Patent Publication Number: US-2023134832-A1

Title: Injection Molding System

Description:
The present application is based on, and claims priority from JP Application Serial Number 2021-177122, filed Oct. 29, 2021, the disclosure of which is hereby incorporated by reference herein in its entirety. 
     BACKGROUND 
     1 Technical Field 
     The present disclosure relates to an injection molding system. 
     2 Related Art 
     JP-A 2021-014049 discloses an injection molding system in which a molten resin is injected into a mold in a state in which an insert part is disposed in the mold, thereby integrating the insert part and the resin. In this injection molding system, an insert part is fitted into a component holding portion provided in a mold by a holding member provided at a tip end portion of a robot arm, and a state in which the insert part is fitted into the component holding portion is maintained by using the holding member to hold the insert part even after an operation of closing the mold is started, and positioning accuracy of the insert part with respect to the mold is ensured by retracting the holding member from between the molds before the mold closing operation is completed. 
     In the technology of Japanese Unexamined Patent Publication No. 2021-014049 described above, the configuration for ensuring the positioning accuracy of the insert part with respect to the mold is complicated. Therefore, a technique capable of easily securing the positioning accuracy of an insert part with respect to a mold is desired. 
     SUMMARY 
     In accordance with one aspect of the present disclosure, an injection molding system is provided. The injection molding system includes a first unit that has a first injection molding machine configured to inject a first molding material into a first cavity partitioned by a first fixed mold and a movable mold, a second unit that includes a second injection molding machine configured to inject a second molding material into a second cavity partitioned by a second fixed mold and the movable mold, and a movement mechanism configured to, after the first molding material is injected into the first cavity, move the movable mold filled with the first molding material from the first injection molding machine to the second injection molding machine. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a front view showing schematic configuration of an injection molding system according to a first embodiment. 
         FIG.  2    is a plan view showing schematic configuration of the injection molding system according to the first embodiment. 
         FIG.  3    is an explanatory view showing schematic configuration of a first injection device according to the first embodiment. 
         FIG.  4    is a perspective view showing schematic configuration of a flat screw. 
         FIG.  5    is a plan view showing schematic configuration of a barrel. 
         FIG.  6    is an explanatory view showing schematic configuration of a second injection device according to the first embodiment. 
         FIG.  7    is a cross-sectional view showing configuration of a second nozzle according to the first embodiment. 
         FIG.  8    is a first explanatory view showing a state of insert molding by the injection molding system. 
         FIG.  9    is a second explanatory view showing a state of insert molding by the injection molding system. 
         FIG.  10    is an explanatory view showing schematic configuration of a first injection molding machine according to a second embodiment. 
         FIG.  11    is an explanatory view showing schematic configuration of a second injection molding machine according to the second embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     A First Embodiment 
       FIG.  1    is a front view showing schematic configuration of an injection molding system  10  according to a first embodiment.  FIG.  2    is a plan view showing schematic configuration of the injection molding system  10  according to the first embodiment. In  FIGS.  1  and  2   , arrows along X, Y, and Z directions orthogonal to each other are shown. The X, Y, and Z directions are directions along the X-axis, the Y-axis, and the Z-axis, which are three spatial axes orthogonal to each other, and each direction includes both the direction along one side of the X-axis, the Y-axis, and the Z-axis and the opposite side. The X-axis and the Y-axis are axes along a horizontal plane, and the Z-axis is an axis along a vertical line. The -Z direction is a vertical direction, and the +Z direction is a direction opposite to the vertical direction. The -Z direction is also referred to as “down”, and the +Z direction is also referred to as “up”. In the other drawings, arrows along the X, Y, and Z directions are shown as appropriate. The X, Y, and Z directions in  FIGS.  1  and  2    and the X, Y, and Z directions in other drawings represent the same directions. 
     As shown in  FIG.  1   , the injection molding system  10  includes a first unit  100 , a second unit  200 , a third unit  300 , and a fourth unit  400 . In the present embodiment, the first unit  100 , the third unit  300 , the second unit  200 , and the fourth unit  400  are arranged side by side in this order from the +Y direction toward the -Y direction. As shown in  FIG.  2   , the injection molding system  10  further includes a control unit  500 . In the present embodiment, the control unit  500  is disposed in the +X direction with respect to the first unit  100 . 
     As shown in  FIG.  1   , in the present embodiment, each of the units  100 ,  200 ,  300 , and  400  includes a box-like housing, and is configured as one unit by aggregating one or a plurality of devices, members, and the like inside the housing. In the following description, a housing  101  of the first unit  100  may be referred to as a first housing  101 , a housing  201  of the second unit  200  may be referred to as a second housing  201 , a housing  301  of the third unit  300  may be referred to as a third housing  301 , and a housing  401  of the fourth unit  400  may be referred to as a fourth housing  401 . Each of the housings  101 ,  201 ,  301 , and  401  includes a base and a cover that covers an upper surface of the base.  FIG.  2    shows each of the units  100 ,  200 ,  300 , and  400  with the cover of each of the housings  101 ,  201 ,  301 , and  401  removed. Note that, in another embodiment, each of the units  100 ,  200 ,  300 , and  400  may be configured as one unit by aggregating one or a plurality of devices, members, or the like on a base, for example. 
     As shown in  FIG.  2   , in the present embodiment, each of the units  100 ,  200 ,  300 , and  400  is detachably coupled to another adjacent unit. Specifically, a plate-shaped member  91  bridged between the first unit  100  and the third unit  300  is fastened to both units  100 ,  300  with bolts, so that the third unit  300  is coupled to the first unit  100 . A plate-shaped member  91  bridged between the third unit  300  and the second unit  200  is fastened to both units  200 ,  300  with bolts, so that the second unit  200  is coupled to the third unit  300 . A plate-shaped member  91  bridged between the second unit  200  and the fourth unit  400  is fastened to both units  200 ,  400  with bolts, so that the fourth unit  400  is coupled to the second unit  200 . The coupling means between each of the units  100 ,  200 ,  300 , and  400  is not limited to means using the plate-shaped members  91  and bolts, but may also be the means using, for example, clamps or the like. In addition, the arrangement of the units  100 ,  200 ,  300 , and  400  can be arbitrarily changed by releasing the coupling with other adjacent units. For example, the first unit  100  and the second unit  200  may be disposed adjacent to each other. In this case, both units  100 ,  200  may be detachably coupled by a plate-shaped member  91  and bolts. 
     As shown in  FIG.  1   , wheels  98  are attached to the bottom surfaces of each housing  101 ,  201 ,  301 , and  401  of the units  100 ,  200 ,  300 , and  400 . Each of the units  100 ,  200 ,  300 , and  400  can be moved independently by the wheels  98  when not coupled to other units . A bolt-type stopper  99  is provided near each wheel  98 . Each of the units  100 ,  200 ,  300 , and  400  can be fixed at an installation place by the stoppers  99 . 
     As shown in  FIG.  2   , the control unit  500  includes a controller  505 . In the present embodiment, the controller  505  is disposed inside a box-like electrical box  501 . The controller  505  is coupled to the units  100 ,  200 ,  300 , and  400  by a cable  509 . The controller  505  controls various devices provided in each of the units  100 ,  200 ,  300 , and  400 . In the present embodiment, the controller  505  is configured by a programmable logic controller (PLC). The controller  505  is programmed in a language such as a ladder language to control cooperative operations of various devices provided in the units  100 ,  200 ,  300 , and  400 . Although not shown in the drawings, the wheels  98  and the stoppers  99  are also provided on the bottom surface of the electrical box  501  in the same manner as the housings  101 ,  201 ,  301 , and  401 . Further, the arrangement of the control unit  500  with respect to each of the units  100 ,  200 ,  300 , and  400  can be arbitrarily changed. For example, the control unit  500  may be disposed in the +Y direction with respect to the first unit  100  instead of the +X direction with respect to the first unit  100 . 
     The first unit  100  includes a first injection molding machine  105 . The first injection molding machine  105  is fixed to the first housing  101 . The first injection molding machine  105  includes a first injection device  110  and a first mold clamping device  190 . The first injection device  110  injects a first molding material. In the present embodiment, the first molding material is, for example, a thermoplastic resin such as an ABS resin or polypropylene (PP) . A specific configuration of the first injection device  110  will be described later. 
     The first mold clamping device  190  includes a first fixed plate  191 , a first movable plate  192 , a first tie bar  193 , and a first mold driving section  194 . The first fixed plate  191  is fixed to the tip end portion of the rod-shaped first tie bar  193 . The first movable plate  192  is moved along the first tie bar  193  by the first mold driving section  194 , which is configured by combining a motor, a speed reducer, and a ball screw. 
     A first fixed mold  21  is mounted on the first fixed plate  191 , and a movable mold  25  is mounted on the first movable plate  192 . The first fixed mold  21  is mounted the first fixed plate  191  by, for example, a bolt or a clamping device. The movable mold  25  is mounted on the first movable plate  192  by, for example, an electric clamping device driven under the control of the controller  505 . The movable mold  25  moves together with the first movable plate  192  and comes into contact with the first fixed mold  21 . A first cavity is formed by bringing the movable mold  25  into contact with the first fixed mold  21 . The first cavity is a space defined by the first fixed mold  21  and the movable mold  25 . The first injection molding machine  105  injects the first molding material from the first injection device  110  into the first cavity to mold the first molded article made of the first molding material. 
     The second unit  200  includes a second injection molding machine  205 . The second injection molding machine  205  is fixed to the second housing  201 . The second injection molding machine  205  includes a second injection device  210  and a second mold clamping device  290 . The second injection device  210  injects a second molding material. In this embodiment, the second molding material is a thermosetting resin. More specifically, in the present embodiment, the second molding material is a two-component type silicone rubber . A specific configuration of the second injection device  210  will be described later. 
     The second mold clamping device  290  includes a second fixed plate  291 , a second movable plate  292 , a second tie bar  293 , and a second mold driving section  294 . The second fixed plate  291  is fixed to a tip end portion of a rod-shaped second tie bar  293 . The second movable plate  292  is moved along the second tie bar  293  by the second mold driving section  294 , which is configured by combining a motor, a speed reducer, and a ball screw. 
     A second fixed mold  22  is mounted on the second fixed plate  291 , and the movable mold  25  is mounted on the second movable plate  292 . The second fixed mold  22  is mounted on the second fixed plate  291  by, for example, a bolt or a clamping device. The movable mold  25  is mounted on the second movable plate  292  by, for example, an electric clamping device driven under the control of the controller  505 . The movable mold  25  moves together with the second movable plate  292  and comes into contact with the second fixed mold  22 . When the movable mold  25  comes into contact with the second fixed mold  22 , a second cavity is formed. The second cavity is a space defined by the second fixed mold  22  and the movable mold  25 . 
     The second injection molding machine  205  injects the second molding material from the second injection device  210  into the second cavity. The movable mold  25  mounted on the second movable plate  292 , after a first molded article was formed by the first injection molding machine  105 , is transported from the first injection molding machine  105  to the second injection molding machine  205  by a movement mechanism  305  (described later.) In the present embodiment, the first molded article that was molded by the first injection molding machine  105  was no released, but remains in intimate contact with the movable mold  25  mounted on the second injection molding machine  205 . The second injection molding machine  205  performs insert molding, using the first molded article as an insert part, to form a second molded article that includes a portion made from the first molding material and a portion made from the second molding material. 
     The third unit  300  includes a movement mechanism  305 . The movement mechanism  305  is fixed to the third housing  301 . The movement mechanism  305  moves the movable mold  25  from the first injection molding machine  105  to the second injection molding machine  205 . In this embodiment, the movement mechanism  305  includes a first moving section  310 , a second moving section  320 , and a third moving section  330 . The first moving section  310  is disposed in a portion of the third housing  301  near the first unit  100 . The second moving section  320  is disposed in a central portion of the third housing  301 . The third moving section  330  is disposed in a portion of the third housing  301  near the second unit  200 . 
     The first moving section  310  moves the movable mold  25  from the first injection molding machine  105  to the second moving section  320 . In this embodiment, the first moving section  310  is formed by a robot arm. More specifically, in the present embodiment, the first moving section  310  is configured by a horizontally articulated robot. An end effector for gripping the movable mold  25  is mounted on a tip end portion of the first moving section  310 . In this embodiment, the end effector of the first moving section  310  is a gripper that nips and grips the movable mold  25 . The first moving section  310  is driven under the control of the controller  505 . In the present embodiment, a door or an opening is provided in a portion of the first housing  101  facing the third housing  301  and in a portion of the third housing  301  facing the first housing  101 , so that the first moving section  310  can access the inside of the first housing  101 . After the first moving section  310  grips the upper portion of the movable mold  25 , the fixing of the movable mold  25  by the clamping device that is provided on the first movable plate  192  is released. The first moving section  310  pulls out the movable mold  25  upward from between the first fixed mold  21  and the first movable plate  192 . The movable mold  25  is preferably provided with a handle-like portion so that the end effector can easily grasp the movable mold  25 . In another embodiment, the first moving section  310  may be configured by, for example, a vertically articulated robot instead of a horizontally articulated robot. The end effector of the first moving section  310  may be a vacuum suction pad that vacuum-sucks the movable mold  25 , instead of the gripper. 
     The second moving section  320  moves the movable mold  25  from the first moving section  310  toward the third moving section  330 . In this embodiment, the second moving section  320  includes a rail section  321 , a slide section  322 , and a slide driving section  323 . The rail section  321  is provided along the Y direction. One end of the rail section  321  is disposed in the vicinity of the first moving section  310 , and the other end of the rail section  321  is disposed in the vicinity of the third moving section  330 . The slide section  322  is configured to be movable on the rail section  321  while being guided by the rail section  321 . The movable mold  25  is placed on the upper surface of the slide section  322  by the first moving section  310 . The slide section  322  is moved on the rail section  321  by the slide driving section  323 . In this embodiment, the slide driving section  323  is constructed by combining a motor, a speed reducer, and a ball screw. The slide driving section  323  is driven under the control of the controller  505 . 
     In this embodiment, the slide section  322  includes a temperature adjustment section  325 . The temperature adjustment section  325  adjusts the temperature of the movable mold  25  disposed on the slide section  322 . In the present embodiment, the temperature adjustment section  325  is constituted by a heater and heats the movable mold  25 . The temperature adjustment section  325  is coupled to the controller  505  through, for example, a flexible cable, and the temperature of the temperature adjustment section  325  is controlled by the controller  505 . In another embodiment, the temperature adjustment section  325  may be configured to cool the movable mold  25 . In this case, the temperature adjustment section  325  may be configured by, for example, a pipe through which a refrigerant flows, or may be configured by a Peltier element. When the temperature adjustment section  325  is composed of a pipe through which a refrigerant flows, the refrigerant can be supplied to the pipe via, for example, a flexible tube. 
     The third moving section  330  moves the movable mold  25  from the second moving section  320  to the second injection molding machine  205 . In the present embodiment, the third moving section  330  is configured by a robot arm. More specifically, in this embodiment, the third moving section  330  is configured by a horizontally articulated robot. An end effector for gripping the movable mold  25  is mounted on the tip end portion of the third moving section  330 . In this embodiment, the end effector of the third moving section  330  is a gripper that nips and grips the movable mold  25 . The third moving section  330  is driven under the control of the controller  505 . In the present embodiment, a door or an opening is provided in a portion of the second housing  201  facing the third housing  301  and a portion of the third housing  301  facing the second housing  201 , so that the third moving section  330  can access the inside of the second housing  201 . The third moving section  330  inserts the movable mold  25  between the second fixed mold  22  and the second movable plate  292  from above. The movable mold  25  is fixed to the second movable plate  292  by a clamping device provided on the second movable plate  292 . In another embodiment, the third moving section  330  may be configured by, for example, a vertically articulated robot instead of a horizontally articulated robot. The end effector of the third moving section  330  may be a vacuum suction pad that vacuum-sucks the movable mold  25 , instead of the gripper. 
     In this embodiment, the fourth unit  400  includes an extractor  405 , an inspection device  406 , and a stacking mechanism  407 . The extractor  405 , the inspection device  406 , and the stacking mechanism  407  are fixed to the fourth housing  401 . The extractor  405  takes out the second molded article from between the second fixed mold  22  and the movable mold  25 . In the present embodiment, the extractor  405  is constituted by a robot arm. More specifically, in the present embodiment, the extractor  405  is configured by a horizontally articulated robot. An end effector for gripping the second molded article is mounted on a tip end portion of the extractor  405 . The end effector of the extractor  405  may be a gripper that nips and grips the second molded article, or a vacuum suction pad that grips the second molded article by vacuum suction. A configuration for gate cutting of the second molded article may be added to the end effector of the extractor  405 . For example, the end effector of the extractor  405  may be provided with a cutter for gate cutting of the second molded article. In the present embodiment, doors or openings are provided in a portion of the second housing  201  facing the fourth housing  401  and a portion of the fourth housing  401  facing the second housing  201 , so that the extractor  405  can access the inside of the second housing  201 . The extractor  405  may be configured by, for example, a vertically articulated robot instead of a horizontally articulated robot. 
     The inspection device  406  inspects the second molded article. In the present embodiment, the inspection device  406  includes a camera for capturing an image of the second molded article, and performs visual inspection of the second molded article using the image captured by the second molded article. A second molded article determined by the inspection device  406  to be a non-defective article is placed on the tray by the extractor  405 . A second molded article determined by the inspection device  406  to be a defective article is transported by the extractor  405  to a predetermined defective article rejection area. 
     The stacking mechanism  407  stacks trays for accommodating second molded articles inspected by the inspection device  406 . The stacking mechanism  407  includes a first lifting device  431  and a second lifting device  432 . The extractor  405  places the second molded article on the tray disposed on the first lifting device  431 . When a predetermined number of the second molded articles are placed on the tray, the first lifting device  431  lowers the tray. A tray arranged at the top of the second lifting device  432  is arranged on the lowered tray by being slid and moved by a slide mechanism. A plurality of trays are stacked on the second lifting device  432 , and when the uppermost tray is moved onto the first lifting device  431 , the second lifting device  432  raises up the remaining trays. When a predetermined number of trays on which the second molded articles are placed are stacked on the first lifting device  431 , the production of the second molded articles is temporarily stopped. At this time, the operator can open a door provided in the fourth housing  401 , take the trays on which the second molded articles are placed out from the fourth housing  401 , and replenish new trays on the second lifting device  432 . 
       FIG.  3    is an explanatory view showing schematic configuration of the first injection device  110 . The first injection device  110  includes a plasticization mechanism  120 , a first injection control mechanism  170 , and a first nozzle  180 . The plasticization mechanism  120  includes a screw case  121 , a flat screw  130 , a barrel  140 , a heater  150 , and a screw driving section  160 . 
     The screw case  121  and the barrel  140  are fixed to each other. The flat screw  130  is disposed in an internal space defined by the screw case  121  and the barrel  140 . The flat screw  130  is rotationally driven around a rotation axis RX by the screw driving section  160 , which is configured by combining a motor and a speed reducer. A communication hole  149 , which communicates with a first injection cylinder  171  (to be described later), is provided in the center of the barrel  140 . The heater  150  is provided in the vicinity of the communication hole  149 . 
     The internal space in which the flat screw  130  is disposed communicates with a hopper  106  shown in  FIG.  2    via a passage (not shown.) In the hopper  106 , for example, a first molding material processed in pellet form is stored. The first molding material supplied from the hopper  106  to between the flat screw  130  and the barrel  140  is plasticized by rotation of the flat screw  130  and heating by the heater  150 . Plasticization is a concept including melting, and is a change from a solid to a state having fluidity. Specifically, in the case of a material in which glass transition occurs, plasticization means that the temperature of the material becomes equal to or higher than the glass transition point. In the case of a material in which glass transition does not occur, plasticization means that the temperature of the material becomes above the melting point. Rotation of the flat screw  130  by the screw driving section  160  and heating by the heater  150  are controlled by the controller  505 . 
       FIG.  4    is a perspective view illustrating schematic configuration of the flat screw  130 . The flat screw  130  has a substantially cylindrical shape. The height of the flat screw  130  in the axial direction, which is a direction along the central axis, is smaller than the diameter of the flat screw  130 . In an end face  131  of the flat screw  130  facing the barrel  140 , vortex shape grooves  133  are formed around a central portion  132  of the end face  131 . The grooves  133  communicate with a material inlet  135  formed in a side surface of the flat screw  130 . The first molding material supplied from the hopper  106  is introduced into the grooves  133  from the material inlet  135 . In this embodiment, three grooves  133  are formed in the end face  131  of the flat screw  130 . The grooves  133  are separated from each other by ridge portions  134 . The number of grooves  133  is not limited to three, but may be one, two, or four or more. The shape of the grooves  133  is not limited to a vortex shape, but may be a helical shape or an involute curvilinear, or may be a shape that draws an arc from the central portion  132  toward the outer periphery. 
       FIG.  5    is a plan view showing schematic configuration of the barrel  140 . The barrel  140  has an opposing surface  141  that opposes the end face  131  of the flat screw  130 . An opening of the communication hole  149  described above is formed at the center of the opposing surface  141 . A plurality of guide grooves  145  that are coupled to the communication hole  149  and that extend vertically from the communication hole  149  toward the outer periphery are formed in the opposing surface  141 . The first molding material supplied to the grooves  133  of the flat screw  130  flows along the grooves  133  and the guide grooves  145  by the rotation of the flat screw  130  while being plasticized between the flat screw  130  and the barrel  140  by rotation of the flat screw  130  and heating by the heater  150 , and is guided to the central portion  132  of the flat screw  130 . The material flowing into the central portion  132  is guided from the communication hole  149  to the first injection cylinder  171 . The guide grooves  145  may not be coupled to the communication hole  149 . Further, the barrel  140  may not be provided with the guide grooves  145 . 
     As shown in  FIG.  3   , the first injection control mechanism  170  includes the first injection cylinder  171 , a first plunger  172 , and a first plunger driving section  173 . The first injection control mechanism  170  has a function of injecting the first molding material in the first injection cylinder  171  into the first cavity through the first nozzle  180 . Under the control of the controller  505 , the first injection control mechanism  170  controls injection amount, injection speed, and injection pressure of the first molding material from the first nozzle  180 . The first injection cylinder  171  is a substantially cylindrical member coupled to the communication hole  149  of the barrel  140 . The first plunger  172  is disposed in the first injection cylinder  171 . The first plunger  172  slides in the first injection cylinder  171  by the first plunger driving section  173 , which is configured by combining a motor and a speed reducer, and pressure-feeds the first molding material in the first injection cylinder  171  into the first nozzle  180 . 
     In the present embodiment, the first nozzle  180  is configured as a hot runner nozzle. A heater is disposed around the first nozzle  180 , and the controller  505  controls the heater to control the heat retention temperature and the injection temperature of the first molding material. The gate structure of the hot runner nozzle may be an open gate or a valve gate. The first injection molding machine  105  may employ a cold runner instead of a hot runner. 
       FIG.  6    is an explanatory view showing schematic configuration of the second injection device  210  in the present embodiment. A first fluid supply device  220  and a second fluid supply device  230  are coupled to the second injection device  210 . In this embodiment, the first fluid supply device  220  and the second fluid supply device  230  are disposed in the second housing  201 . 
     The first fluid supply device  220  includes a first tank  221  and a first pump  222 . A first fluid is stored in the first tank  221 . The first fluid contains a main agent of the two-component type second molding material. In this embodiment, the first fluid contains a silicone polymer as the main agent of the two-component type silicone rubber. 
     The first pump  222  is provided in the first tank  221 . The first pump  222  pressure feeds the first fluid stored in the first tank  221  to the second injection device  210 . The first pump  222  is configured by a positive displacement pump such as a screw pump. The first pump  222  is driven under the control of the controller  505 . The first pump  222  is coupled to a channel member  240  described later by a first pipe  223 . 
     The second fluid supply device  230  includes a second tank  231  and a second pump  232 . The second fluid is stored in the second tank  231 . The second fluid is stored in the second tank  231 . The second fluid contains a polymerization initiator for starting the polymerization reaction of the two-component type second molding material. By combining a predetermined amount of the first fluid and a predetermined amount of the second fluid, a polymerization reaction of the two-component type second molding material can be started. 
     The second pump  232  is provided to the second tank  231 . The second pump  232  pressure feeds the second fluid stored in the second tank  231  to the second injection device. The second pump  232  is constituted by a positive displacement pump such as a screw pump. The second pump  232  is driven under the control of the controller  505 . The second pump  232  is coupled to the channel member  240  via a second pipe  233 . 
     The second injection device  210  includes the channel member  240 , a mixing section  250 , a second injection control mechanism  270 , and a second nozzle  280 . In this embodiment, the channel member  240  has a rectangular parallelepiped outer shape. The first pipe  223  and the second pipe  233  are coupled to the channel member  240 . A first channel  241 , a second channel  242 , and a flow merging path  243  are provided inside the channel member  240 . 
     One end of the first channel  241  communicates with the first pump  222  via the first pipe  223 , and the other end of the first channel  241  communicates with one end of the flow merging path  243 . One end of the second channel  242  communicates with the second pump  232  via the second pipe  233 , and the other end of the second channel  242  communicates with the one end of the flow merging path  243 . The first fluid flowing into the first channel  241  from the first pipe  223  flows toward the flow merging path  243 . The second fluid flowing into the second channel  242  from the second pipe  233  flows toward the flow merging path  243 . The first fluid and the second fluid merge in the flow merging path  243  and flow to the mixing section  250 . 
     The mixing section  250  includes a static mixer  251 . The static mixer  251  has a mixing cylinder  252  and a stirring member  253 . The mixing cylinder  252  is a hollow tube member. One end of the mixing cylinder  252  is coupled to the channel member  240  via a first coupling member  255 . The other end of the mixing cylinder  252  is coupled to a side surface portion of a second injection cylinder  271  (to be described later) via a second coupling member  256 . The mixing cylinder  252  communicates with the flow merging path  243  and the second injection cylinder  271 . 
     The stirring member  253  is disposed in the mixing cylinder  252 . In the present embodiment, the stirring member  253  is configured by a plurality of mixing elements coupled to each other. The mixing elements are arranged side by side from one end to the other end of the mixing cylinder  252 . Each mixing element has a shape obtained by twisting a rectangular plate 180 degrees. Rotation directions in the twists of adjacent mixing elements are different from each other. The mixing elements are fixed to an inner wall surface of the mixing cylinder  252  and are stationary with respect to the mixing cylinder  252 . Although the stirring member  253  having four mixing elements is shown in  FIG.  6    for easy understanding of the technology, the number of mixing elements of the stirring member  253  may be, for example, several or several tens of mixing elements. 
     The static mixer  251  mixes the first fluid and the second fluid flowing into the mixing cylinder  252  by a division process, a conversion process, and an inversion process by the mixing elements of the stirring member  253 . The division process is the action of dividing the flow of fluid. The conversion process is the action of moving the fluid from a central axis of the mixing cylinder  252  toward an inner wall surface or from the inner wall surface toward the central axis. The inversion process is an action of inverting the direction of the vortex of the fluid flowing in a vortex state around the central axis of the mixing cylinder  252 . 
     The second injection control mechanism  270  measures the second molding material and injects the second molding material. In this embodiment, the second injection control mechanism  270  includes the second injection cylinder  271 , a second plunger  272 , and a second plunger driving section  273 . 
     The second injection cylinder  271  is a hollow tube member. The second molding material in which the first fluid and the second fluid are mixed by the mixing section  250  accumulates in the second injection cylinder  271 . The second nozzle  280  is coupled to an end portion of the second injection cylinder  271 . The second plunger  272  is disposed in the second injection cylinder  271 . 
     The second plunger driving section  273  moves the second plunger  272  along the center axis of the second injection cylinder  271 . The second plunger driving section  273  moves the second plunger  272  toward the second nozzle  280  to inject the second molding material in the second injection cylinder  271  from the second nozzle  280 . In this embodiment, the second plunger driving section  273  is configured by combining a motor and a speed reducer. The second plunger driving section  273  is driven under the control of the controller  505 . 
       FIG.  7    is a cross-sectional view showing configuration of the second nozzle  280 . In the present embodiment, the second nozzle  280  includes a nozzle tip  281 , a nozzle channel member  282 , and a nozzle cover  283 . The nozzle tip  281  is a hollow tube member. An opening through which the second molding material is injected is provided in a tip end portion of the nozzle tip  281 . The rear end portion of the nozzle tip  281  is fixed to the second injection cylinder  271  via the nozzle channel member  282 . 
     The nozzle cover  283  is provided so as to cover an outer peripheral side surface of the nozzle tip  281  and an outer peripheral side surface of the nozzle channel member  282 . In the present embodiment, a refrigerant inlet  285  and a refrigerant outlet  286  are provided at a side surface section of the nozzle cover  283 . An inner wall surface of the nozzle cover  283  is provided with a groove shaped refrigerant channel  287  for bringing the refrigerant inlet  285  and the refrigerant outlet  286  into communication with each other. A refrigerant RF is supplied to the refrigerant inlet  285 . The refrigerant RF is, for example, water. The refrigerant RF introduced into the refrigerant channel  287  from the refrigerant inlet  285  is discharged from the refrigerant outlet  286 . The refrigerant RF discharged from the refrigerant outlet  286  is cooled by, for example, a chiller and circulated to the refrigerant inlet  285 . O-rings  289  seal between the nozzle cover  283  and the nozzle tip  281  and between the nozzle cover  283  and the nozzle channel member  282 . The refrigerant channel  287  may sometimes be referred to as a cooling section. 
       FIG.  8    is a first explanatory view showing a state of insert molding by the injection molding system  10 .  FIG.  9    is a second explanatory view showing a state of insert molding by the injection molding system  10 . As shown in  FIG.  8   , first, in a process step P 10 , the movable mold  25  is mounted on the first injection molding machine  105 . For example, the movable mold  25  is inserted between the first fixed mold  21  and the first movable plate  192  by the first moving section  310  and fixed to the first movable plate  192  by a clamping device driven under the control of the controller  505 . 
     In a process step P 20 , the first injection molding machine  105  uses the first mold clamping device  190  to bring the movable mold  25  into contact with the first fixed mold  21 , and then injects first molding material MM 1  from the first nozzle  180  of the first injection device  110  into first cavities C v   1  defined by the first fixed mold  21  and the movable mold  25 . The first molding material MM 1  injected from the first nozzle  180  fills the first cavities C v   1 . The first molding material MM 1  in the first cavities C v   1  is cured to mold first molded articles MD 1 . 
     In process step P 30 , the first injection molding machine  105  uses the first mold clamping device  190  to separate the movable mold  25  from the first fixed mold  21 . In process step P 30 , ejector pins  29  housed in the movable mold  25  do not protrude from the movable mold  25 , and the first molded articles MD 1  are not released from the movable mold  25 . Thereafter, in a state where the first molded articles MD 1  remain in intimate contact with the movable mold  25 , the movable mold  25  is taken out from the first injection molding machine  105  by the first moving section  310  of the movement mechanism  305 , and is moved to the second injection molding machine  205  by the second moving section  320  and the third moving section  330 . 
     As shown in  FIG.  9   , in process step P 40 , the movable mold  25  is moved from the first injection molding machine  105  to the second injection molding machine  205  by the movement mechanism  305 , and the movable mold  25  is mounted in the second injection molding machine  205 . The first molded articles MD 1  are in intimate contact with the movable mold  25  mounted in the second injection molding machine  205  without having been released. The movable mold  25  is, for example, inserted between the second fixed mold  22  and the second movable plate  292  by the third moving section  330 , and is fixed to the second movable plate  292  by a clamping device driven under the control of the controller  505 . 
     In process step P 50 , the second injection molding machine  205  uses the second mold clamping device  290  to bring the movable mold  25  into contact with the second fixed mold  22 , and then injects a second molding material MM 2  from the second nozzle  280  of the second injection device  210  into second cavities C v   2  defined by the second fixed mold  22  and the movable mold  25 . In the present embodiment, since first molded articles MD 1  serving as insert parts are disposed in the second cavities C v   2 , the second molding material MM 2  injected from the second nozzle  280  fills the spaces defined by the second fixed mold  22 , the movable mold  25 , and the first molded products MD 1 . In the spaces defined by the second fixed mold  22 , the movable mold  25 , and the first molded articles MD 1 , the second molding material MM 2  is cured to mold second molded articles MD 2  in which a portion made of the first molding material MM 1  and a portion made of the second molding material MM 2  are integrated. 
     In process step P 60 , the second injection molding machine  205  uses the second mold clamping device  290  to separate the movable mold  25  from the second fixed mold  22 . In process step P 60 , the ejector pins  29  housed in the movable mold  25  protrude from the movable mold  25  to release the second molded articles MD 2  from the movable mold  25 . The ejector pins  29  may be configured to protrude from the movable mold  25  according to movement of the movable mold  25  with respect to the second fixed mold  22 , or may be configured to protrude from the movable mold  25  by a motor driven under the control of the controller  505 , for example. Thereafter, the second molded articles MD 2  are transported to the inspection device  406  by the extractor  405 , inspected by the inspection device  406 , and then arranged on a tray. The tray on which the second molded articles MD 2  are arranged is taken out of the injection molding system  10 . The movable mold  25  is taken out from the second injection molding machine  205  by the third moving section  330 , and is moved to the first injection molding machine  105  by the second moving section  320  and the first moving section  310 . The injection molding system  10  can repeatedly manufacture the second molded article MD 2  by the method described above. 
     According to the injection molding system  10  of the present embodiment described above, after the first injection molding machine  105  molds the first molded article MD 1  using the first fixed mold  21  and the movable mold  25 , the movement mechanism  305  moves the movable mold  25 , in a state in which the first molded article MD 1  is not released but is in intimate contact with the movable mold  25 , from the first injection molding machine  105  to the second injection molding machine  205 , and the second injection molding machine  205  uses the second fixed mold  22  and the movable mold  25  to mold the second molded article MD 2  with the first molded article MD 1  as an insert part. Since the first molded article MD 1 , which is an insert component, is not released from the movable mold  25  prior to the molding of the second molded article MD 2 , the positional deviation of the insert component with respect to the movable mold  25  is suppressed. Therefore, in insert molding, it is possible to easily ensure the positioning accuracy of the insert part with respect to the movable mold  25 . 
     In the present embodiment, the movement mechanism  305  is configured to move the movable mold  25  from the first injection molding machine  105  to the second moving section  320  using the first moving section  310 , move the movable mold  25  from the vicinity of the first moving section  310  to the vicinity of the third moving section  330  using the second moving section  320 , and move the movable mold  25  from the second moving section  320  to the second injection molding machine  205  using the third moving section  330 . Therefore, complication of the configuration and operation of each of the moving sections  310 ,  320 , and  330  can be suppressed. 
     Further, in the present embodiment, the second moving section  320  is provided with the temperature adjustment section  325  for adjusting the temperature of the movable mold  25  on the slide section  322  on which the movable mold  25  is placed. Therefore, the movable mold  25  can be kept warm or preheated while the movable mold  25  is being moved by the second moving section  320  or while the movable mold  25  stands by on the slide section  322 . In particular, in this embodiment, since the second molding material MM 2  injected by the second injection molding machine  205  is a thermosetting resin, the time for curing the second molding material MM 2  can be shortened by keeping the movable mold  25  warm or preheated. 
     In the present embodiment, the movement mechanism  305  is provided in the third unit  300  disposed between the first unit  100  having the first injection molding machine  105  and the second unit  200  having the second injection molding machine  205 . Therefore, it is possible to reduce the size of the injection molding system  10  in the front-rear direction compared to a configuration in which the movement mechanism  305  is provided in front of or behind the first unit  100  and the second unit  200 . Further, since the movement mechanism  305  is provided in the third unit  300 , the installation place of the movement mechanism  305  can be easily changed. 
     In the present embodiment, the movable mold  25  includes an ejector pin  29  that pushes out the second molded article MD 2 . Therefore, the second molded article MD 2  can be easily released from the movable mold  25 . 
     Further, in this embodiment, the first molding material MM 1  injected by the first injection molding machine  105  is a thermoplastic resin, and the second molding material MM 2  injected by the second injection molding machine  205  is a thermosetting resin. Therefore, it is possible to mold the second molded article MD 2  in which the portion composed of the thermoplastic resin and the portion composed of the thermosetting resin are integrated. 
     In the present embodiment, the second injection molding machine  205  for injecting the thermosetting resin is provided with the refrigerant channel  287  for cooling the second nozzle  280 . Therefore, it is possible to suppress the occurrence of clogging in the second nozzle  280  due to the thermosetting resin starting to cure in the second nozzle  280 . 
     B Second Embodiment 
       FIG.  10    is an explanatory view showing schematic configuration of a first injection molding machine  105   b  in a second embodiment.  FIG.  11    is an explanatory view showing schematic configuration of the second injection molding machine  205   b  in the second embodiment. The second embodiment differs from the first embodiment in that the first injection molding machine  105   b  includes a plurality of first nozzles  180  and the second injection molding machine  205   b  includes a plurality of second nozzles  280 . Other configurations are the same as those of the first embodiment unless otherwise described. 
     As shown in  FIG.  10   , in this embodiment, a plurality of first cavities C v   1  are defined by a first fixed mold  21   b  and a movable mold  25   b . The first fixed mold  21   b  is provided with a plurality of first openings  23 . Each first opening  23  communicates with corresponding first cavities C v   1 . In  FIG.  10   , two first nozzles  180 , two first openings  23 , and four first cavities C v   1  are illustrated. One of the two first openings  23  communicates with two of the first cavities C v   1 . The other of the two first openings  23  communicates with two of the first cavities C v   1  that are different from the two first cavities C v   1  described above. Each first nozzle  180  communicates with the first injection cylinder  171 . The first molding material injected from one of the two first nozzles  180  fills two of the first cavities C v   1  via one of the two first openings  23 . The first molding material ejected from the other of the two first nozzles  180  fills, through the other of the two first openings  23 , two of the first cavities C v   1  different from the above-described two first cavities C v   1 . 
     As shown in  FIG.  11   , in this embodiment, a plurality of second cavities C v   2  are defined by a second fixed mold  22   b  and the movable mold  25   b . The number of the second cavities C v   2  is equal to the number of the first cavities C v   1 . The position of each second cavity C v   2  corresponds to the position of each first cavity C v   1 . The second fixed mold  22   b  is provided with a plurality of second openings  24 . Each second opening  24  communicates with corresponding second cavities C v   2 . In  FIG.  11   , two second nozzles  280 , two second openings  24 , and four second cavities C v   2  are shown. One of the two second openings  24  communicates with two of the second cavities C v   2 . The other of the two second openings  24  communicates with two of the second cavities C v   2  different from the above-described two second cavities C v   2 . Each of the second nozzles  280  communicates with the second injection cylinder  271 . The second molding material injected from one of the two second nozzles  280  fills two of the second cavities C v   2  via one of the two second openings  24 . The second molding material ejected from the other of the two second nozzles  280  fills two of the second cavities C v   2  different from the above-described two second cavities C v   2  via the other of the two second openings  24 . A first molded article MD 1  is disposed in each second cavity C v   2  to be filled with the second molding material, and a second molded article MD 2 , in which a portion composed of the first molding material MM 1  and a portion composed of the second molding material MM 2  are integrated, is molded in each second cavity C v   2 . 
     According to the present embodiment described above, a large number of second molded articles MD 2  having the first molded article MD 1  as an insert part can be molded at one time. In a case where insert parts are installed in cavities by manual work of a worker, a robot arm, or the like as in the related art, as the number of cavities increases, labor and time for installing the insert parts increase. On the other hand, in the present embodiment, no labor or time is required for installing the insert part. Therefore, the second molded article MD 2  can be efficiently molded. 
     C Other Embodiments 
     (C1) In each of the embodiments described above, the first injection molding machines  105  and  105   b  are configured to inject a thermoplastic resin as the first molding material MM 1 , and the second injection molding machines  205  and  205   b  is configured to inject a thermosetting resin as the second molding material MM 2 . Alternatively, the first injection molding machines  105  and  105   b  may be configured to inject a thermoplastic resin as the first molding material MM 1 , and the second injection molding machines  205  and  205   b  may be configured to inject a thermoplastic resin as the second molding material MM 2 . Alternatively, the first injection molding machines  105  and  105   b  may be configured to inject a thermosetting resin as the first molding material MM 1 , and the second injection molding machines  205  and  205   b  may be configured to inject a thermosetting resin as the second molding material MM 2 . Alternatively, the first injection molding machines  105  and  105   b  may be configured to inject a thermosetting resin as the first molding material MM 1 , and the second injection molding machines  205  and  205   b  may be configured to inject a thermoplastic resin as the second molding material MM 2 . 
     (C2) In each of the above-described embodiments, the movement mechanism  305  is provided in the third unit  300 . On the other hand, the movement mechanisms  305  may not be combined into a single unit. For example, the movement mechanism  305  may be configured by a robot arm provided in the first unit  100 , which has the first injection molding machine  105 , and a robot arm provided in the second unit  200 , which has the second injection molding machine  205 . 
     (C3) In each of the above-described embodiments, the movement mechanism  305  is constituted by the three moving sections  310 ,  320 , and  330 . In contrast, the movement mechanism  305  may be configured by a single robot arm that moves the movable mold  25  from the first injection molding machine  105  to the second injection molding machine  205 , or the movement mechanism  305  may be configured by the first moving section  310  and the third moving section  330 . 
     (C4) In each of the above-described embodiments, the movement mechanism  305  moves the movable mold  25  from the first injection molding machine  105  to the second injection molding machine  205  along a path passing above the base part of the housing. On the other hand, a path for the movable mold  25  may be provided in the base part of the housing, and the movement mechanism  305  may be configured to move the movable mold  25  from the first injection molding machine  105  to the second injection molding machine  205  via the path. The movement mechanism  305  may be configured to move the movable mold  25  from the first injection molding machine  105  to the second injection molding machine  205  via a path passing to the front or to the rear outside of the housing. 
     (C5) In each of the above-described embodiments, the slide section  322  of the second moving section  320  is provided with the temperature adjustment section  325 . On the other hand, the temperature adjustment section  325  may not be provided. 
     (C6) In each of the embodiments described above, the movable molds  25  and  25   b  are provided with ejector pins  29 . In contrast, ejector pins  29  may not be provided in movable molds  25  and  25   b . 
     (C7) In each of the embodiments described above, the second nozzle  280  for injecting the thermosetting resin is provided with the refrigerant channel  287 . On the other hand, the refrigerant channel  287  may not be provided in the second nozzle  280 . 
     (C8) In each of the embodiments described above, after the first injection molding machine  105  injects the first molding material MM 1  into the first cavity C v   1 , the movement mechanism  305  moves the movable mold  25  filled with the first molding material MM 1  from the first injection molding machine  105  to the second injection molding machine  205 , and the second injection molding machine  205  injects the second molding material MM 2  into the second cavity C v   2 . On the other hand, while the movable mold  25  is moved from the first injection molding machine  105  to the second injection molding machine  205 , or while the second injection molding machine  205  injects the second molding material MM 2  into the second cavity C v   2 , the first injection molding machine  105  may inject the first molding material MM 1  into another movable mold  25 . In this case, each of the molded articles MD 1  and MD 2  can be molded more efficiently. 
     D Other Forms 
     The present disclosure is not limited to the embodiments described above, and can be realized in various configurations without departing from the spirit thereof. For example, the present disclosure can also be realized by the following configurations. The technical features in the above described embodiments corresponding to the technical features in each embodiment described below can be appropriately replaced or combined in order to solve a part or all of the problems of the present disclosure or to achieve a part or all of the effects of the present disclosure. In addition, unless the technical features are described as essential features in the present specification, the technical features can be appropriately deleted. 
     (1) According to one aspect of the present disclosure, an injection molding system is provided. The injection molding system includes a first unit that has a first injection molding machine configured to inject a first molding material into a first cavity partitioned by a first fixed mold and a movable mold, a second unit that includes a second injection molding machine configured to inject a second molding material into a second cavity partitioned by a second fixed mold and the movable mold, and a movement mechanism configured to, after the first molding material is injected into the first cavity, move the movable mold filled with the first molding material from the first injection molding machine to the second injection molding machine. 
     According to the injection molding system of this form, the movement mechanism moves the movable mold in a state in which the insert part made of the first molding material molded by the first injection molding machine is in intimate contact with the movable mold, so that the process step of positioning the insert part prior to injection of the second molding material from the second injection molding machine can be eliminated. Therefore, the positioning of the insert part can be facilitated. 
     (2) In the injection molding system of the above aspect, the movement mechanism may include a first moving section that takes the movable mold out from the first injection molding machine, a second moving section that moves the movable mold taken out by the first moving section from the first unit toward the second unit, and a third moving section that places the movable mold moved by the second moving section in the second injection molding machine. According to the injection molding system of this aspect, it is possible to suppress the operation of each moving section from becoming complicated. 
     (3) In the injection molding system of the above aspect, the movement mechanism may include a temperature adjustment section that adjusts a temperature of the movable mold when the movable mold is moved from the first injection molding machine to the second injection molding machine. 
     (4) The injection molding system of the above aspect may further include a third unit disposed between the first unit and the second unit, wherein the movement mechanism is provided in the third unit. According to the injection molding system of this aspect, since the movement mechanism is integrated into one unit, it is possible to easily change the installation location of the movement mechanism when changing the installation location of the movement mechanism. 
     According to the injection molding system of this form, the temperature of the movable mold during movement can be adjusted. 
     (5) In the injection molding system of the above aspect, the movable mold may include an ejector pin that extrudes a molded article. 
     According to the injection molding system of this aspect, it is possible to easily remove the molded article having the portion made of the first molding material and the portion made of the second molding material from the movable mold. 
     (6) In the injection molding system of the above aspect, at least one of the first molding material or the second molding material may be a thermosetting resin. 
     According to the injection molding system of this aspect, a molded article at least a part of which is formed of a thermosetting resin can be molded. 
     (7) In the injection molding system of the above aspect, at least one of the first injection molding machine or the second injection molding machine may include a nozzle that injects the thermosetting resin, and a cooling unit that cools the nozzle. According to the injection molding system of this aspect, since the nozzle that injects the thermosetting resin can be cooled by the cooling unit, it is possible to suppress curing of the thermosetting resin in the nozzle. 
     (8) In the injection molding system of the above aspect, the first fixed mold and the movable mold may define a plurality of the first cavities, the second fixed mold and the movable mold may define a plurality of the second cavities, the first fixed mold may have a plurality of first openings that communicate with the plurality of first cavities, the second fixed mold may have a plurality of second openings communicating with the plurality of second cavities, the first injection molding machine may include a plurality of first nozzles that inject the first molding material into the plurality of first openings, and the second injection molding machine may includes a plurality of second nozzles that inject the second molding material into the plurality of second openings. 
     According to the injection molding system of this aspect, a plurality of molded articles having a portion made of the first molding material and a portion made of the second molding material can be molded at one time. 
     The present disclosure can be realized in various forms other than an injection molding system. For example, it can be realized in the form of a control method of an injection control system, an insert molding method or the like.