive belt 55 rotates the second base end side pulley 62 of the second moving body 60 when the second moving body 60 adjacent to the distal end side moves.

  Furthermore, a first guide rail (guide member) 53 that guides the second moving body 60 along the axial direction (Z direction) is attached to the side surface of the first moving body main body 41.

  Next, the second moving body 60 will be described. The second moving body 60 has substantially the same configuration as that of the first moving body 40, and is provided in a substantially flat plate-like second moving body main body 61 and the second moving body main body 61 so as to be rotatable. The movable body main body 61 has a second proximal-side pulley 62 that rotates as it moves in the axial direction (Z direction).

  A pair of guide pulleys 63 and 64 for guiding the first pulley drive belt 55 are provided on both sides of the second base end side pulley 62. The first pulley drive belt 55 is guided by the pair of guide pulleys 63 and 64 and is in close contact with the second base end side pulley 62. With such a configuration, the second base end side pulley 62 is rotated by the first pulley drive belt 55 as the second movable body main body 61 moves.

  The second base end side pulley 62 is connected to the second intermediate pulley 65 via the second rotating rod 71, and thereby rotates in conjunction with the second intermediate pulley 65. In addition, the 2nd rotation rod 71 is arrange | positioned in parallel with the Y direction.

  Further, the second moving body 60 is provided with a second distal end side pulley 66 that rotates in conjunction with the second intermediate pulley 65. A second transmission belt 67 formed of an endless belt is wound between the second intermediate pulley 65 and the second front end pulley 66. Further, the second transmission belt 67 is connected to the third moving body 80 adjacent to the distal end side via an L-shaped second connecting member 68.

  A second pulley drive belt 75 extending along the axial direction (Z direction) is stretched on the second moving body main body 61. The second pulley drive belt 75 is an endless belt, and is fixed to the second moving body main body 61 via brackets 76 and 77 at both ends thereof. The second pulley drive belt 75 rotates the third base end side pulley 82 of the third moving body 80 when the third moving body 80 adjacent to the distal end side moves.

  Further, a second guide rail (guide member) 73 that guides the third moving body 80 along the axial direction (Z direction) is attached to the side surface of the second moving body main body 61.

  Next, the third moving body 80 will be described. The third moving body 80 has substantially the same configuration as the first moving body 40 and the second moving body 60. That is, the third moving body 80 is provided on the substantially flat third moving body main body 81 and the third moving body main body 81 so as to be rotatable, and the third moving body main body 81 moves in the axial direction (Z direction). And a third base end side pulley 82 that rotates.

  A pair of guide pulleys 83 and 84 for guiding the second pulley drive belt 75 are provided on both sides of the third base end side pulley 82. The second pulley drive belt 75 is guided by the pair of guide pulleys 83 and 84 and is in close contact with the third proximal end pulley 82. Thus, when the third moving body main body 81 moves, the third proximal pulley 82 is rotated by the second pulley drive belt 75.

  The third proximal end pulley 82 is connected to the third intermediate pulley 85 via the third rotating rod 91. Thereby, the third base end side pulley 82 rotates in conjunction with the third base end side pulley 82. In addition, the 3rd rotation rod 91 is arrange | positioned in parallel with the Y direction.

  The third moving body 80 is provided with a third front end pulley 86 that rotates in conjunction with the third intermediate pulley 85. A third transmission belt 87 formed of an endless belt is wound between the third intermediate pulley 85 and the third front end pulley 86. Further, the third transmission belt 87 is coupled to the slider 14 via an L-shaped third coupling member 88.

  Further, a third guide rail (guide member) 93 that guides the slider 14 along the axial direction (Z direction) is attached to a side surface of the third moving body main body 81.

(Operation of this embodiment)
Next, the operation of the present embodiment having such a configuration will be described.

  First, the operation of the robot 10 is started by a control device (not shown). In this case, first, a current flows from a power source (not shown) to the drive unit 12 through the connection cord 25, and the drive shaft of the drive unit 12 rotates in a predetermined direction. As the rotation shaft of the drive unit 12 rotates, the power from the drive unit 12 is transmitted to the pulley 28 of the ball screw 16 via the pulley 23 and the timing belt 24. Thereby, the screw shaft 17 of the ball screw 16 rotates in a predetermined direction.

  At this time, the nut 18 moves along the axial direction (Z direction) from the proximal end side to the distal end side along the screw shaft 17. As the nut 18 moves in this manner, the connecting tool 32 connected to the nut 18 and the first moving body main body 41 of the first moving body 40 connected to the connecting tool 32 are integrated in the axial direction. Move along (Z direction).

  When the first movable body main body 41 moves in the axial direction (Z direction), the first base-side pulley 42 is moved in a predetermined direction (for example, the figure) by the base pulley drive belt 35 fixed to the base portion 11. 5) (clockwise direction). At this time, the first intermediate pulley 45 also rotates in the same direction (counterclockwise direction in FIG. 3) via the first rotating rod 51, and the first transmission belt 47 and the first tip side pulley 46 also have the same direction. Rotate in the direction (counterclockwise direction in FIG. 3).

  When the first transmission belt 47 rotates in a predetermined direction, the first connection member 48 connected to the first transmission belt 47 is relative to the first moving body main body 41 along the axial direction (Z direction). Move from end to tip. Thereby, the 2nd mobile body 61 moves along an axial direction (Z direction).

  When the second movable body main body 61 moves in the axial direction (Z direction), the second proximal end pulley 62 is moved in a predetermined direction by the first pulley drive belt 55 fixed to the first movable body 40. It rotates in the clockwise direction in FIG. At this time, the second intermediate pulley 65 also rotates in the same direction (counterclockwise direction in FIG. 3) via the second rotating rod 71, and at the same time, the second transmission belt 67 and the second tip side pulley 66 are also the same. Rotate in the direction (counterclockwise direction in FIG. 3).

  When the second transmission belt 67 rotates in a predetermined direction, the second connection member 68 connected to the second transmission belt 67 is relative to the second moving body main body 61 along the axial direction (Z direction). Move from end to tip. Thereby, the 3rd mobile body main part 81 moves along an axial direction (Z direction).

  As the third moving body 81 moves in the axial direction (Z direction), the third proximal pulley 82 is moved in a predetermined direction by the second pulley driving belt 75 fixed to the second moving body 60. It rotates in the clockwise direction in FIG. At this time, the third intermediate pulley 85 is also rotated in the same direction (counterclockwise direction in FIG. 3) via the third rotating rod 91, and at the same time, the third transmission belt 87 and the third front end pulley 86 are also the same. Rotate in the direction (counterclockwise direction in FIG. 3).

  When the third transmission belt 87 rotates in a predetermined direction, the third connection member 88 connected to the third transmission belt 87 is based on the third moving body main body 81 along the axial direction (Z direction). Move from end to tip. Thereby, the slider 14 moves with respect to the 3rd mobile body main body 81 along an axial direction (Z direction).

  In this manner, the telescopic arm 20 extends from the retracted position (see FIG. 2) to the extended position (see FIG. 1) by the power from the drive unit 12. At this time, the slider 14 moves relative to the third moving body 80 from the proximal end side to the distal end side along the axial direction (Z direction).

  When the slider 14 moves to the most distal end position and the telescopic arm 20 reaches the extended position (see FIG. 1), the drive unit 12 is stopped by a control device (not shown), and thereby the operation of the telescopic arm 20 is also stopped. During this time, a control device (not shown) determines that the telescopic arm 20 has reached the extended position when the rotation amount of the rotation shaft of the driving unit 12 has reached a predetermined value, and stops the driving unit 12.

  Next, the telescopic arm 20 is retracted from the extended position (see FIG. 1) to the retracted position (see FIG. 2). In this case, a control device (not shown) rotates the pulleys and the transmission belt in the reverse direction (that is, the clockwise direction in FIG. 3) by rotating the drive shaft of the drive unit 12 in the direction opposite to the predetermined direction. In this way, the moving bodies 40, 60, 80 are moved from the distal end side to the proximal end side along the axial direction by a step reverse to the above-described step, and the telescopic arm 20 is retracted. At this time, the slider 14 moves relative to the third moving body 80 from the distal end side to the proximal end side along the axial direction (Z direction).

  As described above, according to the present embodiment, the telescopic arm 20 includes the three moving bodies 40, 60, and 80, and these three moving bodies 40, 60, and 80 are linked to each other in the axial direction (Z direction). Are stacked in the direction perpendicular to the axial direction (X direction). This eliminates the need for a large space for the telescopic arm 20 to pass when the telescopic arm 20 is operated. Moreover, since the length of each moving body 40, 60, 80 can be shortened, the telescopic arm 20 can be stored compactly in the retracted position (see FIG. 2).

  Further, according to the present embodiment, the power from the drive unit 12 is mechanically transmitted to the slider 14 provided at the tip of the telescopic arm 20. In this case, the telescopic arm 20 is driven by a single drive unit 12, and the moving bodies 40, 60, 80 constituting the telescopic arm 20 are moved simultaneously. Thereby, the telescopic arm 20 can be moved at high speed. Further, the mechanism for moving the telescopic arm 20 can be simplified.

  Further, according to the present embodiment, each of the moving bodies 40, 60, 80 includes the moving body main bodies 41, 61, 81, the proximal end pulleys 42, 62, 82, the intermediate pulleys 45, 65, 85, and the distal ends. It has side pulleys 46, 66, 86 and transmission belts 47, 67, 87, and the structures of the moving bodies 40, 60, 80 constituting the telescopic arm 20 are substantially the same. Thereby, according to the moving distance of the slider 14, the number of the moving bodies 40, 60, 80 can be changed, and the length of the telescopic arm 20 can be changed flexibly. Further, since the types of parts constituting the robot 10 can be reduced, the manufacturing cost of the robot 10 can be suppressed.

  Further, according to the present embodiment, the moving bodies 40, 60 have the pulley driving belts 55, 75 that are stretched on the moving body main bodies 41, 61 and extend along the axial direction (Z direction). The drive belts 55 and 75 rotate the base end side pulleys 62 and 82 of the movable bodies 60 and 80 in accordance with the movement of the movable bodies 60 and 80 adjacent to the distal end side. As a result, the power from the drive unit 12 can be transmitted to the slider 14 quickly and efficiently via the moving bodies 40, 60, 80.

  Furthermore, according to the present embodiment, the base-side pulleys 42, 62, 82 of each moving body 40, 60, 80 and the intermediate pulleys 45, 65, 85 are stacked in a direction perpendicular to the axial direction and a plurality of moving bodies. Since they are connected to each other via rotating rods 51, 71, 91 arranged perpendicular to the direction (that is, parallel to the Y direction), various transmission mechanisms (for example, belts, pulleys) are connected to the movable body bodies 41, 61, 81 can be distributed and arranged on both sides of the 81, and each moving body 40, 60, 80 can be configured compactly.

  Furthermore, according to the present embodiment, the moving bodies 60, 80 or slider 14 adjacent to the distal end side are moved along the axial direction (Z direction) to the moving body main bodies 41, 61, 81 of the moving bodies 40, 60, 80. Since the guide rails 53, 73, 93 for guiding are attached, the moving direction of the moving bodies 60, 80 or the slider 14 can be accurately defined.

(Configuration of molding equipment)
Next, an embodiment of a molding apparatus equipped with such a robot 10, such as a plastic injection molding machine or a metal die casting machine, will be described with reference to FIG. FIG. 7 is a schematic view showing the entire molding apparatus according to the present embodiment. Needless to say, the application of the robot 10 shown in FIGS. 1 to 6 is not limited to this.

  As shown in FIG. 7, a molding apparatus 100 such as a plastic injection molding machine or a metal die casting machine is provided on the apparatus main body 101 and the mold 102 that can be opened and closed for molding a molded product M. And. Among these, the mold 102 has a fixed die 103 attached to the fixed die plate 105 and a movable die 104 attached to the movable die plate 106 and movable in a direction to be in contact with and away from the fixed die 103. . An injection unit 107 that injects molten resin into the mold 102 is provided on the apparatus main body 101.

  In FIG. 7, the robot 10 shown in FIGS. 1 to 6 is fixed on the apparatus main body 101. In the robot 10, a hand 19 for taking out the molded product M from the mold 102 is attached to the end effector attachment surface 13 of the slider 14.

  In this case, when the injection mold is completed and the movable die 104 moves with respect to the fixed die 103 to open the mold 102, the telescopic arm 20 of the robot 10 extends from the retracted position (FIG. 2). Extend to position (Figure 1). At this time, the slider 14 of the robot 10 enters between the movable die 104 and the fixed die 103, and the hand 19 attached to the slider 14 grips the molded product M, so that the molded product M is removed from the movable die 104. It is taken out. Next, the telescopic arm 20 of the robot 10 is retracted from the extended position (FIG. 1) to the retracted position (FIG. 2), and then the molded product M is released from the hand 19 and discharged out of the molding apparatus 100.

  As described above, according to the present embodiment, when the telescopic arm 20 expands and contracts between the retracted position and the extended position, a large space is not required inside the molding apparatus 100. Can have a compact structure.

DESCRIPTION OF SYMBOLS 10 Robot 11 Base part 12 Drive part 13 End effector mounting surface 14 Slider 16 Ball screw 19 Hand 20 Telescopic arm 35, 55, 75 Pulley drive belt 40, 60, 80 Moving body 41, 61, 81 Moving body main body 42, 62, 82 Base end side pulley 45, 65, 85 Intermediate pulley 46, 66, 86 Tip side pulley 47, 67, 87 Transmission belt 48, 68, 88 Connecting member 51, 71, 91 Rotating rod 53, 73, 93 Guide rail 100 Molding Device 101 Device body 102 Mold 103 Fixed die 104 Movable die

Claims (10)

A base portion fixed to the base end side;
A drive unit provided in the base unit;
A telescopic arm that is connected to the base part and can be stretched along the axial direction by power from the drive part,
A slider provided at the tip of the telescopic arm and having an end effector mounting surface parallel to the axial direction;
The telescopic arm is composed of a plurality of moving bodies that are interlocked with each other and advanced and retracted along the axial direction and stacked on each other in a direction perpendicular to the axial direction.
A slider characterized in that the slider moves relative to the moving body at the tip of the telescopic arm along the axial direction. Each mobile is
The body,
A base-side pulley that is rotatably provided in the main body and rotates when the main body moves;
An intermediate pulley coupled to the proximal pulley and rotating in conjunction with the proximal pulley;
A pulley on the front end that rotates in conjunction with the intermediate pulley;
A transmission belt wound between the intermediate pulley and the front pulley,
The robot according to claim 1, wherein the transmission belt is connected to a moving body or a slider adjacent to the front end side.   Each movable body has a pulley drive belt that is stretched on the main body and extends along the axial direction. The pulley drive belt moves adjacent to the distal end side as the movable body adjacent to the distal end side moves. The robot according to claim 2, wherein the pulley on the base end side of the body is rotated.   The base end side pulley and the intermediate pulley of each moving body are connected to each other via a rotating rod arranged perpendicular to the axial direction and perpendicular to the stacking direction of the plurality of moving bodies. Or the robot according to 3.   The robot according to claim 2, wherein the transmission belt is an endless belt.   The robot according to any one of claims 2 to 5, wherein the pulley driving belt is composed of an endless belt, and both ends thereof are fixed to the main body.   The robot according to any one of claims 2 to 6, wherein a guide member that guides a moving body or a slider adjacent to the distal end side along an axial direction is attached to a main body of each moving body.   The robot according to any one of claims 1 to 7, wherein a linear motion device that transmits power from the drive unit to the most proximal moving body is provided inside the base unit. The device body;
An openable and closable mold for molding a molded product provided on the apparatus body;
A robot according to any one of claims 1 to 8, which is fixed on the apparatus body,
A molding apparatus comprising a hand attached to an end effector mounting surface of a slider of a robot and for taking out a molded product from a mold. The mold has a fixed die and a movable die movable with respect to the fixed die,
10. The molding apparatus according to claim 9, wherein when the mold is opened by moving the movable die with respect to the fixed die, the slider of the robot enters between the movable die and the fixed die.

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