JP3205820B2 - Unit casting machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a unit type casting machine in which a plurality of machine tools are arranged in a box.

[0002]

2. Description of the Related Art In a foundry, after casting, operations such as removing core sand from a product and cutting a gate are performed. These operations have been performed using a work machine installed on the floor of a factory. Incidentally, in this type of foundry, the installation position of the working machine may be changed in order to change the layout in the factory. In changing the installation position of the work machine, each work machine was once removed from the floor and moved to a new installation place. That is, all of the work machines whose arrangement is to be changed are moved each time.

[0003]

However, when the installation positions of the working machines are changed as described above, moving each working machine individually has a problem that the moving operation becomes extremely complicated. In addition, when work is performed using a robot, it is necessary to readjust the positional relationship between the robot and another work machine after the movement, which makes the movement work much more difficult.

The present invention has been made to solve such a problem, and an object of the present invention is to make it possible to easily move a work machine.

[0005]

SUMMARY OF THE INVENTION According to the present invention, there is provided a unit-type cast machining apparatus comprising: a plurality of working machines fixed in a box having a floor, a side surface, and a ceiling;
A unit-type casting machine provided movably with respect to a floor on which the box is placed, wherein the work machine is a vertical articulated robot, and the box is provided around the vertical articulated robot. A sand remover and a sluice cutting device arranged along the inner wall of the body and working in cooperation with the robot, wherein the sand remover includes a hitting device and a sand located below the hitting device. A hopper for collecting, wherein the sluice cutting device is a sluice cutting machine, and a press which is located below the sluice cutting machine and collects solidified feeder generated by cutting the sluice by the sprue cutting machine. An opening through which the arm of the vertical articulated robot can enter and exit is formed by a sand hopper for collecting sand and sand, and on the side walls of the box located on both sides of the sand removing device and the sprue cutting device. Each Provided with, it is provided with a closable lid for covering the opening.

[0006]

When changing the layout in a factory, a plurality of working machines are moved at once by moving the box to a new installation location.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to FIGS. FIG. 1 is a plan sectional view of a unit-type casting machine according to the present invention, FIG. 2 is a sectional view taken along line II-II of the box in FIG. 1, FIG. 3 is a sectional view taken along line III-III in FIG. FIG. 4 is a sectional view taken along line IV-IV in FIG. 1.

FIG. 5 is a view taken in the direction of the arrow A in FIG. 1, and FIG. 6 is an enlarged view showing a robot hand portion of the robot. FIG. 5 shows a state in which the work chuck portion is elastically supported. FIG.
Is an enlarged view of a robot hand portion of the robot, and shows a state where the work chuck portion side is rigidly supported.

In this embodiment, a robot for gripping a casting (hereinafter simply referred to as a work) and various working machines (slipper, sprue cutter, and roughing device) which work in cooperation with the robot. Are stored in the same box.

In FIG. 1 to FIG. 7, reference numeral 1 denotes a tumbling and cutting cabinet as a unit type casting machine according to the present invention. The cabinet 1 for removing sand from the mold is used for processing after removing the intake manifold of the engine from the mold. The robot 3 for holding a workpiece, the sand removing device 4, the pouring gate cutting device 5, The deburring device 6 is arranged.

The box body 2 is formed in a substantially cubic shape by a floor plate 7, a side plate 8 and a ceiling plate 9 each formed in a flat plate shape, and is formed on a factory floor surface by legs 10 projecting downward from the floor plate 7. 11 and is fixed. That is,
The box 2 is provided with a space S between the floor plate 7 and the factory floor 11. The box 2 is fixed to the factory floor 11 by removing fixing members such as bolts (not shown) for fixing the lower ends of the legs 10 to the factory floor 11.
The box 2 is configured to be movable with respect to the factory floor 11.

Further, of the four side plates 8, 8 # of the box body 2, two opposite side plates 8, 8 are provided with a work carry-in port 12 and a work carry-out port 13. These openings are configured to be opened and closed by an automatic door indicated by reference numeral 14. Further, an inspection door 15 for inspecting a working machine or the like in the box 2 is provided on the side plate 8 in which the work carry-out port 13 is formed. Reference numeral 16 denotes a stair that rises to allow the inspector to open the inspection door 15.

The work holding robot 3 is a vertical articulated robot. The robot 3 has a base 17 fixed on the floor plate 7 of the box body 2 and rotates on the base 17 around a vertical axis. A robot body 1 that is movably connected to the robot body 18 so as to be movable in the horizontal direction.
9 are attached. The robot 3 has a structure capable of moving the work W within a range indicated by a chain line B in FIGS. Further, the fixed position of the robot 3 depends on the weight of the working machine other than the robot 3 (such as the sand removing device 4, the sluice cutting device 5, and the roughing device 6) and the various auxiliary equipment described later. Is set at a position to offset the center of gravity of the floor from being shifted from the center of the floor surface. In the embodiment, it is located substantially at the center in the up-down direction in FIG. 1 and slightly to the left of the center position of the box 2 (on the opposite side of the center of the box to the sluice cutting device 5). In this embodiment, the workpiece W is an intake manifold of a cast engine.

The robot hand 19 is shown in FIGS.
As shown in FIG. 5, the hand base 19a is detachably attached to the automatic tool changing device 20 at the tip of the robot main body 18, and is attached to the hand base 19a via an elastic body 19b such as rubber. And a work gripping part 19c connected to the work. That is,
The robot hand 19 can be replaced according to the type of the work W by removing the hand base 19a from the automatic tool changer 20.

A lock mechanism 21 for selectively and rigidly connecting the hand base 19a and the work holding portion 19c is attached to the hand base 19a. The lock mechanism 21 has a structure in which a lock pin 21b is fitted into or pulled out of a pin hole 21c of a work holding portion 19c by a lock pin moving control motor 21a fixed to a hand base 19a. That is, as shown in FIG. 6, when the lock pin 21b is pulled out from the pin hole 21c, the work base 19a is attached to the hand base 19a.
c is connected via an elastic body 19b and is supported in a so-called floating manner. When the lock pin 21b is fitted in the pin hole 21c as shown in FIG. 7, the work grip 19c is rigidly supported by the hand base 19a, and both are locked.

As described above, the work holding portion 19c
Is locked to the hand base 19a as shown in FIG.
As shown in the figure, the work W is positioned below the robot hand 19, and the elastic body 19 is moved by the weight of the work W.
b to reduce the bending of the lock pin 21b and the pin hole 21c.
And the lock pin 21b is securely fitted into the pin hole 21c.

The sand removing device 4 removes sand from a work W which is a casting. As shown in FIGS. 1 and 3, the side plate 8 of the box 2 (the side plate 8 located on the right side in FIG. 1). And a sand collecting hopper 4b located below the hitting device 4a. The hitting device 4a has a structure in which compressed air is sent into an air cylinder to reciprocate a hammer. That is, as shown in FIG. 3, by pressing the workpiece W against the hitting device 4 a by the robot 3,
Vibration is applied to the work W, and the sand of the work W can be shaken off. Further, the hopper 4b has a structure in which sand falling from above is discharged below the floor plate 7. A sand recovery conveyor 22 is disposed in a space S between the floor plate 7 and the factory floor 11 below the sand discharge port 4c of the hopper 4b. The sand collecting conveyor 22 constitutes a first conveyor according to the invention described in claim 6.

The gate cutting device 5 cuts the gate of the work W. The gate cutting device 23 is disposed adjacent to the sand removing device 4 and the gate cutting device 23 cuts the gate. A hopper 24 for collecting hot water and sand for collecting generated chips and solidified hot water. The sluice cutting machine 23 has a structure in which the disc-shaped cutter 23a is rotated around a vertical axis. As shown in FIG. 4, the sprue cutter 23 cuts the sprue of the work W by moving the work W from above with respect to the disc-shaped cutter 23a by the robot 3. In this case, the cut gate is scattered obliquely downward, so that the collection is easy.

The hopper 24 is covered with a scoop member 24b above the collecting portion 24a. Collection unit 24a
Has a structure in which swarf falling from above is discharged below the floor plate 7 through the swarf discharge port 24c, and is guided to the swarf collection conveyor 25 located in the space S between the floor plate 7 and the factory floor surface 11. Has become. The slope member 24b is inclined so as to be gradually lowered toward the lower side in FIG.
The lowest part is located above the feeder recovery conveyor 26. The feeder recovery conveyor 26 is also installed in the space S between the floor plate 11 and the factory floor 11.
The above-mentioned chip recovery conveyor 25 and feeder recovery conveyor 26
Constitutes a second conveyor according to the invention described in claim 6.

That is, according to the sprue cutting device 5,
Relatively small-diameter chips generated when the gate of the work W is cut by the disc-shaped cutter 23a fall through a gap formed in the slender member 24b to a collecting portion 24a located thereunder. It is discharged from the section 24a to the chip recovery conveyor 25 through the chip discharge port 24c. Further, the sprue cut from the work W is moved downward in FIG. 1 so as to roll on the slender member 24b, and falls from the end of the lowest part to the feeder collecting conveyor 26, and the conveyer 26 Is discharged.

The deburring device 6 roughly removes burrs generated on the parting line of the workpiece W. As shown in FIG. 1 and FIG.
And on the same side as the sluice cutting device 5 and at the upper corner in the box 2. The roughing device 6 is constituted by a striking device that reciprocates a hammer by sending compressed air into an air cylinder. That is, by pressing the workpiece W against the rough removal device 6 by the robot 3, the burr can be substantially removed. The removed burrs are rolled on the slender members 24b of the hopper 24 to form the feeder collecting conveyor 26.
And is discharged by this conveyor 26.

In FIG. 1, the reference numeral 27 designates a temporary hand rest for placing the robot hand 19 of the robot 3. Three hand placement tables 27 are provided near the work carry-in port 12 and two are provided near the work carry-out port 13. Reference numeral 28 provided in the vicinity of the work entrance 12 is a work table for temporarily placing the work W when the work W is dropped into the cutting cabinet 1 or taken out. is there. The work table 28 is supported and fixed to the outside of the box 2.

Reference numeral 29 denotes a control device for controlling the operations of the robot 3, the sand removing device 4, the sluice cutting device 5, and the roughing device 6 disposed in the box 2. The control device 28 is mounted and fixed on an extension 7 a extending laterally from the side plate 8 of the floor plate 7 where the work entrance 12 is open. That is, the control device 28 is disposed outside the box 2 and in the area occupied by the sand-cutting cabinet 1.

Next, the operation of the cabinet for cutting and cutting sand 1 configured as described above will be described. The workpiece W cast in the previous step is carried into the box 2 by the robot 3. At this time, as shown by a two-dot chain line C in FIG. 1, the robot hand 19 is made to protrude from the work carry-in port 12 to the outside of the box to hold the work W. Here, after the work W is gripped by the robot 3, the robot 3 holds the work W until all the work in the sand dropping and cutting cabinet 1 is completed.
Continue to grip.

After the work W is carried into the box 2, first, the work W is pressed against the sand removal device 4 by the robot 3 as shown in FIG. At this time, robot 3
The operation is performed with the robot hand 19 in the floating support state shown in FIG. That is, the vibration by the impact device 4a is not transmitted to the robot 3 side. After the sand is shaken off by the sand dropping device 4, the robot 3 moves the work W to the sluice cutting device 5 as shown by a solid line in FIG. When the gate is cut, the robot hand 19 is locked as shown in FIG. By doing so, the work W can be rigidly supported, so that the cutting position does not shift, and the feeder cutting operation can be performed accurately. When shifting from the floating support state to the lock state in this way, as shown in FIG.
The work W is positioned below the robot hand 19, and the lock pin 21b is fitted into the pin hole 21c in a state where the bending of the elastic body 19b due to the weight of the work W is reduced.

After the gate is cut by the gate cutting device 5, the robot 3 moves the work W to the roughing device 6 as shown by a two-dot chain line D in FIG. When performing this deburring work, the robot hand 1
9 is set in a floating support state so that vibration is not transmitted to the robot 3 side.

After the work in the rough removal device 6 is completed, the robot 3 causes the robot hand 19 to protrude out of the box from the work outlet 13 as shown by a solid line or a two-dot chain line E in FIG. Then, the work W is carried out to a cabinet (not shown) of the next process. The cabinet for the next process is a finishing cabinet for finishing the work W.

Therefore, when the layout in the factory is changed, the cabinet 2 is moved to a new installation location to change the robot 3, the sand remover 4, A plurality of working machines such as the sluice cutting device 5 and the deburring device 6 move at a time.

When moving the box 2, the legs 10 are removed from the factory floor 11, and the box 2 is caught by a crane (not shown) or the like. At this time, since the center of gravity of the box 2 is positioned substantially at the center of the floor surface due to the fixed position of the robot 3, it is possible to fish while keeping the box 2 in a substantially horizontal state. At the time of fishing, by changing the posture of the robot 3, the weight of the robot body 18 can be used to balance the box.

Further, since the control device 29 is arranged outside the box 2 and in the area occupied by the sand-cutting cabinet 1, the control device 29 moves together with the box 2 when the box 2 is moved. That is, when the control device is moved separately from the box body 2, the control device may be accidentally knocked down or dropped and may be damaged. It can be moved while stabilizing, and the control device can be prevented from being damaged.

In addition, in order to combine the above-mentioned tumbling and cutting cabinet 1 with a finishing cabinet, it is configured as shown in FIG. 8 and FIG. FIG. 8 is a plan cross-sectional view showing a layout example in which a finishing cabinet is combined with a sanding-cutting cabinet, and FIG. 9 is a plan cross-sectional view showing a layout example in which a plurality of sanding-cutting cabinets are provided and one finishing cabinet is connected thereto. It is. In these figures, the same or equivalent members as those described in FIGS. 1 to 7 are denoted by the same reference numerals, and detailed description is omitted.

In these figures, reference numeral 31 denotes a finishing cabinet, and this finishing cabinet 31 is also constructed by arranging a plurality of working machines in a box body 2 similarly to the above-mentioned sand-dropping and cutting cabinet 1. In contrast, it is movable. And this finishing cabinet 31
The finishing cabinet 3 is attached to the side plate 8 in which the work carry-out port 13 of the sanding and cutting cabinet 1 is formed.
The first side plate 8 is connected to the tumbling and cutting cabinet 1 such that the side plates 8 are in contact with each other. In addition, both cabinets 1,
A detachable connecting member (not shown) is provided at a portion where the side plates 8 are connected to each other.
Are integrally connected.

The work machines provided in the finishing cabinet 31 include four work tables 32 to 35 for holding the work W sent from the tumbling and cutting cabinet 1 and work held on these work tables 32 to 35. And a finishing robot 36 for performing the finishing processing of W. The work table 3
2 to 35 are robots 3 of the dropping and cutting cabinet 1
Thus, chucking is performed when the work W is placed on the work tables 32 to 35, and the chucking state is maintained until finishing work by the finishing robot 36 described later is completed.

Each of the work tables 32 to 35 has a structure for holding a different type of work W. That is, four types of workpieces W can be chucked and finish-processed.

The finishing robot 36 has a work finishing tool mounted at the end thereof, and the work table 32 to 3
The workpiece W chucked at 5 is finished by completely removing burrs. This finishing robot 36
Has a structure in which the tool at the tip can be moved within a range indicated by a dashed-dotted line F in FIG.

In the example shown in FIG. 9, two drop-off cabinets 1 are arranged so that the work carry-out port 13 is directed in the same direction, and a finishing cabinet 31 is connected so as to straddle these drop-off cabinets 1. I have. Each work machine in the box 2 is arranged so that the both drop-off cutting cabinet 1 is line-symmetric with respect to a center line indicated by a dashed line G in FIG. It is formed so as to be positioned closer to G. That is, in this case, since the work areas of the robots 3 of both the sand-dropping and cutting cabinets 1 are close to each other,
The finishing robot 36 of the finishing cabinet 31 can perform an operation on the workpiece W sent by 3.

The work tables 32 to 35 of the finishing cabinet 31 shown in FIG. 9 are such that the left two (work tables 32, 33) in FIG. The workpiece W is transported from the cabinet 2 on the right side (the work tables 34 and 35) from the sand dropping and cutting cabinet 1 on the right side.
The two work tables to which the work W is conveyed from the same tumbling and cutting cabinet 1 are configured to hold works W having different shapes. The work table 32 and the work table 34 hold a work W having the same shape, and the work table 33 and the work table 35 have a structure that holds a work W having a different shape from the work W.
That is, the works W having the same shape are carried into the both-dropping-cutting cabinets 1 and 1 and the finishing cabinets 3 are respectively loaded.
1, the work W at that time is moved to the work table 32,
34, the work tables 32, 34
Transported to When the work W corresponds to the work tables 33 and 35, the work W is transported to the work tables 33 and 35. Therefore, if the layout shown in FIG. 9 is adopted, two types of workpieces W can be processed. In addition,
In processing the two types of workpieces W, workpieces W having different shapes can be sent to each of the sanding and cutting cabinets 1 and 1. In this case, the shapes of the left two (work tables 32, 33) and the right two (work tables 34, 35) of the four work tables 32-35 are different.

In FIG. 9, reference numeral 37 denotes a work carry-in table for temporarily holding the work W when the work W after casting is carried into the sand-dropping and cutting cabinet 1, and 38 denotes a work W after finishing processing from the sand-dropping and cutting cabinet 1. Is a work carrying table for temporarily holding the work W when carrying out the work.

That is, in the layout example shown in FIG. 9, the two types of intake manifolds can perform from sand removal to finishing, and are sent from the sand removal cutting cabinet 1 to the finishing cabinet 31 for finishing. The workpiece W is removed from the finishing cabinet 31 by the robot 3 again, and
And is carried out to the work carrying table 38 from there.

Since the cycle time of the finishing cabinet 31 is not more than 1/2 of the cycle time of the sanding and cutting cabinet 1, only one finishing cabinet 31 is required for two sanding and cutting cabinets 1 and 1. .

Therefore, as shown in FIG. 8 and FIG. 9, even when a plurality of unit-type casting machines are arranged,
Each work machine can be moved at a time by moving each box 2 after removing the connecting member connecting the two cabinets 1 and 31 to each other.

In each of the above embodiments, the box 2 is mounted on the factory floor 11 by the legs 10 and various conveyors are arranged in the space S between the box 2 and the factory floor 11. Although shown, the box 2 may be directly mounted on the factory floor 11 as shown in FIG.

FIG. 10 is a side sectional view showing another embodiment in which the box body is directly mounted on the factory floor. In FIG. 10, the same or equivalent members as those described with reference to FIGS. The same reference numerals are given and detailed description is omitted. In FIG. 10, reference numeral 41 denotes a pit formed on the floor of a factory. The pit 41 is formed in a groove shape opening upward,
Various conveyers (in FIG. 10, feeder recovery conveyors 26 corresponding to the cross-sectional positions are illustrated) are arranged. The box 2 is placed directly on the factory floor 11 so as to straddle the upper opening of the pit 41.

Even if the configuration is as shown in FIG.
9 to obtain the same effects as those of the embodiment shown in FIG.

[0045]

As described above, in the unit-type casting machine according to the present invention, a plurality of working machines are fixed in a box body having a floor surface, a side surface and a ceiling surface, and the box body is attached to the box body. A unit-type casting machine provided movably with respect to a floor on which a body is placed, wherein the working machine is
A vertical articulated robot, comprising a sand remover and a sprue cutter arranged around the vertical articulated robot and along the inner wall of the box and working in cooperation with the robot; A sand dropping device is constituted by a hitting device and a sand collecting hopper located below the hitting device, wherein the sprue cutting device is a sprue cutting machine and a sprue cutting device located below the sprue cutting machine. And a box located on both sides of the box body with the sand removing device and the gate cutting device interposed therebetween. The body side wall is provided with an opening through which the arm of the vertical articulated robot can enter and exit, and an openable / closable lid that covers this opening is provided. It is only necessary to move each place the body, it is not necessary to move the individual work machine individually.
Therefore, the layout change operation can be easily performed.

When the robot is fixed to the box,
The robot and the other working machine can be moved at the same time, so that the positional relationship between the robot and the other working machine does not change with the movement. For this reason, the readjustment work accompanying the movement becomes unnecessary.

Further, since the working machine is disposed in the box, it is possible to suppress transmission of noise generated from the working machine to the outside, which is advantageous not only for noise countermeasures but also for removing sand and cutting powder. It can be prevented from flying into the factory.

[Brief description of the drawings]

FIG. 1 is a plan sectional view of a unit-type casting machine according to the present invention.

FIG. 2 is a cross-sectional view of the box in FIG. 1 taken along the line II-II.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

FIG. 5 is a view taken in the direction of arrow A in FIG. 1;

FIG. 6 is an enlarged view of a robot hand portion of the robot, and shows a state in which a work chuck portion side is elastically supported.

FIG. 7 is an enlarged view showing a robot hand portion of the robot, and shows a state in which a work chuck portion side is rigidly supported.

FIG. 8 is a plan cross-sectional view showing a layout example in which a finishing cabinet is coupled to a sanding-cutting cabinet.

FIG. 9 is a cross-sectional plan view showing a layout example in which a plurality of cabinets for cutting off sand are provided and one finishing cabinet is connected to these cabinets.

FIG. 10 is a side sectional view showing another embodiment in which a box is directly mounted on a factory floor.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Drop-off cutting cabinet, 2 ... Box, 3 ... Vertical articulated robot, 4 ... Drop-off device, 5 ... Gate cut device,
6 ... rough deburring device, 7 ... floor plate, 8 ... side plate, 9 ... ceiling plate, 10 ... leg, 11 ... factory floor surface, 12 ... work loading entrance,
13: Work exit, 14: Automatic door, 31: Finishing cabinet, 32: Work table, 33: Work table, 34: Work table, 35: Work table, 36: Finishing robot, S: Space, W: Work.

──────────────────────────────────────────────────続 き Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B23Q 37/00 B22D 29/00 B22D 31/00

Claims (7)

(57) [Claims] 1. A unit in which a plurality of working machines are fixed in a box having a floor surface, a side surface, and a ceiling surface, and wherein the box is provided movably with respect to a floor on which the box is mounted.
A casting machine, comprising:
Around the articulated robot and this vertical articulated robot
Arranged along the inner wall of the box and cooperates with the robot
With a sand remover and a gate cut device
The above-mentioned sand removal device comprises: a striking device; and a striking device.
And a sand collecting hopper located below the
The sprue cutting device comprises: a sprue cutting machine;
Cutting the gate by the gate cutting machine located below
For collecting the feeder sand that collects the solidified feeder generated by
And the sand remover in the box body
Box side wall located on both sides of the device and the gate cutting device
The arm through which the arm of the vertical articulated robot can enter and exit.
Opening and closing to cover each opening and to provide each mouth
Unit type casting machine characterized by providing a free lid
Device . 2. A unit-type casting machine according to claim 1.
In the installation, the vertical articulated robot is provided with a work holding device for gripping a work made of a casting, and a sand removing device and a sprue cutting device arranged around the robot are gripped by the robot. A unit type casting machine, wherein a work is to be processed . 3. The unit-type casting machine tool according to claim 1.
In particular, the impact device was fixed to the side plate of the box.
Unit type casting machine. 4. A unitary casting machine tool according to claim 1.
In location, articulated robot other than the working machine weight by the box body center of gravity unitary casting machine tool, characterized in that a articulated robot in a position to offset from deviating from the center of the floor . 5. A unitary casting machine tool according to claim 1.
In location, unitary casting machine tool being characterized in that provided box integrally with the outer portion of the box body control device for controlling the articulated robot and the work machine. 6. A unit-type casting machine tool according to claim 1.
In location, provided the legs extending downward in the box, the space between the box body and the box mounting surface provided below the sand trapping e Tsu Pas
And placing the first conveyor below the floor of the box,
The sand of the sand collecting hopper passes through the floor on the first conveyor
And the hot sand for collecting hot sand.
Front the second conveyor below the box and below the floor of the box
The second conveyor is arranged in parallel with the first conveyor.
The feeder of the feeder sand collecting hopper is guided through the floor
Outside the first and second conveyors.
A unit characterized by forming an opening of a box on the side
Type casting machine. 7. The unitary casting machine tool according to claim 1.
At the position outside the gate cut device.
The side surface of the box provided with the mouth is a flat surface, and this flat surface is
On the flat side of a box housing another vertical articulated robot
Unit type casting machined equipment characterized by being opposed to each other
Place .