An injection molding system includes: an injection molding machine; a collaborative robot installed outside or inside the injection molding machine; and a control unit that controls the collaborative robot. Before the injection molding machine is brought into operation, the control unit operates the collaborative robot at least in a space inside the injection molding machine where molds are installed, and transmits an operation disable signal to the injection molding machine when contact between an object and the collaborative robot or a hand attached to an end of the collaborative robot is detected.

An injection molding system includes: an injection molding machine; an inspection device including a first placement unit, a second placement unit, an inspection unit, and a moving unit configured to change a relative position between the first placement unit and the inspection unit and a relative position between the second placement unit and the inspection unit; a third placement unit; a robot configured to convey the molded object; and a control device. The control device controls the injection molding machine, the robot, and the inspection device so as to mold a first molded object during a first molding period, inspect the first molded object placed on the first placement unit during a first inspection period, convey the first molded object after inspection from the first placement unit to the third placement unit during a first conveyance period, mold a second molded object during a second molding period, inspect the second molded object placed on the second placement unit during a second inspection period, convey the second molded object after inspection from the second placement unit to the third placement unit during a second conveyance period, and overlap the first inspection period and the second molding period and overlap the second inspection period and the first conveyance period.

Manufacturing a molded part using one injection molding machine while changing between multiple molds includes performing, at a molding operation position in the injection molding machine, clamping, injection, and dwelling of a mold, conveying the mold from the molding operation position and performing a process of cooling the mold at a position different from the molding operation position, conveying the mold to the molding operation position, opening the mold, and ejecting a molded part from the mold, wherein, before performing the first step for a first mold, a molded part previously ejected from a second mold is placed into the first mold that has been opened.

There is provided a teaching method for a system for taking out a molded product. A projected image obtained by projecting an attachment mounted to an elevating frame onto a virtual plane, or a maximum-dimension virtual projected image of the projected image, is displayed as is superposed on the virtual plane, the virtual plane including a captured image of an opening end surface of a die that is opened, the captured image being captured by a single imaging device, before the attachment is advanced into the die. The range of the die that is opened in which the attachment is to be lowered is checked through visual observation.

A method of estimating a normal vector to an attachment mounted to an approach frame of an apparatus for taking out a molded product and a normal vector to a die mounted to a molding machine is provided. A normal vector to a take-out head is estimated through computation using a coordinate/depth determination section and a normal vector computation section on the basis of depth data or coordinate data on three mounting members. Three or more extending portions are specified from the image, the extending portions being each a part of a fixed die or a movable die or a part of a surrounding component and extending in a direction that coincides with the open direction for the dies. A normal vector to the die is estimated through computation on the basis of the depth data or coordinate data on the specified extending portions.

The three-dimensional geometry of an attachment is measured before work is started. A maximum dimension of a take-out head 60 in the X direction, a maximum dimension of the take-out head 60 in the Y direction, and a maximum dimension of the take-out head 60 in the Z direction are measured on the basis of an image of the take-out head 60 captured by at least imaging devices C11 and C12 before the take-out head 60 starts work with the take-out head 60 being mounted to an elevating frame 59B of an apparatus 5 for taking out a molded product, as an orthogonal three-axis robot.

A dialyzer housing manufacturing system includes a molding device configured to mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded. The tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.

An image display device displays an image such that a pair of reference symmetric structure portions, e.g. a pair of guide pins, are included in a captured image displayed on a display section, the pair of reference symmetric structure portions being located symmetrically with respect to a second virtual plane which extends in the opening direction and the vertical direction and includes a virtual center line of the molding apparatus which extends in the opening direction. A teaching execution section is used to determine the lateral position of an approach frame in the take-out operation by changing the position of the approach frame such that the center of an imaging range is located at a middle position between the pair of reference symmetric structure portions included in the captured image.

An injection molding system includes: an injection molding machine where a shaping mold is installed; a material supply device supplying a material to the injection molding machine; a temperature controller controlling a temperature of the shaping mold; a dryer drying a material stored in the material supply device; a controller controlling the injection molding machine; and a casing. The injection molding machine, the material supply device, the temperature controller, the dryer, and the controller are provided inside the casing. The casing has a caster and is configured to be movable.

An image display device displays an image such that a pair of reference symmetric structure portions, e.g. a pair of guide pins, are included in a captured image displayed on a display section, the pair of reference symmetric structure portions being located symmetrically with respect to a second virtual plane which extends in the opening direction and the vertical direction and includes a virtual center line of the molding apparatus which extends in the opening direction. A teaching execution section is used to determine the lateral position of an approach frame in the take-out operation by changing the position of the approach frame such that the center of an imaging range is located at a middle position between the pair of reference symmetric structure portions included in the captured image.