JP2009291859A

JP2009291859A - Robot hand system

Info

Publication number: JP2009291859A
Application number: JP2008145836A
Authority: JP
Inventors: Mineo Higuchi; 峰夫樋口; Seiseki Maekawa; 清石前川; Hideo Naokawa; 秀雄直川; Hideki Miyahara; 秀樹宮原
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2008-06-03
Filing date: 2008-06-03
Publication date: 2009-12-17
Anticipated expiration: 2028-06-03
Also published as: JP5004875B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand system having an O-ring mounting hand attached to the hand of a robot. <P>SOLUTION: This robot hand system includes an outer tube having an annular end section and an inner tube which is staggered/offset by a spring in the outer tube, which can hold an O-ring at the end, and which has a cylindrical section axially slidable relative to the end of the outer tube, and which is slidable between the projecting position to which the cylindrical section projects from the end of the outer tube and the retreated position to which the cylindrical section retreats in the end. An O-ring supply tool can be used together with this system. Consequently, power for driving is not required. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

この発明は、ロボット用Ｏリング装着ハンドとロボット用Ｏリング供給ジグとを備えてＯリングの組み付け作業を行うロボットハンドシステムに関するものである。 The present invention relates to a robot hand system that includes an O-ring mounting hand for robot and an O-ring supply jig for robot, and performs assembly work of the O-ring.

従来のＯリングの装着装置としては例えば特許文献１記載のものがある。この装置は、Ｏリングが仮装着されるテーパ状外周部を有するガイドと、ガイドの小径部側が挿入される軸方向凹部を有し、ガイドのテーパ状外周部に沿って軸方向移動自在に装着され、テーパ状外周部に装着されたＯリングをガイドの大径部側に移動可能な押圧治具とを有するＯリングの装着装置である。ガイドに押圧治具が装着され、Ｏリングがガイドの大径部側に移動した状態で、ガイドの大径部を、Ｏリングが装着される予定のワーク付近まで移動させ、押圧治具をワーク方向に沿って軸方向にさらに移動させ、ガイドの大径部に装着されたＯリングをワークの外周に移動させて装着させる。 As a conventional O-ring mounting device, for example, there is one described in Patent Document 1. This device has a guide having a tapered outer periphery to which an O-ring is temporarily mounted and an axial recess into which the small diameter portion of the guide is inserted, and is mounted so as to be movable in the axial direction along the tapered outer periphery of the guide. And an O-ring mounting device having a pressing jig capable of moving the O-ring mounted on the tapered outer peripheral portion toward the large-diameter portion of the guide. With the pressing jig attached to the guide and the O-ring moving to the large-diameter portion side of the guide, the large-diameter portion of the guide is moved to the vicinity of the workpiece where the O-ring is to be mounted, and the pressing jig is moved to the workpiece. The O-ring mounted on the large-diameter portion of the guide is moved to the outer periphery of the workpiece for mounting.

特開平９−１０８９５９号公報（２頁パラグラフ０００７〜００１２、図１）JP-A-9-108959 (paragraphs 0007 to 0012 on page 2, FIG. 1)

従来のＯリングの装着装置は以上のように構成されているので、ガイドの形状として、ワーク側が大径で、それと逆側が小径のテーパとして、ガイドにＯリングを装着する際は小径側からＯリングを取り付けなくてはならない。従って、Ｏリングを供給する装置をガイドの小径側に配置しなくてはならず、全長が長くなり全体がかさばる問題点があった。更に小径部側には押圧治具をスライドさせて挿入させるため、そのストローク分、装着装置の全長が長くなっていた。 Since the conventional O-ring mounting device is configured as described above, the guide is shaped so that the workpiece side has a large diameter and the opposite side has a small diameter taper. A ring must be installed. Therefore, the device for supplying the O-ring has to be arranged on the small diameter side of the guide, and there is a problem that the entire length becomes long and the whole is bulky. Further, since the pressing jig is slid and inserted on the small diameter portion side, the entire length of the mounting device is increased by the stroke.

このため、この装着装置をロボット先端に取り付けることを考えると、Ｏリングを押し出す方向に細長いガイドなどと、その上部からＯリングを供給する装置が一体になったものを取り付けなくてはならず、装置全体が重くなりかさばる問題点があった。また押圧治具をスライドさせるためのエアシリンダなどのアクチュエータが必要なので、更に装置が重くなりかさばる問題点がある。また押圧治具をスライドさせるためのエアシリンダなどのアクチュエータへ動力を供給する配管が必要になるので、配管がロボットの動作のじゃまになる問題点もあった。 For this reason, considering that this mounting device is attached to the tip of the robot, an elongated guide or the like that pushes out the O-ring and a device that supplies the O-ring from the top must be attached. There was a problem that the whole apparatus became heavy and bulky. Further, since an actuator such as an air cylinder for sliding the pressing jig is necessary, there is a problem that the apparatus becomes heavier and bulky. In addition, since piping for supplying power to an actuator such as an air cylinder for sliding the pressing jig is required, there is a problem that the piping interferes with the operation of the robot.

従ってこの発明の目的は、ロボットの手先に取り付けられるＯリング装着ハンドを含むＯリングの組み付け作業用のロボットハンドシステムを得ることである。 Accordingly, an object of the present invention is to obtain a robot hand system for assembling an O-ring including an O-ring mounting hand attached to the hand of the robot.

この発明のロボットハンドシステムは、Ｏリングを装着するためのロボットハンドシステムに適用できるロボット用Ｏリング装着ハンドであって、ロボットに取り付けられ、環状の先端部を持つ外筒と、上記外筒内で軸方向移動可能に支持され、先端部に設けられてＯリングを保持し得て上記環状の先端部に対して軸方向に摺動可能な円筒部を持ち、上記円筒部が上記外筒の上記先端部から突出した突出位置および上記円筒部が上記先端部内に後退した後退位置間で摺動し得るものである内筒と、上記外筒と上記内筒との間に設けられ、上記内筒を上記突出位置に常時付勢するばねとを備えたロボット用Ｏリング装着ハンドを備えたことを特徴とするロボットハンドシステムである。 A robot hand system according to the present invention is an O-ring mounting hand for a robot that can be applied to a robot hand system for mounting an O-ring, and includes an outer cylinder attached to the robot and having an annular tip, The cylindrical portion is supported at the tip end portion and is provided at the tip end portion and can hold the O-ring and is slidable in the axial direction with respect to the annular tip end portion. An inner cylinder that is slidable between a protruding position protruding from the distal end portion and a retracted position in which the cylindrical portion is retracted into the distal end portion; and an inner cylinder provided between the outer cylinder and the inner cylinder, A robot hand system comprising an O-ring mounting hand for a robot provided with a spring that constantly biases the cylinder toward the protruding position.

この発明によれば、ロボットの手先に取り付けられ、駆動のための動力が不要なロボット用Ｏリング装着ハンドを持ったロボットハンドシステムが得られる。 According to the present invention, a robot hand system having an O-ring mounting hand for a robot that is attached to the hand of the robot and does not require driving power can be obtained.

実施の形態１．
図１〜１１は本発明の実施の形態１によるＯリング装着ハンド１およびＯリング供給ジグ２を備えたロボットハンドシステムを示す図であり、図１はロボットハンドシステムの概略図である。ロボットハンドシステムは、ロボット３の手首４に取り付けられて、Ｏリング５を保持したＯリング装着ハンド１を用いて、Ｏリング５を取り付けるべき物品６の溝７にＯリング５を挿入するためのものである。 Embodiment 1 FIG.
1 to 11 are views showing a robot hand system including an O-ring mounting hand 1 and an O-ring supply jig 2 according to Embodiment 1 of the present invention, and FIG. 1 is a schematic diagram of the robot hand system. The robot hand system is used for inserting the O-ring 5 into the groove 7 of the article 6 to which the O-ring 5 is to be attached using the O-ring mounting hand 1 attached to the wrist 4 of the robot 3 and holding the O-ring 5. Is.

図１において、Ｏリング装着ハンド１にＯリング５を供給して仮装着させるためのＯリング供給ジグ２は、後に詳しく説明するように、Ｏリング５を保持して案内されてＯリング５の径方向に開閉してＯリング５をＯリング装着ハンド１に供給する複数の指状のジグ内片８と、ジグ内片８上でＯリング５の軸方向に移動してジグ内片８上に保持されたＯリング５をＯリング装着ハンド１上に押して移送するジグ外片９とを備えている。ジグ内片８は径方向に配置されたレール１０によって案内されて移動する。Ｏリング５のＯリング供給ジグ２への供給は別のロボット１１によって操作されるＯリング把持ハンド１２によって行われる。 In FIG. 1, an O-ring supply jig 2 for supplying the O-ring 5 to the O-ring mounting hand 1 and temporarily mounting it is guided while holding the O-ring 5 as will be described in detail later. A plurality of finger-shaped jig inner pieces 8 that open and close in the radial direction and supply the O-ring 5 to the O-ring mounting hand 1, and move on the jig inner piece 8 in the axial direction of the O-ring 5 and And a jig outer piece 9 for pushing and transferring the O-ring 5 held on the O-ring 5 onto the O-ring mounting hand 1. The jig inner piece 8 moves while being guided by rails 10 arranged in the radial direction. Supply of the O-ring 5 to the O-ring supply jig 2 is performed by an O-ring gripping hand 12 operated by another robot 11.

図２および図３には図１に示すＯリング装着ハンド１の詳細を示し、図２において、Ｏリング装着ハンド１は、ロボット３の手首４に後端部に設けられたフランジ１３によって取り付けられ、円筒形内周面１４を持つ中空円筒体である外筒１５を備えている。外筒１５は、後端部１６がロボット３の手首４によって閉ざされていて、先端部１７は開放されていて環状をなし、外周面が先細りにテーパしていて、先端部１７には環状端面１８が形成されている。 2 and 3 show details of the O-ring mounting hand 1 shown in FIG. 1. In FIG. 2, the O-ring mounting hand 1 is attached to the wrist 4 of the robot 3 by a flange 13 provided at the rear end portion. And an outer cylinder 15 which is a hollow cylindrical body having a cylindrical inner peripheral surface 14. The outer cylinder 15 has a rear end portion 16 which is closed by the wrist 4 of the robot 3, a front end portion 17 which is open and has an annular shape, an outer peripheral surface which is tapered, and the front end portion 17 has an annular end surface. 18 is formed.

外筒１５内には、円筒形内周面１４上を摺動できるように軸方向移動可能に支持されたほぼ円筒形の内筒１９が設けられている。内筒１９は、外筒１５の閉じた後端部１６に面する後端面２０と、外筒１５の先端部１７の開口に望んだ先端面２１とを有している。内筒１９はまた、先端面２１に隣接した先端部２２に設けられた円筒部２３を備えている。この円筒部２３は、図示のように、その外周面上にＯリング５を保持し得て、外筒１５の環状の先端部１７に対して軸方向に摺動可能である。図２に示す突出位置では、円筒部２３は外筒１５の先端部１７の環状端面１８から突出している。図３に示す後退位置では、円筒部２３は先端部１７内に後退していて、その先端面２１が先端部１７の環状端面１８に対して軸方向に同じあるいは後退した位置にある In the outer cylinder 15, there is provided a substantially cylindrical inner cylinder 19 supported so as to be movable in the axial direction so as to be slidable on the cylindrical inner peripheral surface 14. The inner cylinder 19 has a rear end surface 20 that faces the closed rear end portion 16 of the outer cylinder 15 and a front end surface 21 that is desired at the opening of the front end portion 17 of the outer cylinder 15. The inner cylinder 19 also includes a cylindrical portion 23 provided at the distal end portion 22 adjacent to the distal end surface 21. As shown in the figure, the cylindrical portion 23 can hold the O-ring 5 on the outer peripheral surface thereof, and can slide in the axial direction with respect to the annular distal end portion 17 of the outer cylinder 15. At the protruding position shown in FIG. 2, the cylindrical portion 23 protrudes from the annular end surface 18 of the distal end portion 17 of the outer cylinder 15. In the retracted position shown in FIG. 3, the cylindrical portion 23 is retracted into the distal end portion 17, and the distal end surface 21 thereof is in the same or retracted position in the axial direction with respect to the annular end surface 18 of the distal end portion 17.

外筒１５の閉じた後端部１６と内筒１９の後端面２０との間には、内筒１９を図２に示す突出位置に常時付勢するばね２４が設けられている。また、内筒１９を図示の突出位置に保持するために、外筒１５と内筒１９との間に設けられて互いに係合して、内筒１９の外筒１５に対する移動範囲を制限するストッパ２５を備えている。図示の例では、ストッパ２５は、内筒１９の外周から突出したピン２６と、外筒１５に設けられてピン２６を受け入れる軸方向に長い長孔２７とによって構成されている。 A spring 24 is provided between the rear end portion 16 of the outer cylinder 15 and the rear end surface 20 of the inner cylinder 19 to constantly urge the inner cylinder 19 to the protruding position shown in FIG. Further, in order to hold the inner cylinder 19 in the illustrated projecting position, a stopper is provided between the outer cylinder 15 and the inner cylinder 19 and engages with each other to limit the movement range of the inner cylinder 19 relative to the outer cylinder 15. 25. In the illustrated example, the stopper 25 includes a pin 26 protruding from the outer periphery of the inner cylinder 19 and a long hole 27 provided in the outer cylinder 15 and extending in the axial direction for receiving the pin 26.

円筒部の直径は、Ｏリング５を装着すべき部分である物品６に形成されたＯリング５を嵌め込むための円形のＯリング溝７の内径と同じ直径にされている。また、外筒１５および内筒１９は、Ｏリング溝７が彫られた物品６の材質より柔らかい材質で製作することが望ましい。 The diameter of the cylindrical portion is the same as the inner diameter of the circular O-ring groove 7 into which the O-ring 5 formed in the article 6 which is a portion to which the O-ring 5 is to be attached. The outer cylinder 15 and the inner cylinder 19 are preferably made of a material softer than the material of the article 6 in which the O-ring groove 7 is carved.

次に図２および３を用いてこの発明のロボットハンドシステムのＯリング装着ハンド１の動作について説明する。内筒１９の円筒部２３にＯリング５を嵌められたロボット３は、Ｏリング装着ハンド１を物品６の溝７へ接近させ、ロボット手首４の姿勢を調整して図２のように物品６の溝７が彫られた面に対して内筒１９の中心線が図２のように直角になる姿勢とし、図２のように溝７の中心に対して内筒１９の中心を合わせる。 Next, the operation of the O-ring mounting hand 1 of the robot hand system of the present invention will be described with reference to FIGS. The robot 3 fitted with the O-ring 5 in the cylindrical portion 23 of the inner cylinder 19 brings the O-ring mounting hand 1 close to the groove 7 of the article 6 and adjusts the posture of the robot wrist 4 to adjust the article 6 as shown in FIG. The center line of the inner cylinder 19 is at a right angle as shown in FIG. 2 with respect to the surface on which the groove 7 is carved, and the center of the inner cylinder 19 is aligned with the center of the groove 7 as shown in FIG.

次にロボット３はロボット手首４に取り付けられたＯリング装着ハンド１の内筒１９の先端面２１を、物品６に押し当て、さらにばね２４の作用に抗して溝７が彫られた物品６の面に対して押し込んでいく。内筒１９は物品６の面に押し当てられることで外筒１５から後退し、この動作にともない内筒１９の円筒部２３にはめられたＯリング５は外筒１５の環状端面１８に押し出されて溝７にはめこまれる。この状態が図３に示されている。 Next, the robot 3 presses the tip surface 21 of the inner cylinder 19 of the O-ring mounting hand 1 attached to the robot wrist 4 against the article 6, and further the article 6 in which the groove 7 is carved against the action of the spring 24. Push against the surface. The inner cylinder 19 is retreated from the outer cylinder 15 by being pressed against the surface of the article 6, and the O-ring 5 fitted to the cylindrical portion 23 of the inner cylinder 19 is pushed out to the annular end surface 18 of the outer cylinder 15 with this operation. And is inserted into the groove 7. This state is shown in FIG.

その後、ロボット３によってＯリング装着ハンド１を持ち上げると、ばね２４の作用により、内筒１９はストッパ２５が当接するまで外筒１５から突出し、再びＯリング５を内筒１９の円筒部２３に仮装着することができる位置となる。 Thereafter, when the O-ring mounting hand 1 is lifted by the robot 3, the inner cylinder 19 protrudes from the outer cylinder 15 by the action of the spring 24 until the stopper 25 abuts, and the O-ring 5 is temporarily mounted on the cylindrical portion 23 of the inner cylinder 19. This is where you can wear it.

図４には、この発明のロボットハンドシステムにおいて、内筒１９にＯリング５を仮装着するためのＯリング供給ジグ２を斜視図で示してある。Ｏリング供給ジグ２は、Ｏリング５を保持してＯリング５の径方向に開閉してＯリング５をＯリング装着ハンド１に供給する複数のジグ内片３０と、ジグ内片３０上でＯリング５の軸方向に移動してジグ内片３０上に保持されたＯリング５をＯリング装着ハンド１上に移送するジグ外片３１とを備えている。また、Ｏリング供給ジグ２は、ジグ内片３０を径方向に案内する放射状に配置されたレール３２を備えている。 FIG. 4 is a perspective view of the O-ring supply jig 2 for temporarily mounting the O-ring 5 on the inner cylinder 19 in the robot hand system of the present invention. The O-ring supply jig 2 holds the O-ring 5, opens and closes in the radial direction of the O-ring 5, and supplies the O-ring 5 to the O-ring mounting hand 1. A jig outer piece 31 that moves in the axial direction of the O ring 5 and transfers the O ring 5 held on the jig inner piece 30 onto the O ring mounting hand 1 is provided. Further, the O-ring supply jig 2 includes rails 32 arranged radially to guide the jig inner piece 30 in the radial direction.

図示の例では、ジグ内片３０は、比較的厚い管状体を周方向に８等分してそれぞれ扇形断面を持つ８つの等しい柱状体としたものであり、組み合わされて、Ｏリング５を仮装着するための外周部分３３を形成している。それぞれのジグ内片３０は、図示してない架台上に放射状に取り付けられた複数のレール３２上にスライダ３４によって摺動自在に取り付けられ、Ｏリング５を仮装着する外周部分３３の中心を中心として放射状に移動可能である。それぞれのジグ内片３０には、ジグ外片３１が図示してないスライド機構によって上下方向すなわち軸方向に摺動自在に取り付けられている。ジグ内片３０およびジグ外片３１はそれぞれモータまたはエアシリンダ（図示していない）などに連結されていて、それぞれ放射方向および軸方向に駆動される。図４に示す状態は、ジグ内片３０が互いに（僅かな間隙があるが）近づいて全体として外径がＯリング５の内径よりも小さな円管状をなし、Ｏリング５を外周部分３３に嵌めてジグ外片３１上に乗せることができる閉位置である。 In the illustrated example, the jig inner piece 30 is formed by dividing a relatively thick tubular body into eight equal columns in the circumferential direction to form eight equal columnar bodies each having a fan-shaped cross section. An outer peripheral portion 33 for wearing is formed. Each jig inner piece 30 is slidably mounted by a slider 34 on a plurality of rails 32 that are radially mounted on a gantry (not shown), and is centered on the center of an outer peripheral portion 33 on which an O-ring 5 is temporarily mounted. Can be moved radially. A jig outer piece 31 is attached to each jig inner piece 30 by a slide mechanism (not shown) so as to be slidable in the vertical direction, that is, in the axial direction. The jig inner piece 30 and the jig outer piece 31 are connected to a motor or an air cylinder (not shown), respectively, and are driven in a radial direction and an axial direction, respectively. In the state shown in FIG. 4, the jig inner pieces 30 approach each other (although there is a slight gap) to form a circular tube whose outer diameter is smaller than the inner diameter of the O-ring 5, and the O-ring 5 is fitted to the outer peripheral portion 33. This is the closed position where it can be placed on the jig outer piece 31.

図５〜１１には、Ｏリング供給ジグ２の動作を示してある。図５において、図４に示すようにジグ内片３０が閉位置にあり、ジグ内片３０の外周部分３３がジグ外片３１から突出した状態で、ロボット１１に取り付けられたＯリング把持ハンド１２を用いてＯリング５をジグ内片３０の外周部に置く。Ｏリング５がジグ内片３０の円筒部即ち外周部分３３の外側でジグ外片３１上に配置した状態を図６に示す。次にそれぞれのジグ内片３０を適当な駆動源によりレール３２に沿って径方向外側に移動させてジグ内片３０を開位置にし、Ｏリング５を広げて図７の状態にする。 5 to 11 show the operation of the O-ring supply jig 2. In FIG. 5, the O-ring gripping hand 12 attached to the robot 11 with the jig inner piece 30 in the closed position and the outer peripheral portion 33 of the jig inner piece 30 protruding from the jig outer piece 31 as shown in FIG. 4. Is used to place the O-ring 5 on the outer periphery of the jig inner piece 30. FIG. 6 shows a state in which the O-ring 5 is arranged on the jig outer piece 31 outside the cylindrical portion of the jig inner piece 30, that is, the outer peripheral portion 33. Next, each jig inner piece 30 is moved radially outward along the rail 32 by an appropriate driving source to bring the jig inner piece 30 into the open position, and the O-ring 5 is expanded to the state shown in FIG.

この状態で、図８に示すように、Ｏリング装着ハンド１を、Ｏリング供給ジグ２に対して中心が合わされた位置に移動させ、次に図９に示すように、Ｏリング装着ハンド１をＯリング供給ジグ２に突き合わせる。この位置では、Ｏリング装着ハンド１の内筒１９の円筒部２３とＯリング供給ジグ２のジグ内片３０の外周部分３３とが一致していて、それらの外周面が同じ円筒面内に位置していて、Ｏリング供給ジグ２の外周部分３３上に保持されているＯリング５をＯリング装着ハンド１の内筒１９の円筒部２３上に移送して保持させることができる。 In this state, as shown in FIG. 8, the O-ring mounting hand 1 is moved to a position centered on the O-ring supply jig 2, and then the O-ring mounting hand 1 is moved as shown in FIG. Match O-ring supply jig 2. At this position, the cylindrical portion 23 of the inner cylinder 19 of the O-ring mounting hand 1 and the outer peripheral portion 33 of the jig inner piece 30 of the O-ring supply jig 2 coincide with each other, and their outer peripheral surfaces are located within the same cylindrical surface. In addition, the O-ring 5 held on the outer peripheral portion 33 of the O-ring supply jig 2 can be transferred and held on the cylindrical portion 23 of the inner cylinder 19 of the O-ring mounting hand 1.

次に、図９に示す位置から、Ｏリング供給ジグ２のジグ外片３１を上方へ移動させて図１０に示す位置に動かし、Ｏリング５を外周部分３３に沿って軸方向にずらしていって、Ｏリング装着ハンド１の円筒部２３上に移送して仮装着する。この位置から、図１１に示すように、Ｏリング装着ハンド１を軸方向に上昇させれば、Ｏリング装着ハンド１の内筒１９の円筒部２３にＯリング５が仮装着され図１および２に示すようになる。 Next, from the position shown in FIG. 9, the jig outer piece 31 of the O-ring supply jig 2 is moved upward to the position shown in FIG. 10, and the O-ring 5 is shifted in the axial direction along the outer peripheral portion 33. Then, it is transferred onto the cylindrical portion 23 of the O-ring mounting hand 1 and temporarily mounted. From this position, as shown in FIG. 11, when the O-ring mounting hand 1 is raised in the axial direction, the O-ring 5 is temporarily mounted on the cylindrical portion 23 of the inner cylinder 19 of the O-ring mounting hand 1. As shown.

なお、Ｏリング把持ハンド１２でＯリング５を把持する際には、図示してないパレット内にバラ積みになったＯリング５の位置と姿勢を２Ｄまたは３Ｄのビジョンセンサで検出してロボットを制御して把持するようにするのが望ましい。Ｏリング５を水平に支持した棒にあらかじめ人手で通してぶら下げておき、このＯリング５の位置と姿勢を２Ｄまたは３Ｄのビジョンセンサで検出してロボットを制御して把持することもできる。 When holding the O-ring 5 with the O-ring holding hand 12, the position and posture of the O-ring 5 stacked in a pallet (not shown) are detected by a 2D or 3D vision sensor, and the robot is moved. It is desirable to control and grip. It is also possible to manually hold the O-ring 5 in advance by hanging it on a horizontal support rod, detect the position and posture of the O-ring 5 with a 2D or 3D vision sensor, and control and grip the robot.

この構成によれば、Ｏリング５の内筒１９への取付が内筒１９の先端側から行われるので、外筒１５と内筒１９の間の移動ストロークを大きくとる必要がないので全体の長さを短くすることができ、またＯリング５の装着動作はロボットが動作することにより行うのでＯリング装着装置自体にエアシリンダやモータなどのアクチュエータを設ける必要がないため軽量化できてかさばることがなく、また動力を供給する配管が必要ないので配管がロボットの動作のじゃまにならない効果がある。 According to this configuration, since the O-ring 5 is attached to the inner cylinder 19 from the front end side of the inner cylinder 19, it is not necessary to take a large movement stroke between the outer cylinder 15 and the inner cylinder 19. Since the O-ring 5 is mounted by the operation of the robot, it is not necessary to provide an actuator such as an air cylinder or a motor in the O-ring mounting device itself, which can be light and bulky. In addition, there is no need for piping to supply power, so there is an effect that the piping does not interfere with the operation of the robot.

なお本実施例ではＯリング５を物品６の平面に彫られた円形のＯリング溝７にはめこむ作業を例にとって説明したが、円筒形の物品に設けられた周方向のＯリング溝にＯリングをはめこむ作業に用いることもできる。また、ここに説明したＯリング供給ジグ２においては、放射状に設置したジグ内片３０、ジグ外片３１、レール３２が８個設けられている例を説明したが、Ｏリング５の拡径に不都合が無い限り、２個以上何個でもよい。 In this embodiment, the operation of fitting the O-ring 5 into the circular O-ring groove 7 carved in the plane of the article 6 has been described as an example. However, the O-ring 5 is provided in the circumferential O-ring groove provided in the cylindrical article. It can also be used for fitting a ring. Further, in the O-ring supply jig 2 described here, an example in which eight pieces of the jig inner piece 30, the jig outer piece 31, and the rail 32 are provided in a radial manner has been described. As long as there is no inconvenience, the number may be two or more.

実施の形態２．
図１２は本発明の実施の形態２によるＯリング装着ハンド４１を示す断面図である。このＯリング装着ハンド４１の基本的構成は、図１〜３に示すＯリング装着ハンド１と同様であるが、図１〜３における外筒１５の内部にばね２４によって突出位置に偏倚されて設けられ、先端部２２にＯリング５を仮装着できる円筒部２３を有する内筒１９が、中空にされていて、内部に外筒１５と内筒１９の関係と同様の第２の内筒４２を備えていることが相違している。このような入れ子式に二重になった関係の構成により、直径の異なる２種類のＯリングを装着することができるのである。 Embodiment 2. FIG.
FIG. 12 is a sectional view showing an O-ring mounting hand 41 according to the second embodiment of the present invention. The basic configuration of the O-ring mounting hand 41 is the same as that of the O-ring mounting hand 1 shown in FIGS. 1 to 3, but is provided inside the outer cylinder 15 in FIGS. The inner cylinder 19 having a cylindrical portion 23 on which the O-ring 5 can be temporarily attached to the distal end portion 22 is hollow, and a second inner cylinder 42 similar to the relationship between the outer cylinder 15 and the inner cylinder 19 is provided inside. It is different to have. With such a nested relationship, two types of O-rings having different diameters can be mounted.

即ち、図１２に示す例においては、Ｏリング装着ハンド４１は、図１〜３と同様のロボット３の手首４に取り付けることができて、環状の先端部１７を持つ中空の外筒１５と、
外筒１５内で軸方向移動可能に支持され、先端部２２に設けられてＯリング５を保持し得て外筒１５の環状の先端部１７に対して軸方向に摺動可能な円筒部２３を持ち、円筒部２３が外筒１５の先端部１７から突出した突出位置（図２）および円筒部２３が先端部１７内に後退した後退位置（図３）間で摺動し得るものである内筒４２と、外筒１５と内筒４２との間に設けられ、内筒４２を突出位置（図２）に常時付勢するばね２４とを備えている。 That is, in the example shown in FIG. 12, the O-ring mounting hand 41 can be attached to the wrist 4 of the robot 3 similar to FIGS. 1 to 3, and has a hollow outer cylinder 15 having an annular tip 17,
A cylindrical portion 23 that is supported in the outer cylinder 15 so as to be movable in the axial direction, is provided at the distal end portion 22, can hold the O-ring 5, and can slide in the axial direction with respect to the annular distal end portion 17 of the outer cylinder 15. The cylindrical portion 23 can slide between a protruding position (FIG. 2) where the cylindrical portion 23 protrudes from the distal end portion 17 of the outer cylinder 15 and a retracted position (FIG. 3) where the cylindrical portion 23 is retracted into the distal end portion 17. An inner cylinder 42 and a spring 24 that is provided between the outer cylinder 15 and the inner cylinder 42 and constantly urges the inner cylinder 42 to the protruding position (FIG. 2) are provided.

内筒４２は、先端に環状の先端部４３を持ち、後端部４４でばね２４によって附勢されている中空管状の円筒体であって、内部に第２の内筒４５を軸方向移動可能に支持している。第２の内筒４５は、先端部４６に、Ｏリング５（図示してない）を保持し得て内筒４２の環状の先端部４３に対して軸方向に摺動可能な第２の円筒部４７を持ち、この第２の円筒部４７が、中空管状の内筒４２の先端部４３から突出した突出位置および第２の円筒部４７が内筒４２の先端部４３内に後退した後退位置間で摺動し得るものである。 The inner cylinder 42 is a hollow tubular cylindrical body having an annular front end portion 43 at the front end and urged by the spring 24 at the rear end portion 44, and the second inner cylinder 45 can be moved in the axial direction therein. I support it. The second inner cylinder 45 can hold an O-ring 5 (not shown) at the distal end portion 46 and can slide in the axial direction with respect to the annular distal end portion 43 of the inner cylinder 42. The second cylindrical portion 47 protrudes from the distal end portion 43 of the hollow tubular inner cylinder 42 and the retracted position where the second cylindrical portion 47 retracts into the distal end portion 43 of the inner cylinder 42. It can slide between.

また、外筒１５と第２の内筒４５との間には、第２の内筒４５を中空管状の内筒４２から突出した突出位置に常時付勢する第２のばね４８が設けられている。第２の内筒４５の動作範囲は、第２の内筒４５に設けられたピン４９と内筒４２に設けられた長孔５０とで構成された第２のストッパ５１によって内筒４２に対して規制されている。第２の内筒４２の直径は図１〜３に示すＯリング溝７よりも小さな直径の第２のＯリング溝５２の直径と同じにしてある。第２のばね４８による付勢力はばね２４よりも弱くしてある。 Further, a second spring 48 is provided between the outer cylinder 15 and the second inner cylinder 45 to constantly urge the second inner cylinder 45 to a protruding position protruding from the hollow tubular inner cylinder 42. Yes. The operating range of the second inner cylinder 45 is such that the second stopper 51 formed by the pin 49 provided in the second inner cylinder 45 and the long hole 50 provided in the inner cylinder 42 is opposed to the inner cylinder 42. Are regulated. The diameter of the second inner cylinder 42 is the same as the diameter of the second O-ring groove 52 having a smaller diameter than the O-ring groove 7 shown in FIGS. The biasing force by the second spring 48 is weaker than that of the spring 24.

次に動作について説明する。ロボット３は図１および４〜１１に示すＯリング供給ジグ２を用いて、先に説明したのと同様に、装着すべきＯリング５の直径に応じて、内筒４２の円筒部２３にも、あるいは第２の内筒４５の第２の円筒部４７にもＯリング５を仮装着できる。仮装着したＯリング５は、先に説明したのと同様にＯリング装着ハンド４１を操作して、Ｏリング５の大きさに応じて、物品のＯリング溝７あるいは第２のＯリング溝５２のいずれかにＯリング５を挿入して装着する。 Next, the operation will be described. The robot 3 uses the O-ring supply jig 2 shown in FIGS. 1 and 4 to 11, and similarly to the above description, the robot 3 also applies the cylindrical portion 23 of the inner cylinder 42 according to the diameter of the O-ring 5 to be mounted. Alternatively, the O-ring 5 can be temporarily mounted also on the second cylindrical portion 47 of the second inner cylinder 45. The temporarily mounted O-ring 5 is operated by operating the O-ring mounting hand 41 in the same manner as described above, and the O-ring groove 7 of the article or the second O-ring groove 52 depending on the size of the O-ring 5. Insert the O-ring 5 into any of the above.

このとき、大きさの異なるＯリング５の装着作業を、単一のＯリング装着ハンド４１で実行することができ、Ｏリング装着のためのロボットハンドをＯリングの直径に合わせて交換する必要がないため、作業効率を極めて高くできる。 At this time, the mounting operation of the O-rings 5 having different sizes can be executed by the single O-ring mounting hand 41, and it is necessary to replace the robot hand for mounting the O-ring according to the diameter of the O-ring. Therefore, the working efficiency can be extremely high.

また、このロボットハンドシステムにおいて、物品６に形成されているＯリング溝７および第２のＯリング溝５２が同心に配置されている場合には、一度の装着動作によって異なる直径の２種のＯリングを同時に装着することもできる。この場合、先に説明したのと同様に、図１および４〜１１に示すＯリング供給ジグ２を用いて、内筒４２の円筒部２３に直径の大きなＯリング５を仮装着し、さらに第２の内筒４５の第２の円筒部４７に直径が小さなＯリング５を仮装着する。この仮装着の順番はどちらが先でも良い。 Further, in this robot hand system, when the O-ring groove 7 and the second O-ring groove 52 formed on the article 6 are concentrically arranged, two types of O having different diameters depending on one mounting operation. Rings can be attached at the same time. In this case, as described above, the O-ring 5 having a large diameter is temporarily attached to the cylindrical portion 23 of the inner cylinder 42 using the O-ring supply jig 2 shown in FIGS. The O-ring 5 having a small diameter is temporarily attached to the second cylindrical portion 47 of the second inner cylinder 45. Either of the temporary mounting orders may be first.

次に、直径の異なる２種のＯリング５が仮装着されたＯリング装着ハンド４１は、先に説明したのと同様に、物品６のＯリング溝７および第２のＯリング溝５２に接近させ、Ｏリング装着ハンド４１の第２の内筒４５を物品６に押し当てて第２のばね４８のばね作用に抗して押し込んでいく。第２のばね４８はばね２４より弱いので、第２の内筒４５は物品６の面に押し当てられて内筒４２から引っ込み、この動作にともない第２の内筒４５にはめられていたＯリング５は内筒４５の端面に押し出されて第２のＯリング溝５２に装着される。Ｏリング装着ハンド４１を更に物品に押し付けると、内筒４２の先端部４３物品６に当たり、外筒１５内に押し込まれ、内筒４２の円筒部２３に仮装着されていたＯリング５が外筒１５の環状の先端部１７によってＯリング溝７内に挿入される。 Next, the O-ring mounting hand 41 on which two types of O-rings 5 having different diameters are temporarily mounted approaches the O-ring groove 7 and the second O-ring groove 52 of the article 6 in the same manner as described above. Then, the second inner cylinder 45 of the O-ring mounting hand 41 is pressed against the article 6 and pressed against the spring action of the second spring 48. Since the second spring 48 is weaker than the spring 24, the second inner cylinder 45 is pressed against the surface of the article 6 and retracted from the inner cylinder 42. The ring 5 is pushed out to the end face of the inner cylinder 45 and attached to the second O-ring groove 52. When the O-ring mounting hand 41 is further pressed against the article, the O-ring 5 that hits the article 6 of the inner cylinder 42 and is pushed into the outer cylinder 15 and temporarily attached to the cylindrical portion 23 of the inner cylinder 42 is removed from the outer cylinder. It is inserted into the O-ring groove 7 by 15 annular tip portions 17.

なおここに説明して図示した例では、内筒４２の内側に第２の内筒４５を取り付けた二重の構造であるが、第２の内筒４５の更に内側により小さな内筒を取り付けてもよく、何重の構造としてもよい。 In the example described and illustrated here, the second inner cylinder 45 is attached to the inner side of the inner cylinder 42, but a smaller inner cylinder is attached to the inner side of the second inner cylinder 45. It is also possible to have a multi-layered structure.

実施の形態３．
図１３〜１７には、この発明の実施の形態３によるロボットハンドシステムにおけるＯリング装着ハンド１およびＯリング供給ジグ２の構成とそれらの動作とを示す。これらの図において、Ｏリング装着ハンド１の内筒１９のＯリング５を仮装着するための円筒部２３は、円周面にＯリング供給ジグ２のジグ内片３０の先端部５３を受け入れる複数の切込み部５４を持っている。Ｏリング供給ジグ２のジグ内片３０には図４等に示されているジグ外片３１は設けられていない。その他の構成は図１〜３に示すものと同様である。内筒１９の円筒部２３に設けた切込み部５４の深さ即ち径方向寸法は、Ｏリング供給ジグ２のジグ内片３０の先端部５３の外周部分である外周部分３３の直径との関係で定めてある。即ち、ジグ内片３０が、レール３２上を径方向に内側に移動して外周部分３３の直径が最も小さくなった状態では、ジグ内片３０の外周部分３３の直径が内筒１９の円筒部２３の直径より小になり、またジグ内片３０の外周部分３３の直径が最も大きくなった状態では、ジグ内片３０の外周部分３３の直径が内筒１９の円筒部２３の直径より大になるようにしてある。換言すれば、切り込み部５４の径方向寸法は、ジグ内片３０が径方向に移動できる範囲が、ジグ内片３０の外周部分３３の直径が内筒１９の円筒部２３の直径より小になる位置と、ジグ内片３０の外周部分３３の直径が内筒１９の円筒部２３の直径より大になる位置とに亘る範囲とするような径方向寸法であることである。 Embodiment 3 FIG.
13 to 17 show the configuration of the O-ring mounting hand 1 and the O-ring supply jig 2 and their operation in the robot hand system according to the third embodiment of the present invention. In these drawings, the cylindrical portion 23 for temporarily mounting the O-ring 5 of the inner cylinder 19 of the O-ring mounting hand 1 receives a plurality of tip portions 53 of the jig inner piece 30 of the O-ring supply jig 2 on the circumferential surface. It has a notch 54. The jig inner piece 30 of the O-ring supply jig 2 is not provided with the jig outer piece 31 shown in FIG. Other configurations are the same as those shown in FIGS. The depth, that is, the radial dimension of the cut portion 54 provided in the cylindrical portion 23 of the inner cylinder 19 is related to the diameter of the outer peripheral portion 33 that is the outer peripheral portion of the distal end portion 53 of the jig inner piece 30 of the O-ring supply jig 2. It has been established. That is, when the jig inner piece 30 moves radially inward on the rail 32 and the outer peripheral portion 33 has the smallest diameter, the diameter of the outer peripheral portion 33 of the jig inner piece 30 is the cylindrical portion of the inner cylinder 19. In the state where the diameter of the outer peripheral portion 33 of the jig inner piece 30 is the largest, the diameter of the outer peripheral portion 33 of the jig inner piece 30 is larger than the diameter of the cylindrical portion 23 of the inner cylinder 19. It is supposed to be. In other words, the radial dimension of the notch portion 54 is such that the diameter of the outer peripheral portion 33 of the jig inner piece 30 is smaller than the diameter of the cylindrical portion 23 of the inner cylinder 19 in the range in which the jig inner piece 30 can move in the radial direction. The radial dimension is such that the range extends from the position to the position where the diameter of the outer peripheral portion 33 of the jig inner piece 30 is larger than the diameter of the cylindrical portion 23 of the inner cylinder 19.

図示の例では、Ｏリング装着ハンド１の内筒１９の円筒部２３の外周には長手方向に４本の溝状の切り込み部５４が等配に切ってある。外筒１５の中空部に内筒１９がはまる点等のその他の構成は先に説明した実施の形態と同様である。Ｏリング供給ジグ２のジグ内片３０も４個あり、実施の形態１で説明したのと同様、ジグ内片３０はレール３２に沿って同期してモータなど（図示していない）により駆動される。図４等に示すジグ外片３１は設けてない。 In the example shown in the drawing, four groove-shaped cut portions 54 are cut equally on the outer periphery of the cylindrical portion 23 of the inner cylinder 19 of the O-ring mounting hand 1 in the longitudinal direction. Other configurations such as the point that the inner cylinder 19 fits in the hollow portion of the outer cylinder 15 are the same as those in the above-described embodiment. There are four jig inner pieces 30 of the O-ring supply jig 2, and the jig inner pieces 30 are driven by a motor or the like (not shown) in synchronization with the rails 32, as described in the first embodiment. The The jig outer piece 31 shown in FIG. 4 etc. is not provided.

次に動作について順に説明する。実施の形態１の手順と同様にして、図１３に示すＯリング装着ハンド１の内筒１９を、図１４に示すようにＯリング５が嵌められたＯリング供給ジグ２のジグ内片３０の外周部分３３に近づけ、図１５に示すようにＯリング装着ハンド１の内筒１９の切り込み部５４に、Ｏリング供給ジグ２のジグ内片３０の先端部５３を挿入する。この際、内筒１９の切り込み部５４ジグ内片３０の位相が一致するようにし、またジグ内片３０の外周部分３３の直径が、内筒１９の円筒部２３の直径より大になるようにして、Ｏリング５が拡張されて内筒１９の円筒部２３に嵌るようにジグ内片３０の位置を調整しておく。次にこの状態から、図１６に示すようにジグ内片３０を閉じていき、やがてジグ内片３０の外周が内筒１９の外周より小になると、Ｏリング５がジグ内片３０の外周部分３３から内筒１９の円筒部２３上に移る。ここでロボット３を動作させてＯリング装着ハンド１を上昇させると、図１７に示すようにＯリング５が内筒１９に仮装着されることになる。 Next, operations will be described in order. In the same manner as in the first embodiment, the inner cylinder 19 of the O-ring mounting hand 1 shown in FIG. 13 is replaced with the jig inner piece 30 of the O-ring supply jig 2 fitted with the O-ring 5 as shown in FIG. The tip 53 of the jig inner piece 30 of the O-ring supply jig 2 is inserted into the notch 54 of the inner cylinder 19 of the O-ring mounting hand 1 as shown in FIG. At this time, the phase of the notch 54 of the inner cylinder 19 and the jig inner piece 30 are matched, and the diameter of the outer peripheral portion 33 of the jig inner piece 30 is larger than the diameter of the cylindrical portion 23 of the inner cylinder 19. Thus, the position of the jig inner piece 30 is adjusted so that the O-ring 5 is expanded and fitted into the cylindrical portion 23 of the inner cylinder 19. Next, from this state, as shown in FIG. 16, the jig inner piece 30 is closed, and when the outer periphery of the jig inner piece 30 becomes smaller than the outer periphery of the inner cylinder 19, the O-ring 5 becomes the outer peripheral portion of the jig inner piece 30. It moves from 33 to the cylindrical part 23 of the inner cylinder 19. Here, when the robot 3 is operated to raise the O-ring mounting hand 1, the O-ring 5 is temporarily mounted on the inner cylinder 19 as shown in FIG.

Ｏリング装着ハンド１からＯリング５を物品６のＯリング溝７に装着するときの手順は実施の形態１と同様である。 The procedure for mounting the O-ring 5 from the O-ring mounting hand 1 to the O-ring groove 7 of the article 6 is the same as in the first embodiment.

このロボットハンドシステムによれば、Ｏリング装着ハンド１の内筒１９に切り込み部５４である長手方向の溝を設け、そこにＯリング供給ジグ２のジグ内片３０の先端部５３がはまるように構成したことで内筒１９の円筒部２３の直径とジグ内片３０の外周部分３３の直径の差を近づけられるので、内筒１９にＯリング５を取り付ける際にＯリング５を大きく伸ばさないでもすむ効果がある。 According to this robot hand system, the inner cylinder 19 of the O-ring mounting hand 1 is provided with a longitudinal groove as the cut portion 54 so that the tip 53 of the jig inner piece 30 of the O-ring supply jig 2 is fitted therein. As a result, the difference between the diameter of the cylindrical portion 23 of the inner cylinder 19 and the diameter of the outer peripheral portion 33 of the jig inner piece 30 can be made closer, so that when the O-ring 5 is attached to the inner cylinder 19, the O-ring 5 is not greatly extended. There is an effect.

なお内筒１９の溝とジグ内片３０の個数を４個としたが、両者が等しくて１個以外なら何個でもよい。 Although the number of grooves in the inner cylinder 19 and the number of jig inner pieces 30 is four, any number of grooves other than one may be used.

この発明の実施の形態１によるロボットハンドシステムを示す概略図である。It is the schematic which shows the robot hand system by Embodiment 1 of this invention. 図１に示すロボットハンドシステムのＯリング装着ハンドを突出位置で示す概略断面図である。It is a schematic sectional drawing which shows the O ring mounting hand of the robot hand system shown in FIG. 1 in a protrusion position. 図２に示すＯリング装着ハンド１を後退位置で示す概略断面図である。It is a schematic sectional drawing which shows the O ring mounting hand 1 shown in FIG. 2 in a retreat position. 図１に示すロボットハンドシステムのＯリング供給ジグの斜視図である。It is a perspective view of the O-ring supply jig of the robot hand system shown in FIG. 図４のＯリング供給ジグにＯリング把持ハンドでＯリングを装荷する様子を示す説明図である。It is explanatory drawing which shows a mode that an O-ring is loaded with the O-ring holding hand to the O-ring supply jig of FIG. Ｏリング供給ジグにＯリングが装荷された状態を示す斜視図である。It is a perspective view which shows the state by which the O-ring was loaded to the O-ring supply jig. Ｏリング供給ジグによりＯリングが拡径された状態を示す説明図である。It is explanatory drawing which shows the state by which the O-ring was expanded by the O-ring supply jig. Ｏリング供給ジグにＯリング装着ハンドを近付けた状態を示す説明図である。It is explanatory drawing which shows the state which brought the O-ring mounting hand close to the O-ring supply jig. Ｏリング供給ジグにＯリング装着ハンドを当接させた状態を示す説明図である。It is explanatory drawing which shows the state which made the O-ring supply jig contact | abut to an O-ring supply jig. Ｏリング供給ジグによりＯリングをＯリング装着ハンドに移送した状態を示す説明図である。It is explanatory drawing which shows the state which transferred the O-ring to the O-ring mounting hand by the O-ring supply jig. Ｏリング供給ジグからＯリング装着ハンドへのＯリングの移送が完了した状態を示す説明図である。It is explanatory drawing which shows the state which the transfer of O-ring from an O-ring supply jig to an O-ring mounting hand completed. この発明の実施の形態２によるロボットハンドシステムのＯリング装着ハンドを示す概略断面図である。It is a schematic sectional drawing which shows the O ring mounting hand of the robot hand system by Embodiment 2 of this invention. この発明の実施の形態３によるロボットハンドシステムのＯリング装着ハンドを示す部分斜視図である。It is a fragmentary perspective view which shows the O ring mounting hand of the robot hand system by Embodiment 3 of this invention. 図１３に示すＯリング装着ハンドと共に用いるＯリング供給ジグの斜視図である。It is a perspective view of an O-ring supply jig used with the O-ring mounting hand shown in FIG. 図１３のＯリング装着ハンドに拡径されたＯリングが装荷されたＯリング供給ジグが嵌められた様子を示す説明図である。It is explanatory drawing which shows a mode that the O-ring supply jig with which the O-ring expanded in diameter was loaded by the O-ring mounting hand of FIG. Ｏリング供給ジグからＯリングがＯリング装着ハンドに移送された状態を示す斜視図である。It is a perspective view which shows the state from which the O-ring was transferred to the O-ring mounting hand from the O-ring supply jig. Ｏリング装着ハンドにＯリングが仮装着された状態を示す斜視図である。It is a perspective view which shows the state by which the O-ring was temporarily mounted to the O-ring mounting hand.

Explanation of symbols

１、４１Ｏリング装着ハンド、２Ｏリング供給ジグ、３ロボット、５Ｏリング、１４円筒形内周面、１５外筒、１６後端部、１７先端部、１９、４２内筒、２０、４４後端面、２２、４６先端部、２３円筒部、２４ばね、２５ストッパ、３０ジグ内片、３１ジグ外片、３２レール、３３外周部分、４５第２の内筒、４７第２の円筒部、４８第２のばね、５１第２のストッパ、５４切込み部。 1, 41 O-ring mounting hand, 2 O-ring supply jig, 3 robot, 5 O-ring, 14 cylindrical inner peripheral surface, 15 outer cylinder, 16 rear end, 17 front end, 19, 42 inner cylinder, 20, 44 Rear end face, 22, 46 Tip, 23 Cylindrical part, 24 Spring, 25 Stopper, 30 Jig inner piece, 31 Jig outer piece, 32 Rail, 33 Outer peripheral part, 45 Second inner cylinder, 47 Second cylindrical part, 48 Second spring, 51 Second stopper, 54 Notch.

Claims

A robot O-ring mounting hand applicable to a robot hand system for mounting an O-ring,
An outer cylinder attached to the robot and having an annular tip;
It is supported in the outer cylinder so as to be movable in the axial direction, has a cylindrical portion that is provided at the distal end and can hold an O-ring and is slidable in the axial direction with respect to the annular distal end of the outer cylinder, An inner cylinder capable of sliding between a protruding position where the cylindrical portion protrudes from the distal end portion of the outer cylinder and a retracted position where the cylindrical portion retracts into the distal end portion;
A robot hand system comprising a robot O-ring mounting hand provided between the outer cylinder and the inner cylinder and provided with a spring that constantly biases the inner cylinder to the protruding position.

The outer cylinder is a hollow cylinder having a cylindrical inner peripheral surface closed at a rear end, the inner cylinder is a cylindrical body that slides on the cylindrical inner peripheral surface of the outer cylinder, and the spring is Provided between the closed rear end of the outer cylinder and the rear end surface of the inner cylinder, provided between the outer cylinder and the inner cylinder, and engaged with each other to The robot hand system according to claim 1, further comprising a stopper that limits a movement range with respect to the cylinder.

3. The robot hand system according to claim 1, wherein a diameter of the cylindrical portion is the same as that of a portion to which an O-ring is to be attached.

The cylinder is supported so as to be axially movable within the inner cylinder, and has a cylindrical portion that is provided at the distal end and can hold an O-ring and is slidable in the axial direction with respect to the annular distal end of the inner cylinder. A second inner cylinder that is slidable between a protruding position at which the cylindrical portion protrudes from the distal end portion of the inner cylinder and a retracted position at which the cylindrical portion is retracted into the distal end portion;
A second spring provided between the outer cylinder and the second inner cylinder and constantly urging the second inner cylinder to a protruding position protruding from the inner cylinder; The robot hand system according to any one of claims 1 to 3.

An O-ring supply jig applicable to a robot hand system for mounting an O-ring,
A plurality of pieces in the jig holding the O-ring and opening and closing in the radial direction of the O-ring to supply the O-ring to the O-ring mounting hand;
An O-ring supply jig provided with an outer jig for moving the O-ring held on the inner piece of the jig on the inner piece of the jig and moving the O-ring held on the inner piece of the jig onto the O-ring mounting hand. The robot hand system according to any one of claims 1 to 4, wherein the robot hand system is characterized in that:

6. The robot hand system according to claim 5, wherein the O-ring supply jig includes rails arranged radially to guide the jig inner piece in a radial direction.

An O-ring supply jig applicable to a robot hand system for mounting an O-ring,
An O-ring supply jig having a plurality of jig inner pieces for holding the O-ring and opening and closing in the radial direction of the O-ring to supply the O-ring to the O-ring mounting hand is provided.
The robot hand system according to any one of claims 1 to 4, wherein the cylindrical portion of the inner cylinder of the O-ring mounting hand has a plurality of cut portions that receive tip portions of the jig inner pieces. .

The radial depth of the cut portion of the inner cylinder is smaller than the diameter of the inner cylinder in a state where the diameter of the outer peripheral part of the jig inner piece is the smallest, and the diameter of the outer peripheral part of the jig inner piece is The robot hand system according to claim 7, wherein the robot hand system has a depth that allows the jig inner piece to move within a range that is larger than the diameter of the inner cylinder in the largest state.

The range in which the jig inner piece is driven is smaller than the diameter of the inner cylinder when the diameter of the outer peripheral portion of the jig inner piece is the smallest, and the diameter of the outer peripheral portion of the jig inner piece is the largest. 9. The robot hand system according to claim 7, wherein the robot hand system is in a range that is larger than the diameter of the inner cylinder in a state where the inner cylinder is in a closed state.