JP2000296425A - Rubber ring fitting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily fit a rubber ring on a rib pipe, etc., in a normal attitude, and supply many types of rubber rings or one type of rubber ring continuously and in large quantities. SOLUTION: This rubber ring loading method is provided with a pipe holding device 10 for holding a rib pipe horizontally, an industrial robot device 50 for loading a rubber ring on the rib pipe, a rubber ring feeding device 20 for feeding the rubber rings to the industrial robot device 50, and an attitude adjusting device 80 for mounting the rubber rings horizontally. The rubber ring feeding device 20 has a pallet device 22 which is mounted on a conveying path so that it can be removably fitted, and the industrial robot device 50 has a robot hand 52 for handling the rubber ring to a movable arm 51.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technology for mounting a rubber ring on a cylindrical body such as a rib pipe, and more particularly to a rubber ring mounting device.

[0002]

2. Description of the Related Art Conventionally, pipes such as vinyl pipes, rib pipes, iron pipes and the like have a joint structure in which one end of the pipe is used as a receiving port and the other end is used as an insertion port. Is inserted into the socket of the other tube. In order to ensure watertightness between the receiving port and the insertion port, a rubber ring as a sealing material is attached to the inner peripheral surface of the receiving port or the outer peripheral surface of the insertion port.

For example, as shown in FIG. 20, when the rubber ring 2 is attached to the insertion opening of the rib pipe 1, the diameter of the rubber ring 2 is expanded by human power, and the rubber ring 2 is temporarily attached to the end of the rib pipe 1, and then the rib 3 is attached. Are sequentially attached to a predetermined position. In the case of going over the rib 3, the rubber ring 2 is partially expanded in diameter, a part of the expanded rubber ring 2 is moved to the next groove 4 beyond the rib 3, and the remaining part is further removed. The rubber ring 2 is sequentially moved part by part by expanding the diameter so as to exceed the rib 3.

[0004]

In the above-mentioned mounting operation, the rubber ring 2 is twisted when moving over the ribs 3, and the rubber ring 2 is mounted in a state where the rubber ring 2 is mounted between predetermined ribs 3. In some cases, the inner peripheral surface of the rubber ring 2 is not completely pressed against the outer peripheral surface of the rib pipe 1, the outer peripheral surface of the rubber ring 2 becomes distorted, and normal sealing performance cannot be exhibited. Further, the diameter of the rubber ring is different for each pipe type, and it is necessary to change the setup every time the type of pipe flowing in the production line changes, and it is necessary to replace the pallet on which the rubber ring 2 is mounted each time. For this reason, when performing production of a large variety of small lots, the changeover frequently occurs, and the production efficiency deteriorates.

The present invention has been made to solve the above-mentioned problems, and a rubber ring can be easily mounted in a normal posture on an outer peripheral surface of a pipe such as a rib pipe.
Another object of the present invention is to provide a rubber ring supply device capable of continuously supplying a large amount of one kind of rubber ring.

[0006]

In order to solve the above-mentioned problems, a rubber ring mounting device of the present invention comprises: a pipe holding device for horizontally holding a rib pipe; an industrial robot device for mounting a rubber ring on the rib pipe; It has a rubber ring supply device that supplies the rubber ring to the industrial robot device, and a posture adjustment device that horizontally places the rubber ring. The rubber ring supply device has a loop-shaped conveyance path between the unloading station and the loading station. And a pallet device detachably mounted on a transfer track of the transfer device, and a discharge device disposed at an extraction station for discharging a rubber ring mounted on the pallet device, A fixed plate that abuts the transport track, a movable plate that can be lifted and lowered on the fixed plate, and a guide through hole formed in the movable plate Inserted to upright on a fixed plate,
A guide that guides a rubber ring stacked and mounted on the movable plate, and the discharge device moves back and forth between a standby position below the conveying track surface and an operation position above the conveying track surface, and the fixed plate. The lifting device has an elevating rod that penetrates the lower surface of the movable plate by passing through the through hole for the rod, and a driving device that drives the elevating rod up and down. And a position corresponding to the posture adjusting device, and a position corresponding to the end of the rib pipe held horizontally in the tube holding device, and a rubber ring is handled at the tip of the arm. The robot hand is attached to the tip of the robot arm and is arranged along a base member disposed opposite the end of the tube, and a guide means provided on the base member. Pedestal device having at least three pedestals that reciprocate radially in a radial direction, a plurality of driving means provided on each pedestal to move in and out of the pipe axis direction, and a pipe axis mounted on each driving means. And a plurality of pins that engage with the inner peripheral surface of the rubber ring arranged in parallel with the rubber ring, and a stopper that is arranged at a predetermined position in the axial direction of the pin and abuts on the rubber ring. There is a temporary placement plate that forms a flat surface on which the robot hand is to be placed, and a groove in which each pin of the robot hand is loosely fitted is formed radially in the rubber ring in the temporary placement plate.

[0007] With the above arrangement, a pallet device in which a plurality of rubber rings are stacked and mounted on a movable plate is loaded on a transport track of a transport device at a loading station, and a plurality of pallet devices are sequentially placed on the transport track. Array. At this time, a different type of rubber ring may be placed for each pallet device, or the same type of rubber ring may be placed for all pallet devices. A rubber ring may be placed.

A pallet device on which a rubber ring to be taken out is placed is carried by a carrying device to a take-out station. By driving the driving device of the discharging device, the lifting rod retracted to the standby position below the conveying track surface is pushed out from the conveying track surface through the rod through hole formed in the fixed plate, and is pushed out from the lower surface of the movable plate. It is made to stand by in the contact position. When removing the rubber ring, the movable plate is pushed up by the lifting rod, all the rubber rings are lifted along with the movable plate along the guide, and the movable plate is sequentially pushed up by a distance corresponding to the height of one rubber ring. And one rubber ring at a time.

By operating the arm of the industrial robot device,
The robot hand provided at the tip of the arm is placed above the take-out station of the rubber ring supply device, each pin is inserted and placed in the rubber ring pulled up to the top of the pallet device, and the movable pedestal device is driven to drive each The pins are radially separated from each other along the radial direction of the ring, and each pin is pressed against the inner peripheral surface of the rubber ring to support the rubber ring. By operating the arm, the robot hand is arranged corresponding to the temporary placing plate of the posture adjusting device, and the rubber rings are placed on the temporary placing plate by making the respective pins approach each other along the radial direction.

In this state, the arm is operated and inserted into the temporary placing plate of each pin, and the rubber ring is pressed against the temporary placing plate by the stopper of the robot hand, and the posture of the rubber ring is held flat. In this state, the pins are again radially separated from each other along the radial direction of the ring, and the pins are pressed against the inner peripheral surface of the rubber ring to support the rubber ring. By this operation, the rubber ring can be positioned at one predetermined position of the pin in the axial direction. Separate the pins from each other,
The rubber ring is expanded in diameter to hold the rubber ring in a rectangular shape with each pin as a supporting point.

By manipulating the arm, the robot hand is arranged to face the end opening of the rib pipe, the rubber ring whose diameter is enlarged is loosely fitted to the rib pipe, and the rubber ring is placed between the rib to be mounted. In the axial direction of the tube. In this state, the driving device is operated to pull out each pin in the axial direction of the tube, and a rubber ring whose diameter is reduced is fitted and mounted in the groove.

[0012] When pulling out the pins, each pin is sequentially pulled out from the adjacent one, and a rubber ring is gradually fitted between the ribs. Alternatively, a pair of opposing pins are simultaneously pulled out, the opposing portions of the rubber ring to be reduced in diameter are fitted between the ribs, and a pair of opposing pins are sequentially pulled out to gradually fit the rubber ring between the ribs. Installing. Alternatively, move each pin in the pipe diameter direction toward the pipe shaft center to reduce the diameter of the rubber ring, and remove all the pins while a part of the rubber ring supported between the pins fits between the ribs. At the same time, a rubber ring that is pulled out and reduced in diameter is fitted between the ribs.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, a rubber ring mounting device 100 includes a tube holding device 10 that horizontally holds the rib pipe 1 illustrated in FIG. 20, a rubber ring supply device 20 that supplies a rubber ring 2, and a rubber ring supply device 20. 2 is provided with an industrial robot device 50 that fits and mounts the ribs 3 in the grooves 4 between the ribs 3 and an attitude adjustment device 80 that horizontally mounts the rubber ring 2.

[0014] As shown in FIG.
Reference numeral 0 denotes a transport device 21 and a plurality of pallet devices 22 which are removably mounted on the transport track. Transfer device 21
Is a combination of a linear track formed by the chain roller device 23 and a pair of turntable devices 24 disposed at both ends of the linear track, so that the unloading station T
A loop-shaped transport trajectory is formed between the feeding station and a loading station (not shown).

As shown in FIGS. 3 to 6, the turntable device 24 includes a turntable 25 and a ball table 27 for supporting the pallet device 22, and a pallet device 22.
And a driving device 30 for driving the sprocket 28. Pallet device 22
Is a disk-shaped fixed plate 31 that abuts on the transport track,
A movable plate 32 is mounted on the fixed plate 31 so as to be able to move up and down. A plurality of guides 34 are erected on the fixed plate 31 and a guide for inserting the guide 34 through the movable plate 32. Forming through hole 33 is formed.

The guide 34 guides the rubber ring 2 stacked and mounted on the movable plate 32, and is made of a plate-like body curved in an arc shape. Correspondingly, a plurality of concentric circles are provided at appropriate intervals in the radial direction. A plurality of guide pins 35 for guiding the movable plate 32 are erected on the fixed plate 31, and a guide hole 36 for inserting the guide pin 35 into the movable plate 32 is formed. An engagement shaft 37 that engages with the sprocket 28 is provided on the lower surface of the fixed plate 31.

The discharge station T is provided with a discharge device 38. The discharge device 38 includes four lifting rods which are integrally moved over a standby position below the conveying track surface and an operating position above the conveying track surface. 39, a driving mechanism 43 including a pinion 41 meshing with a rack 40 formed on one lifting rod 39 and a motor 42 for rotating and driving the pinion 41, and a sensor 44 for detecting a standby state of the lifting rod 39. In addition, the lifting rods 39 are inserted into the rod through holes 45 formed at four places of the fixed plate 31 and come into contact with the lower surface of the movable plate 32. The through hole 45 for the rod is provided in the turntable 25 and the sprocket 28.
Are formed at positions corresponding to the through holes 26 and 28 for inserting the lifting rod 39, respectively.

As shown in FIGS. 8 to 12, the industrial robot device 50 includes a position corresponding to the take-out station T of the rubber ring supply device 20, a position corresponding to the posture adjusting device 80, and the pipe holding device 10. Rib pipe 1 to hold horizontally
Arm 51 movable over a position corresponding to the end of the arm 51
The description is omitted because the configuration is a known industrial robot technology. A robot hand 52 for handling the rubber ring 2 is provided at the tip of the arm 51.

The robot hand 52 includes a robot arm 5
1 has a base portion 53 attached to the tip of
3 is provided with a plurality of arms 54 extending radially in all directions. Each of the arm portions 54 connects the base portion 53 to the rib pipe 1.
And a ball screw 5 for driving a pedestal 56 that reciprocates along each guide 55 in a state where the guide 55 extends in the pipe radial direction from the pipe axis in a state where the ball screw 5 is disposed to face the end of the pipe.
And a servo motor 5 provided on the base 53.
The pedestal 56 reciprocates simultaneously in the pipe diameter direction along each guide 55 by simultaneously rotating each ball screw 57 by the gear 8 and the speed reducer 59.

Each pedestal 56 is provided with a cylinder device 60 which moves in and out of the tube axis direction. The cylinder device 60 is mounted on each cylinder device 60 and the above-mentioned pins 61a, 61b, 61c, 61
d is provided. Each pin 61a, 61b, 61c, 61
d moves back and forth in the axial direction of the pipe by driving each cylinder device 60. A rubber ring 2 is provided at the front position of the cylinder device 60.
A stopper 62 is provided for contacting the stopper.

As shown in FIG. 11, the posture adjusting device 80
Has a temporary placement plate 81 that forms a flat surface on which the rubber ring 2 is placed.
b, 62c, and 61d are loosely fitted in the groove 82 with the rubber ring 2
Are formed radially along the radial direction. With the above-described configuration, a plurality of pallet devices 43 in which a plurality of rubber rings 2 are stacked and mounted on the movable plate 32 are prepared.
A different type of rubber ring 2 may be placed for each pallet device 43, or the same type of rubber ring 2 may be placed for all pallet devices 43, and the same Various types of rubber rings 2 may be placed.

At a loading station (not shown), a plurality of pallet devices 22 are sequentially loaded into the transport device 21, and each pallet device 22 is placed on the transport track so that the rod through holes 45 are located before and after in the transport direction. Place. As shown in FIG. 2, a plurality of pallet devices 2 are
2 is circulated and transported in a loop orbit. That is, the pallet device 22 is conveyed by the chain roller device 23 on a straight track, and the sprocket 28 meshing with the engagement shaft 37 is rotated by the drive device 30 on the curved track as shown in FIG. It is turned around the axis of the turntable 25 while being supported by the table 25 and the ball table 27. By this transport, the pallet device 22 on which the rubber ring 2 of the type to be removed is mounted is transported to the removal station T, and the pallet device 22 is positioned above the discharge device 38 by 90-degree inversion by the turntable device 26.

As shown in FIG. 4, the rubber ring 2 is supplied by driving the driving mechanism 43 of the unloading device 38. By driving the motor 42 to drive the pinion 41, each lifting rod 39 evacuated to a standby position below the conveying track surface by the engagement of the pinion 41 and the rack 40 is inserted into the rod through hole 45 formed in the fixed plate 31. The movable plate 32 is inserted and pushed upward from the conveying track surface, and stands by at an operation position where it comes into contact with the lower surface of the movable plate 32.

As shown in FIG. 7, when the rubber ring 2 is taken out, the movable plate 32 is pushed up along the guide pin 35 by the elevating rod 39, and all the rubber rings 2 are lifted together with the movable plate 32 along the guide 34.
By sequentially pushing up the movable plate 32 by a distance corresponding to the height of one rubber ring 2, the rubber rings 2 are sequentially supplied one by one.

When exchanging the pallet device 3, the lifting rod 39 is lowered to the retracted position, and after being confirmed by the sensor 44, an arbitrary pallet device 22 is transferred to the unloading station T by driving the transfer device 21, and the above-described operation is performed. Perform By operating the arm 51 of the industrial robot device 50, the robot hand 52 provided at the tip of the arm 51 is arranged above the take-out station T of the rubber ring supply device 20, and the rubber hand raised to the uppermost stage of the pallet device 22. Each pin 61a, 61b, 61c, 61d in the ring 2
Insert and place.

Next, the servo motor 58 and the speed reducer 59
Is driven to rotate the ball screw 57 to move each pedestal 56 radially outward along the guide 55, thereby radially moving each of the pins 61a, 61b, 61c and 61d, and Each pin 61a, 6 on the inner peripheral surface
1b, 61c, and 61d, and each pin 61a, 61
The rubber ring 2 is supported at four points by b, 61c and 61d. In this state, the robot arm 51 is driven to lift the robot hand 52 to take out one rubber ring 2.

Incidentally, the rubber ring 2 is not necessarily flat in its natural state and has some flexure. Therefore, when a plurality of the rubber rings 2 are stacked on the pallet device 22, the posture of the uppermost rubber ring 2 is The positions of the pins 61a, 61b, 61c and 61d that support the rubber ring 2 are not constant. Therefore, the posture of the rubber ring 2 is adjusted in the following procedure. As shown in FIG. 11, the robot ring 52 is positioned above the posture adjusting device 80, and the pins 61 a, 61 b, 61 c, and 61 d are moved closer to each other along the radial direction, so that the rubber ring 2 is temporarily placed on the plate. Place on 81. The arm 51 is operated to insert the pins 61a, 61b, 61c, 61d into the temporary placing plate 81, and the rubber ring 2 is
Is pressed against the temporary placing plate 81 to keep the posture of the rubber ring 2 flat.

In this state, the pins 61a, 61b,
61c, 61d are radially separated from each other along the radial direction of the rubber ring 2, and the respective pins 61a, 61b, 61c, 6
1 d is pressed against the inner peripheral surface of the rubber ring 2 to support the rubber ring 2. By this operation, the pin 61 is moved in the axial direction.
The rubber ring 2 can be positioned at one of predetermined positions a, 61b, 61c and 61d.

By operating the arm 51, the robot hand 5
2 in the horizontal direction, and each pin 61a, 61
b, 61c, and 61d are further separated from each other, and the diameter of the rubber ring 2 is expanded to hold the rubber ring 2 in a rectangular shape with the pins 61a, 61b, 61c, and 61d as supporting points. The robot hand 52 is disposed to face the end opening of the rib pipe 1, the rubber ring 2 having an increased diameter is loosely fitted to the rib pipe 1, and the rubber ring 2 is placed between the ribs 3 to be mounted. Position in the axial direction.

In this state, the pins 61a, 61b, 61
The c and 61d are pulled out by driving the cylinder devices 60, and the rubber ring 2 is fitted and mounted in the groove 4 between the ribs 3 as shown in FIG. Below, each pin 61a,
A procedure for pulling out 61b, 61c, and 61d will be described. As shown in FIGS. 14 and 15, four pins 61a, 61b, 61c, and 61d arranged in parallel with the pipe axis come into contact with the inner peripheral surface of the rubber ring 2, and the stopper 62 With the rubber ring 2 in contact with the side surface, the rubber ring 2 is positioned between the ribs 3 to be mounted in the tube axis direction.

Next, the first pin 61a is pulled out in the axial direction of the tube, and as shown in FIG.
A part of the rubber ring 2 supported by a is fitted into the groove 4 between the ribs by its reduced diameter. Next, the second pin 61b adjacent to the first pin 61a in the circumferential direction of the pipe is connected to the pipe shaft while a part of the rubber ring 2 fitted in the groove 4 is locked by the rib 3 in the pipe axial direction. As shown in FIG. 16B, a part of the rubber ring 2 supported by the second pin 61b is fitted into the groove 4 between the ribs by reducing its diameter, as shown in FIG.

Next, a third pin 61 adjacent to the second pin 61b in the circumferential direction of the pipe is provided in a state where a part of the rubber ring 2 fitted in the groove 4 is locked by the rib 3 in the pipe axial direction.
17c is pulled out in the axial direction of the pipe, and as shown in FIG. 17A, a part of the rubber ring 2 supported by the third pin 61c is fitted into the groove 4 between the ribs by reducing its diameter. Let it. Next, in a state where a part of the rubber ring 2 fitted in the groove 4 is locked by the rib 3 in the pipe axial direction, the third ring is formed in the pipe circumferential direction.
The fourth pin 61d adjacent to the fourth pin 61c is pulled out in the tube axis direction, and as shown in FIG. 17B, a part of the rubber ring 2 supported by the fourth pin 61d is compressed. It fits in the groove 4 between the ribs depending on the diameter.

Thus, the adjacent pins 61a, 61
b, 61c, and 61d are sequentially pulled out to reduce the diameter of the rubber ring 2. Since a part of the rubber ring 2 is sequentially fitted into the groove 4 between the ribs, the rubber ring 2 is not twisted at the time of mounting. The rubber ring 2 can be easily mounted in a normal state in which the entire circumference of the inner peripheral surface 2a of the rubber ring 2 is securely in contact with the outer peripheral surface of the rib pipe 1.

In the embodiment described above, each pin 6
Although 1a, 61b, 61c, and 61d were sequentially pulled out from the adjacent one, it is also possible to attach the rubber ring 2 in the following procedure. That is, the rubber ring 2 is
The first pins 61 opposed to each other are held in a state where the diameters of the first pins 61a, 61b, 61c, and 61d are increased and the diameter of the first pins 61 is increased.
a and the third pin 61c are simultaneously pulled out in the pipe axis direction,
As shown in FIG. 18, opposing portions of the rubber ring 2 supported by the first pin 61a and the third pin 61c are fitted into the grooves 4 between the ribs by reducing the diameter.

Next, while opposing portions of the rubber ring 2 fitted in the grooves 4 are locked by the ribs 3 in the axial direction of the tube, the other opposing second pins 61b and 61d
Is pulled out in the pipe axis direction, and the second pin 61b and the fourth pin 61b are pulled out.
The opposing portions of the rubber ring 2 supported by the pins 61d are fitted into the grooves 4 between the ribs by reducing the diameter thereof. Regardless of the embodiment described above, each pin 61a, 61b,
It is also possible to pull out 61c and 61d in the following procedure and attach the rubber ring 2.

That is, the rubber ring 2 is connected to each of the pins 61a, 6a.
The rubber ring 2 is positioned in the tube axis direction in the groove 4 between the ribs 3 to be mounted while holding the rubber ring 2 in a rectangular state in which the diameter is increased with the support points 1b, 61c and 61d as support points.
Next, the pins 61a, 61b, 61c, and 61d are moved in the pipe radial direction toward the pipe axis to reduce the diameter of the rubber ring 2,
As shown in FIG. 19, each pin 61a, 61b, 61c,
A part of the rubber ring 2 supporting between 61d
And the adjacent pins 61a, 61b, 61c, 6
All the pins 61a, 61b, 61 are held in a state where the rubber ring 4 between 1d is locked by the rib 3 in the tube axis direction.
c and 61d are simultaneously pulled out in the tube axis direction, and the rubber ring 2 whose diameter is reduced is fitted into the groove 4 between the ribs.

In the configuration described above, the four pins 61
a, 61b, 61c, and 61d, the pin 6
It is sufficient that 1 is at least three, and the number is not limited.

[0038]

As described above, according to the present invention, a plurality of pallet devices are arranged on a loop-shaped conveyance track, and a rubber ring to be taken out, which is stacked on a movable plate of the pallet device, is movable by an elevating rod. By pushing up the plate, rubber rings can be supplied one by one, and a large variety of rubber rings or a single type of rubber ring can be continuously supplied in large quantities. Furthermore, the rubber ring expanded by a plurality of pins is positioned in the groove between the ribs, and each pin is appropriately pulled out to partially reduce the diameter of the rubber ring.
Since a part of the rubber ring is sequentially fitted in the groove between the ribs, the rubber ring is not twisted at the time of mounting, and the rubber ring can be securely mounted on the outer peripheral surface of the rib pipe in a normal state. .

[Brief description of the drawings]

FIG. 1 is a plan view showing an overall configuration of a rubber ring mounting device according to an embodiment of the present invention.

FIG. 2 is a plan view showing a rubber ring supply device according to the embodiment.

FIG. 3 is a side view showing the rubber ring supply device according to the embodiment.

FIG. 4 is an enlarged view of a main part of the rubber ring supply device according to the embodiment.

FIG. 5 is a plan view showing a movable plate in the embodiment.

FIG. 6 is a plan view showing a fixing plate according to the embodiment.

FIG. 7 is a schematic diagram showing an operation of the rubber ring supply device according to the embodiment.

FIG. 8 is a side view of the robot hand according to the embodiment.

FIG. 9 is a front view of the robot hand according to the embodiment.

FIG. 10 is a schematic diagram showing a state in which a rubber ring is supported by the robot hand according to the embodiment.

FIG. 11 is a schematic view showing an operation of adjusting the attitude of the rubber ring by the robot hand according to the embodiment.

FIG. 12 is a side view showing a state where a rubber ring is positioned on a rib pipe by the robot hand according to the embodiment.

FIG. 13 is a schematic diagram showing a state in which the rubber ring according to the embodiment is mounted on a rib pipe.

FIG. 14 is a schematic diagram showing a state where the rubber ring in the embodiment is positioned on the rib pipe.

15A is a schematic diagram illustrating a state where a pin is engaged with a rubber ring, and FIG. 15B is a schematic diagram illustrating a state where the diameter of the rubber ring is expanded.

16A is a schematic diagram illustrating a state in which a rubber ring is supported by three pins, and FIG. 16B is a schematic diagram illustrating a state in which a rubber ring is supported by two pins.

17A is a schematic diagram illustrating a state in which a rubber ring is supported by one pin, and FIG. 17B is a schematic diagram illustrating a state in which the rubber ring is mounted.

FIG. 18 is a schematic diagram showing a state in which a rubber ring is supported by two pins in another embodiment.

FIG. 19 is a schematic view showing a state in which a rubber ring is supported by four pins in another embodiment.

FIG. 20 is a schematic view showing a defective mounting state of a conventional rubber ring.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rib pipe 2 Rubber ring 2a Inner peripheral surface 3 Rib 4 Groove 10 Pipe holding device 20 Rubber ring supply device 21 Transport device 22 Pallet device 23 Chain roller device 24 Turntable device 25 Turntable 26 Through hole 27 Ball table 28 Sprocket 29 Through hole REFERENCE SIGNS LIST 30 drive device 31 fixed plate 32 movable plate 33 guide through hole 34 guide 35 guide pin 36 guide hole 37 engagement shaft 38 ejection device 39 lifting rod 40 rack 41 pinion 42 motor 43 drive mechanism 44 sensor 45 rod through hole 50 industry Robot device 51 Arm 52 Robot hand 53 Base part 54 Arm part 55 Guide 56 Base 57 Ball screw 58 Servo motor 59 Reducer 60 Cylinder device 61a, 61b, 61c, 61d Down 62 the stopper 80 posture adjusting device 81 temporary location plate 82 grooves 100 rubber ring mounting device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshiyuki Hirano 2-47, Shikitsu Higashi 1-chome, Naniwa-ku, Osaka-shi, Osaka (72) Inventor Yoshihiko Nakanishi Yoshihiko Nakanishi-Higashiichi, Shichitsu, Naniwa-ku, Osaka, Osaka No. 2-47 F-term in Kubota Corporation (reference) 3C030 BB13 BC06 3F061 AA01 BA05 BB10 BC01 BD04 BE04 BE36 DB00

Claims (1)

[Claims] 1. A tube holding device for holding a rib pipe horizontally, an industrial robot device for attaching a rubber ring to the rib pipe, a rubber ring supply device for supplying a rubber ring to the industrial robot device, and a rubber ring for holding the rubber ring horizontally A rubber ring supply device, comprising: a transfer device having a loop-shaped transfer trajectory between the unloading station and the loading station;
The pallet device has a pallet device that is removably placed on the transport trajectory of the transport device, and a discharge device that is located at an unloading station that discharges the rubber ring placed on the pallet device. The pallet device is fixed in contact with the transport trajectory. Plate and
A movable plate placed on the fixed plate so as to be able to move up and down,
A guide that guides a rubber ring that is erected on the fixed plate by passing through a guide through hole formed in the movable plate, and is stacked and placed on the movable plate. A lifting rod that moves back and forth between the lower standby position and the operation position above the conveying track surface, passes through a rod through hole formed in the fixed plate, and contacts the lower surface of the movable plate, and a drive that drives the lifting rod up and down The industrial robot device has a position corresponding to the take-out station of the rubber ring supply device, a position corresponding to the posture adjusting device, and a position corresponding to the end of the rib pipe held horizontally by the pipe holding device. And a robot hand for handling a rubber ring at the tip of the arm. The robot hand is located at the tip of the robot arm. A base member that is attached to and disposed opposite to the end of the tube, and a moving base device having at least three bases that reciprocate radially reciprocally in a radial direction along guide means provided on the base member; A plurality of driving means provided on the pedestal to move in and out of the tube axis direction; a plurality of pins mounted on each driving means and engaged with an inner peripheral surface of a rubber ring arranged in parallel with the tube axis; A stopper which is disposed at a predetermined position in the direction of the center and abuts on the rubber ring; the posture adjusting device has a temporary placing plate having a flat surface on which the rubber ring is placed; A rubber ring mounting device, characterized in that a groove in which the pin is loosely fitted is formed radially in the radial direction of the rubber ring.