JP2023001578A - O-ring assembly mechanism and O-ring assembly method - Google Patents

Abstract

To provide an O-ring assembly mechanism which is less affected by dimensional variation and variation in the supply position of an O-ring when the O-ring is assembled to an object and has a simple structure and which can hold the O-ring stably and move the O-ring toward the object stably to assemble the O-ring to the object with high precision, and to provide an O-ring assembly method.SOLUTION: An O-ring assembly mechanism A is one example of an O-ring assembly mechanism to which the invention is applied. The O-ring assembly mechanism A includes a supply unit 1, an insertion head unit 2, and a lower receiving part 3. The O-ring assembly mechanism A automatically performs assembly work in which an O-ring 5 is assembled to an annular groove 40 formed on an outer peripheral surface of a workpiece 4, which is an object to which the O-ring 5 is assembled.SELECTED DRAWING: Figure 1

Description

The present invention relates to an O-ring assembly mechanism and an O-ring assembly method. Specifically, when the O-ring is assembled to the object, it is less likely to be affected by dimensional variations in the O-ring and variations in the supply position, has a simple structure, can stably hold the O-ring, and The present invention relates to an O-ring assembling mechanism and an O-ring assembling method capable of stably moving to the right and assembling with high accuracy.

BACKGROUND ART Conventionally, O-rings have been used in various devices and members that require a leak-proof function for gases and liquids, including pneumatic equipment and piping parts.

In general, an O-ring is a ring-shaped member made of rubber, and is assembled in an annular groove formed on the outer peripheral surface of a workpiece to be assembled or the inner peripheral surface of a hole inside the workpiece. used.

Further, the work for assembling the O-ring into the annular groove formed on the outer peripheral surface of the work is, for example, by temporarily attaching the O-ring to the outer peripheral surface of a dedicated jig by hand, and then attaching this jig to the work. and inserting it into the annular groove on the outer peripheral surface of the work while pushing the O-ring from the jig side to the work side by hand.

However, the work of manually assembling the elastic and small-diameter O-ring into the annular groove accurately using a special jig is troublesome, and there is a problem in terms of work efficiency.

Therefore, in recent years, in order to efficiently perform the work of assembling the O-ring, a technique for automatically assembling the O-ring into the annular groove of the work has been developed, and several devices have been proposed (for example, patent documents 1).

Here, in the O-ring assembly mechanism described in Patent Document 1, as shown in FIG. It has an axial recess 106 into which the portion 101 side is inserted, and is mounted axially movably along the tapered outer peripheral portion 103 of the guide 102 . It has a structure provided with a movable pressing jig 105 on the diameter portion 104 side.

Further, in the O-ring assembly mechanism described in Patent Document 1, a pressing jig 105 is attached to the guide 102 (see FIG. 12(b)), and the O-ring 100 is moved to the large diameter portion 104 side of the guide 102. In this state, the large diameter portion 104 of the guide 102 is moved to the vicinity of the workpiece 108 to which the O-ring 100 is to be attached (see FIG. 12(c)).

Further, the pressing jig 105 is further moved in the axial direction along the direction of the work 108 to move the O-ring 100 attached to the large-diameter portion 104 of the guide 102 to the outer periphery of the work 108 . (see FIG. 12(d)).

JP-A-9-108959

However, in the O-ring assembly mechanism described in Patent Document 1, the guide 102 for temporarily attaching and holding the O-ring 100 and the O-ring 100 held by the guide 102 are directed toward the O-ring groove 107 of the workpiece 108. A pressing jig 105 that is moved by pressing is configured as a separate member.

Then, the O-ring 100 is dropped toward the guide 102. With the O-ring 100 stopping in the middle of the tapered outer peripheral portion 103 of the guide 102, the guide 102 is lowered by a table (not shown). , finish the supply of O-rings 100 . After that, the table rotates 180 degrees and is transported under a pressing unit (not shown).

After that, the table is raised, the base (not shown) of the pressing unit is lowered, and the O-ring 100 stopped halfway along the tapered outer peripheral portion 103 is moved toward the guide 102 connected to the base by the pressing jig 105 . , the O-ring 100 expands along the taper of the tapered outer peripheral portion 103 and moves to the large diameter portion 104 .

Here, in the process of attaching the O-ring 100 to the guide 102, since the O-ring 100 is simply dropped downward to be attached to the guide 102, there is a large variation in the dropped state, resulting in poor reproducibility. was there.

Thus, in a state where the O-ring 100 stops in the middle of the tapered outer peripheral portion 103 of the guide 102, the probability that the O-ring 100 stops in an unbalanced state such as being tilted with respect to the horizontal direction, for example, is was high.

If the O-ring 100 is forcibly pushed down by the pressing jig 105 while the O-ring 100 is in an unbalanced state, there is a high possibility that the O-ring 100 will be twisted. , there is a problem that it is attached to the large diameter portion 104 in an distorted shape such as being slanted or twisted.

As described above, the O-ring assembly mechanism described in Patent Document 1 has a problem that it cannot cope with variations in the supply position when the O-ring 100 is supplied to the guide 102 . In other words, when the O-ring 100 is moved along the outer peripheral surface of the guide 102 by the pressing jig 105, there is a serious drawback that the reliability of the moving operation is low.

Further, after that, the pressing jig 105 is gripped by a chuck portion (not shown) of the pressing unit and transported onto the workpiece 108 by a transport robot or the like. do.

Then, the lower end of the guide 102 contacts the work 108 , and the O-ring 100 temporarily attached to the large-diameter portion 104 of the guide 102 is moved to the O-ring groove 107 of the work 108 by the pressing jig 105 .

At this time, in the O-ring assembly mechanism described in Patent Document 1, it is a prerequisite that the axes of the upper end of the work 108 and the lower end of the guide 102 are positioned on the same straight line.

However, in such a device configuration, if the device is operated continuously, wear, vibration, and the like may cause loosening of the connection portion, which inevitably causes variations in operation and causes problems such as misalignment of the axis.

Therefore, when a mechanical problem caused by continuous operation causes a positional deviation such that the axial center of the guide 102 and the axial center of the pressing jig 20 are not on the same straight line, O The ring 100 cannot be moved straight toward the work 108 and cannot be assembled into the O-ring groove 107. - 特許庁

Further, even if the O-ring 100 can be moved by the pressing jig 105, if the entire circumference of the O-ring 100 cannot be pressed with a uniform force, the O-ring 100 will be deformed and the workpiece will be deformed. It will get stuck in the O-ring groove 107 of 108 and lead to leakage of gas or liquid.

Furthermore, in the conventional O-ring assembling mechanisms, including the O-ring assembling mechanism described in Patent Document 1, there is room for improvement in the mechanisms that allow variations in O-ring dimensions and supply positions.

The present invention has been invented in view of the above points. To provide an O-ring assembling mechanism and an O-ring assembling method capable of stably holding an O-ring, stably moving it toward an object, and assembling it with high accuracy.

In order to achieve the above object, the O-ring assembly mechanism of the present invention comprises a supply unit that holds an O-ring, a supply unit that supplies the O-ring, holds the O-ring, An insertion head unit that feeds the O-ring toward a work to be assembled with the ring, and a work receiving portion that defines the position of the work when the O-ring is fed from the insertion head unit, An O-ring assembling mechanism for assembling the O-ring into an annular groove formed on the outer peripheral surface of the work, wherein the insertion head unit is arranged to face the supply unit or the work, A head main body configured to be movable back and forth, and a substantially cylindrical outer shape having an outer diameter larger than the inner diameter of the O-ring, and are fitted with the O-ring to expand the O-ring. a holder portion having a bottomed holder hole opening at its distal end and attached to the head main body via a first elastic body attached to its proximal end; , which is connected to the distal end of the holder portion and is formed so that the outer diameter becomes smaller from the base end connected to the distal end of the holder portion to the distal end located in the opposite direction, and the distal end a tapered portion having an outer diameter larger than the inner diameter of the O-ring; By moving the head main body in the direction of the work, the tip of the head is pressed against the end surface of the work, and can be accommodated inside the holder and the tapered portion along the longitudinal direction of the holder. When the second elastic body has a natural length, at least the portion protruding from the taper portion extends from the base end on the side of the taper portion to the tip located in the opposite direction to the outer diameter a ring guide portion formed to be small in size and having an outer shape in which the outer diameter at the tip thereof is smaller than the inner diameter of the O-ring; While the ring guide portion is in contact with the end surface of the work and the ring guide portion is housed inside the holder portion and the tapered portion, the head main body moves toward the work, and the outer circumference of the holder portion an insertion claw portion for moving the O-ring held by the surface along the outer peripheral surface of the holder portion and the outer peripheral surface of the work, and assembling the O-ring into the annular groove of the work; The supply unit holds the O-ring and is movable forward and backward toward the insertion head unit in a state in which the supply unit faces the insertion head unit, and in a state in which the O-ring is held, a lifter portion for moving the O-ring along the outer peripheral surfaces of the ring guide portion, the taper portion, and the holder portion, and conveying the O-ring to a predetermined position on the outer peripheral surface of the holder portion; The receiving portion is arranged on the opposite side of the workpiece from the insertion head unit, and is configured to define the position of the workpiece along the longitudinal direction of the holder and the direction perpendicular to the axis of the holder. It is

Here, the supply unit holds the O-ring and has a lifter part that can move back and forth toward the insertion head unit in a state in which the supply unit faces the insertion head unit. , the O-ring can be moved toward the insertion head unit.

In addition, the supply unit moves the O-ring along the outer peripheral surface of the ring guide portion, the tapered portion, and the holder portion while holding the O-ring, and conveys the O-ring to a predetermined position on the outer peripheral surface of the holder portion. Having a lifter part, the insertion head unit has a holder part that can be fitted with an O-ring to extend and hold the O-ring, so that the O-ring conveyed by the lifter part is held by the holder part, Can be worn temporarily.

In addition, the holder portion is attached to the head main body portion via a first elastic body attached to the base end thereof, and the tapered portion is attached to the head body portion. The ring guide part is attached to the bottom part of the holder hole via a second elastic body, and the lifter part holds the O-ring and moves the O-ring to the ring guide part, By moving along the outer peripheral surfaces of the taper portion and the holder portion and conveying the O-ring to a predetermined position on the outer peripheral surface of the holder portion, the head body portion, the holder portion, the taper portion, and the ring guide portion are assembled. It becomes an integrated structure. Further, along the outer peripheral surface of each member in the integrated structure, the O-ring can be moved to a predetermined position by the lifter.

In addition, the insertion head unit has a head main body portion configured to be movable forward and backward with respect to the supply unit or the workpiece arranged opposite to the first elastic head unit, and the holder portion is attached to the proximal end thereof. Attached to the head main body through the body, the integrated structure of the head main body, the holder, the tapered portion, and the ring guide is moved forward and backward with respect to the supply unit or the work. can be done.

In addition, when the second elastic body has the natural length, at least the portion of the ring guide portion protruding from the tapered portion has a large outer diameter from the proximal end on the side of the tapered portion to the distal end located in the opposite direction. and the outer diameter of the tip of the O-ring is smaller than the inner diameter of the O-ring. It is possible to easily insert the tip of the ring guide portion inside. As a result, the O-ring can be smoothly moved along the outer peripheral surface of the ring guide portion toward the holder portion via the lifter portion. In addition, since the outer diameter of the tip of the ring guide portion is smaller than the inner diameter of the O-ring, for example, the position of the O-ring placed on the lifter portion varies, and the size of the O-ring varies. Also, the tip of the ring guide portion can be easily passed through the inside of the O-ring. That is, it is possible to absorb variations in the position and size of the O-ring in the supply unit, and to stably transport the O-rings to the holder section.

Further, the tapered portion is formed such that the outer diameter of the taper portion decreases from the proximal end connected to the distal end of the holder portion to the distal end located in the opposite direction, and the outer diameter of the distal end is the O-ring. By having an outer diameter larger than the inner diameter of the O-ring, when the O-ring that has passed through the ring guide part moves toward the holder part via the lifter part, the O-ring gradually moves from the inside to the outside. It is possible to guide the O-ring toward the holder part while stretching it and increasing the holding force for the O-ring. As a result, the O-ring is less likely to come off and can be stably moved to the holder.

In addition, the holder part has a substantially cylindrical shape, has an outer shape whose outer diameter is larger than the inner diameter of the O-ring, and is fitted with the O-ring so that the O-ring can be stretched and held. In the section, when the O-ring is conveyed to a predetermined position along the outer peripheral surface of the holder section, the O-ring can be conveyed in a shape in which the O-ring is stretched from the inside toward the outside. That is, the O-ring is less likely to drop off from the outer peripheral surface of the holder portion, and the O-ring can be stably moved to a predetermined position. In addition, the O-ring can be stably held at a predetermined position of the holder portion by making the O-ring sufficiently stretched from the inside toward the outside.

Further, the ring guide portion is attached to the bottom portion of the holder hole via the second elastic body, and when the head main body portion moves in the direction of the work, the tip of the ring guide portion comes into contact with the end surface of the work and is pressed. , along the longitudinal direction of the holder, can be accommodated inside the holder portion and the tapered portion, so that when the head main body portion is moved toward the work, the second elastic body contracts. , the ring guide portion is accommodated inside the holder portion and the taper portion, and the tip of the taper portion can be brought into contact with the end surface of the workpiece. As a result, when the O-ring held by the holder portion is moved toward the work, the O-ring is moved along the holder portion and the tapered portion having an outer peripheral surface larger than the inner diameter of the O-ring. It becomes possible to move the O-ring from the tip to the work side. That is, the O-ring can be stably conveyed to the work side while being stretched from the inside to the outside. In addition, when the O-ring is transferred from the holder to the work, the ring guide portion that contacts the work is housed inside the holder and the tapered portion, so that the outer diameter of the tip of the holder can be changed. can. In other words, the outer diameter of the tip portion of the holder portion is the outer diameter of the tapered portion, and changes so as to maintain the state in which the inner diameter of the O-ring is widened. It is possible to prevent the O-ring from being caught on the upper end of the work when the O-ring is transferred.

Further, the holder portion is attached to the head body portion via the first elastic body attached to the base end thereof, and the ring guide portion is applied to the bottom portion of the holder hole portion with a biasing force greater than that of the first elastic body. Attached via a small second elastic body, when the head main body moves in the direction of the work, the tip of the head is pressed against the end surface of the work, and the holder and the taper move along the longitudinal direction of the holder. The insertion claw is provided on the head main body, the tip of the ring guide contacts the end face of the workpiece, and the ring guide is housed inside the holder and the taper. In this state, the O-ring held by the outer peripheral surface of the holder portion is moved along the outer peripheral surface of the holder portion and the outer peripheral surface of the work along with the movement of the head main body portion in the direction of the work, thereby forming the annular groove of the work. By assembling the O-ring to the insertion claw portion, the O-ring can be moved from the holder portion toward the annular groove of the workpiece. Also, the O-ring can be fitted into the annular groove of the work by the insertion claw portion. That is, when the head main body moves toward the work, the second elastic body contracts before the first elastic body, and the ring guide part is accommodated inside the holder part and the taper part, Furthermore, the head main body moves toward the work and the first elastic body contracts, so that the insertion claw attached to the head main body can be further moved toward the work. As a result, the O-ring can be moved along the outer peripheral surfaces of the holder portion and the taper portion by the insertion claw portion, conveyed toward the annular groove of the workpiece, and assembled in the annular groove. In addition, since the holder part and the insertion claw part are integrated, it is difficult for the positional relationship between the axial centers of both members to shift even during continuous operation. Therefore, the O-ring can be uniformly mounted in the annular groove of the workpiece without twisting.

Further, the workpiece receiving part is arranged on the opposite side of the workpiece insertion head unit, and defines the position of the workpiece along the longitudinal direction of the holder and along the direction orthogonal to the axis of the holder, whereby the insertion head When sending the O-ring from the unit toward the work, it is possible to prevent the work from being displaced in the longitudinal direction of the holder and in the direction perpendicular to the axis of the holder. As a result, the insertion head unit can stably fit the O-ring into the annular groove of the workpiece.

In addition, in a state where the tip of the ring guide portion is in contact with the end surface of the workpiece and the ring guide portion is accommodated inside the holder portion and the taper portion, the tip of the ring guide portion and the tip of the taper portion are aligned in the longitudinal direction of the holder. , the O-ring can be more stably transferred from the tip of the tapered portion to the end of the workpiece through the insertion claw portion. That is, in the longitudinal direction of the holder, the outer peripheral surface on the tip side of the ring guide portion is covered with the outer peripheral surface on the tip side of the tapered portion, and the O-ring moves along the outer peripheral surface on the tip side of the ring guide portion. no more to do. In other words, along the outer peripheral surface of the tip of the taper portion, the O-ring is delivered to the end portion on the work side while maintaining the shape of the O-ring stretched from the inside toward the outside. It can be moved to the workpiece more stably.

Further, the portion of the ring guide portion that protrudes from the taper portion when the second elastic body is at its natural length has a cross-shaped cross section when viewed in a direction substantially perpendicular to the axial direction of the holder portion. In this case, the shape of the O-ring can be made stable when it moves along the outer peripheral surface of the ring guide portion. As a result, when the lifter portion moves the O-ring from the ring guide portion toward the tapered portion, the O-ring is less likely to get caught in the ring guide portion, and the O-ring can be directed toward the taper side in a stable manner. You can ride it. In addition, it is possible to stably support the shape of the O-ring with a relatively simple cross-shaped structure.

Further, the portion of the ring guide portion that protrudes from the taper portion when the second elastic body is at its natural length has a cross-shaped cross section when viewed from a direction substantially perpendicular to the axial direction of the holder portion. However, if a guide groove is formed on the outer peripheral surface of the holder portion and the outer peripheral surface of the taper portion within a range that can accommodate the ring guide portion, and the guide groove fits with the cross-shaped shape of the ring guide portion, the guide groove The cross-shaped portion of the ring guide portion can be moved along, and the ring guide portion can be accommodated in the holder portion and the tapered portion.

In addition, the insertion claw portion is configured to be expandable and contractible around the axis of the holder portion, and is expandable and contractible according to the outer diameters of the outer peripheral surface of the holder portion, the outer peripheral surface of the tapered portion, and the outer peripheral surface of the workpiece. However, when the O-ring can be moved toward the work, the O-ring can be smoothly conveyed by the insertion claw portion. That is, the degree of opening of the insertion claw portion that contacts and conveys the O-ring can follow changes in the outer diameter of the outer peripheral surface of the tapered portion and the outer diameter of the outer peripheral surface of the workpiece.

In addition, the lifter section is configured to be expandable and contractible about the axis of the supply unit, and expands according to the outer diameters of the outer peripheral surface of the ring guide section, the outer peripheral surface of the taper section, and the outer peripheral surface of the holder section. When the O-ring is transported to a predetermined position while being lifted, the O-ring can be smoothly transported by the lifter. That is, the degree of opening of the lifter portion, which contacts and conveys the O-ring, can follow changes in the outer diameter of the outer peripheral surface of the ring guide portion and the outer diameter of the outer peripheral surface of the tapered portion.

In addition, the holder portion has a substantially cylindrical shape and has an outer shape whose outer diameter is larger than the inner diameter of the O-ring, and is fitted with the O-ring so that the O-ring can be stretched and held, and the holder hole. The portion attached to the bottom and protruding from at least the tapered portion is formed so that the size of the outer diameter decreases from the proximal end on the side of the tapered portion to the distal end located in the opposite direction, and the outer diameter of the distal end is reduced. A ring guide portion having an outer shape whose diameter is smaller than the inner diameter of the O-ring, and while holding the O-ring, the O-ring is moved along the outer peripheral surface of the ring guide portion, the tapered portion and the holder portion, and the O-ring is moved to the holder. A lifter portion that conveys the work to a predetermined position on the outer peripheral surface of the part, and an O-ring that is provided on the head main body and held by the outer peripheral surface of the holder portion is moved along the outer peripheral surface of the holder portion and the outer peripheral surface of the work. Even if the supply position of the O-ring with respect to the supply unit fluctuates due to the insertion claw for assembling the O-ring into the annular groove of the workpiece, the inner diameter of the O-ring can be expanded while absorbing the fluctuation of the supply position. That is, since the outer diameter of the tip of the ring guide portion is smaller than the inner diameter of the O-ring, the tip of the ring guide portion can be inserted into the inner side of the O-ring even if the O-ring supply position varies. make it easier to

In addition, since the direction in which the lifter moves the O-ring toward the holder is opposite to the direction in which the insertion claw moves the O-ring from the holder to the work, With the force opposite to the force applied to the O-ring by the lifter portion, the O-ring can be moved toward the holder portion while expanding the inner diameter of the O-ring. In other words, the inner diameter of the O-ring is widened, and by combining two force directions, the direction away from the work and the direction returning to the work, the O-ring is finally assembled into the annular groove of the work. In the process of applying force to move the , it is possible to absorb variations in the supply position to the supply unit. In addition, since the O-ring moves in two force directions, the O-ring is less likely to be slanted, twisted, or distorted, and can be assembled in the annular groove of the workpiece.

Also, in order to achieve the above object, the O-ring assembly method of the present invention supplies the O-ring from a supply unit holding the O-ring toward an insertion head unit arranged opposite to the supply unit. Then, a supplying and holding step of holding the O-ring by the insertion head unit, and moving the O-ring held by the insertion head unit toward a work arranged facing the insertion head unit, and moving the O-ring held by the insertion head unit toward the work and an assembling step of assembling the O-ring to an annular groove formed in the outer peripheral surface of the O-ring, wherein the supplying and holding step includes the O-ring in the insertion head unit. A tip having an outer shape smaller than the inner diameter of the ring is passed through the inside of the O-ring, and the lifter portion of the supply unit holding the O-ring is used to extend the outer diameter of the insertion head unit from the tip to the proximal end. While extending the outer edge of the O-ring, the O-ring is moved along the outer peripheral surface where the diameter increases, and the O-ring is transported to a predetermined position on the outer peripheral surface of the holder portion that holds the O-ring in the insertion head unit. and holding the O-ring in a stretched state at the predetermined position of the holder portion; , the tip of the insertion head unit is brought into contact with the tip of the workpiece, a part of the tip of the insertion head unit is accommodated in the main body of the insertion head unit, and the O The O-ring is moved along the outer peripheral surface of the holder portion, the outer peripheral surface of the main body, and the outer peripheral surface of the work by the insertion claw portion of the insertion head unit while maintaining the shape in which the ring is stretched. and the O-ring is assembled in the annular groove.

Here, when the supply holding step moves the O-ring from the supply unit toward the insertion head unit by passing a tip having an outer shape smaller than the inner diameter of the O-ring in the insertion head unit through the inside of the O-ring, The tip of the insertion head unit can be easily inserted inside the O-ring. As a result, the O-ring can be smoothly moved along the outer peripheral surface of the insertion head unit toward the holder section via the lifter section. In addition, since the outer diameter of the tip of the insertion head unit is smaller than the inner diameter of the O-ring, for example, the position of the O-ring placed on the lifter may vary, or the size of the O-ring may vary. Also, the tip of the insertion head unit can be easily passed through the inside of the O-ring. That is, it is possible to absorb variations in the position and size of the O-ring in the supply unit, and to stably transport the O-rings to the holder section.

In addition, in the supply and hold step, the lifter portion of the supply unit that holds the O-ring extends the outer edge of the O-ring from the distal end to the proximal end of the insertion head unit along the outer peripheral surface where the outer diameter increases. By moving the O-ring while moving the O-ring while passing through the tip of the insertion head unit via the lifter, when the O-ring moves toward the holder, the O-ring is gradually directed from the inside to the outside. It is possible to guide the O-ring toward the holder while increasing the holding force for the O-ring. As a result, the O-ring is less likely to come off and can be stably moved to the holder.

Further, in the supplying and holding step, the O-ring is conveyed to a predetermined position on the outer peripheral surface of the holder portion that holds the O-ring in the insertion head unit, and the O-ring is held in a stretched state at the predetermined position of the holder portion. When the O-ring is transported to a predetermined position along the outer peripheral surface of the holder by the lifter, the O-ring can be transported in a shape extending from the inside toward the outside. That is, the O-ring is less likely to drop off from the outer peripheral surface of the holder portion, and the O-ring can be stably moved to a predetermined position. In addition, the O-ring can be stably held at a predetermined position of the holder portion by making the O-ring sufficiently stretched from the inside toward the outside.

In addition, the assembling process includes arranging the workpiece to face the insertion head unit, moving the insertion head unit toward the workpiece, bringing the tip of the insertion head unit into contact with the tip of the workpiece, and moving the insertion head unit. By accommodating a part of the tip part in the main body of the insertion head unit, when the insertion head unit is moved toward the workpiece, the part of the tip part of the insertion head unit is attached to the main body of the insertion head unit. The tip of the main body of the insertion head unit can be brought into contact with the end surface of the workpiece. As a result, when the O-ring held by the holder portion is moved toward the work, the O-ring can be stably conveyed to the work while being stretched from the inside to the outside. can.

In addition, the assembling process includes moving the O-ring along the outer peripheral surface of the holder portion, the outer peripheral surface of the main body, and the outer peripheral surface of the work with the insertion claw portion of the insertion head unit, and assembling the O-ring in the annular groove. As a result, the O-ring can be moved from the holder toward the annular groove of the workpiece by the insertion claw. Also, the O-ring can be fitted into the annular groove of the work by the insertion claw portion.

Also, in the assembling process, the O-ring is moved toward the workpiece while expanding and contracting the insertion claw portion according to the outer diameter of the outer peripheral surface of the holder portion, the outer peripheral surface of the main body, and the outer peripheral surface of the workpiece. In this case, the O-ring can be smoothly conveyed by the insertion claw portion. That is, the degree of opening of the insertion claw portion that contacts the O-ring and conveys can follow changes in the outer diameter of the outer peripheral surface of the main body and the outer diameter of the outer peripheral surface of the work.

Further, when the supply holding step moves the O-ring to a predetermined position while enlarging the lifter portion according to the size of the outer diameter of the outer peripheral surface of the insertion head unit, the O-ring is transported by the lifter portion. can be done smoothly. That is, the degree of opening of the lifter portion, which contacts and conveys the O-ring, can follow changes in the outer diameter of the outer peripheral surface of the insertion head unit and the outer diameter of the outer peripheral surface of the main body. can.

Further, in order to achieve the above object, the O-ring assembly mechanism of the present invention provides an O-ring having an inner diameter that is larger than the outer diameter of the workpiece to which the O-ring is to be attached, while enlarging the inner diameter of the O-ring from the O-ring supply section. A function of mounting the O-ring on a holder portion having an outer diameter, and a function of transferring the O-ring mounted on the holder portion to the work and mounting it in an annular groove formed on the outer peripheral surface of the work. wherein the size of the outer diameter of the tip of the holder portion located on the side of the O-ring supply portion absorbs variations in the supply position of the O-ring in the O-ring supply portion. The holder part has a tapered part whose outer diameter gradually increases from the tip to the other end, and the O-ring is formed to be smaller than the inner diameter of the O-ring. It has a function to change the outer diameter of the tip end side of the holder part that comes into contact with the work when the holder part is transferred to the work, and the outer diameter of the tip of the holder part is the size of the O-ring. The O-ring supply unit is provided with a size that allows the transfer accuracy of a transfer mechanism that transfers the work so as to be in contact with the holder when the work is transferred from the holder to the work. The tips of the lifter claws that apply force to the ring are arranged on a plane perpendicular to the direction of the force applied to the O-ring, and the direction of the force applied by the lifter claws to the O-ring is the same as viewed from the holder. The direction is opposite to the direction in which the work is positioned.

Here, the outer diameter of the tip of the holder part located on the O-ring supply part side is smaller than the inner diameter of the O-ring so as to be able to absorb variations in the O-ring supply position in the O-ring supply part. formed, provided in the O-ring supply section, the tip of the lifter claw applying force to the O-ring is arranged on a plane perpendicular to the direction of the force applied to the O-ring, and the force applied by the lifter claw to the O-ring Since the direction is opposite to the direction in which the work is positioned as seen from the holder, even if the supply position of the O-ring with respect to the O-ring supply unit varies, the inner diameter of the O-ring is adjusted while absorbing the variation in the supply position. can be expanded. That is, the outer diameter of the tip of the holder portion is smaller than the inner diameter of the O-ring so as to be able to absorb variations in the O-ring supply position in the O-ring supply portion. Even if the supply position varies, the tip of the holder can be easily inserted into the O-ring.

In addition, since the direction of the force applied by the lifter claws to the O-ring is opposite to the direction in which the work is positioned when viewed from the holder, the force applied to the O-ring from the holder is opposite to the force applied to the work. , the lifter can move the O-ring toward the holder while enlarging its inner diameter. In other words, the inner diameter of the O-ring is widened, and by combining two force directions, the direction away from the work and the direction returning to the work, the O-ring is finally assembled into the annular groove of the work. In the process of applying force to the O-ring to move it, variations in the supply position to the O-ring supply part can be absorbed. In addition, since the O-ring moves in two force directions, the O-ring is less likely to be slanted, twisted, or distorted, and can be assembled in the annular groove of the workpiece.

In addition, the outer diameter of the tip of the holder part is set to a size that allows the transfer accuracy of the transfer mechanism that transfers the workpiece so that it contacts the holder part when the O-ring is transferred from the holder part to the workpiece. As a result, even if there is some deviation in the transport position of the work during transport of the work transport mechanism, the O-ring can be transferred from the holder to the work without falling off. can.

In addition, when the O-ring is transferred from the holder to the work, by having a function to change the outer diameter of the tip side of the holder that comes into contact with the work, the outer diameter of the tip of the holder can be changed to that of the O-ring. It is possible to prevent the O-ring from being caught on the upper end of the work when the O-ring is transferred from the holder part to the work by changing the inner diameter so that the expanded state can be maintained.

In addition, when the function of changing the outer diameter of the tip of the holder portion that contacts the workpiece is configured by a means that allows the tip of the holder portion to be accommodated inside the holder portion, the tip of the holder portion can be It is possible to easily change the outer diameter of the tip portion side of the holder portion with a simple structure that only accommodates it inside.

The O-ring assembly mechanism according to the present invention has a simple structure that is less likely to be affected by dimensional variation and supply position variation of the O-ring when the O-ring is assembled to the object, and the O-ring can be stably attached. It can be held, stably moved toward the object, and assembled with high accuracy.
In addition, the O-ring assembling method according to the present invention has a simple structure that is less likely to be affected by dimensional variations and supply position variations of the O-ring when assembling the O-ring to the object, and also stabilizes the O-ring. It is a method that can be held in place and can be stably moved toward the object and assembled with high accuracy.

1 is a schematic diagram showing the structure of an O-ring assembly mechanism that is an embodiment of the present invention, (a) is a schematic front cross-sectional view of a supply unit and an insertion head unit, (b) is an insertion head unit, 4 is a schematic front cross-sectional view of a work and a lower receiving part; FIG. FIG. 4 is a schematic perspective view showing a state of forward and backward movement of a lifter; (a) is a schematic front sectional view showing expansion/contraction movement of a lifter, and (b) is a schematic front sectional view showing expansion/contraction movement of an insertion claw. (a) to (c) are schematic diagrams showing the structures of the holder and the ring guide, and (d) to (f) are diagrams showing variations of the structure on the lower side of the ring guide. It is the schematic which shows the movement by which a ring guide is accommodated with respect to a holder. FIG. 4 is a schematic diagram showing deformation of an O-ring in a structure in which the ring guide cannot be accommodated; (a) and (b) are schematic front cross-sectional views showing the downward movement of the head body and the insertion claw. (a) to (c) are process diagrams of schematic front cross-sectional views and schematic plan views showing a series of flows for transporting the O-ring from the supply unit toward the insertion head unit. (a) to (d) are process diagrams of schematic front cross-sectional views and schematic plan views showing a series of flows of transporting the O-ring from the insertion head unit toward the work and assembling the O-ring into the annular groove. FIG. 4 is a schematic perspective view showing a peripheral structure of a supply unit when the O-ring assembly mechanism is applied to an automatic production line; FIG. 4 is a schematic perspective view showing peripheral structures of a drive mechanism for an insertion head unit and a transport mechanism for a work or the like when the O-ring assembly mechanism is applied to an automatic production line; (a) to (c) are diagrams showing a schematic structure of a conventional O-ring assembly mechanism.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings for understanding of the present invention.
[Embodiment]
An embodiment of the present invention will be described as an example of an O-ring assembly mechanism to which the present invention is applied. In addition, the content shown below is merely an example of the structure to which the present invention is applied, and the embodiment of the present invention is not limited to the structure shown below.

[Overall configuration of device]
An O-ring assembly mechanism A, which is an example of an O-ring assembly mechanism to which the present invention is applied, comprises a supply unit 1, an insertion head unit 2, and a lower receiving portion 3 (see FIG. 1).

This O-ring assembling mechanism A automatically assembles the O-ring 5 into the annular groove 40 (see FIG. 1(b)) formed in the outer peripheral surface of the workpiece 4 to which the O-ring 5 is to be attached. It is a mechanism to carry out

In the following description, based on FIG. The supply unit 1 is referred to as "lower or lower", and the vertical direction in the drawing is referred to as "vertical direction or Z-axis direction".

Also, with reference to FIG. 1A, the horizontal direction in the drawing is called the "X-axis direction", and the direction connecting the front and back of the paper surface in the drawing is called the "Y-axis direction". Further, with reference to FIG. 1A, a direction parallel to the X-axis direction and the Y-axis direction is referred to as a "horizontal direction". In addition, when necessary, it may be referred to as "a state in which the holder 21 is viewed from the front" with reference to FIG. 1(a).

The detailed structure of each component of the O-ring assembly mechanism A will be described below.

[Supply unit]
The supply unit 1 is a member to which an O-ring 5 is supplied from an O-ring parts feeder device described later, where the supplied O-ring 5 is arranged, and which supplies the O-ring 5 toward the insertion head unit 2 .

The supply unit 1 also has a main body 10, a lifter 11, a lifter spring 12, and a lifter shaft 13 (see FIGS. 1(a) and 1(b)).

Also, the body portion 10 is a member that constitutes the body of the supply unit 1 . Also, the lifter 11 is a portion where the O-ring 5 supplied from the O-ring parts feeder device (see FIG. 11) is arranged.

In addition, the lifter 11 is in a state where the upper portion of the supply unit 1 faces the lower portion of the insertion head unit 2, and the upper end of the main body 10 of the supply unit 1 and the tip of the ring guide 20 of the insertion head unit 2 are in contact ( It serves as a member that conveys the O-ring 5 to a predetermined position on the outer peripheral surface of the holder 21 in the insertion head unit 2 in a state where the supply unit 1 and the insertion head unit 2 are in contact with each other.

That is, the lifter 11 serves as a member that conveys the O-ring 5 to hold the O-ring 5 in the holder 21 . 2(a) and 2(b) show how the lifter 11 advances and retreats in the vertical direction.

Further, the lifter 11 is connected to the lifter shaft 13, and is configured such that the lifter 11 and the lifter shaft 13 can move back and forth along the vertical direction by a drive source (a lifter cylinder 130, which will be described later) that moves the lifter shaft 13 up and down. there is

The lifter 11 also has four lifter claws 110 (see FIGS. 1(a), 2(a) and 2(b)). The four lifter claws 110 are members for carrying the O-ring 5 with the O-ring 5 placed thereon.

In addition, the four lifter claws 110 are configured to be expandable and contractible via a rotating shaft 111 (see FIGS. 1(a) and 3(a)).

The four lifter claws 110 are connected to the lifter springs 12 and are urged by the lifter springs 12 in a direction of expansion and contraction in a plan view in a direction of closing inward. 3(a) shows the expansion/contraction movement of the lifter claw 110 (an arrow indicated by symbol X in FIG. 3(a)) when the holder 21 is viewed from the front.

That is, the four lifter claws 110 can be expanded and contracted around the rotating shaft 111, and the lifter springs 12 are biased inward in the direction of expansion and contraction in the direction of closing, so that the ring guide 20 and the holder, which will be described later, are moved. 21, the lifter claws 110 spread along the outer diameter of each member, and the O-ring 5 can be smoothly conveyed upward.

Here, the lifter 11 does not necessarily have a structure in which the expanding and contracting lifter claws 110 are urged inward in plan view by the lifter claws 110 and the lifter springs 12 . For example, the lifter claw itself may be formed of a leaf spring, and the biasing force of the leaf spring may direct the lifter claw inward in the expansion/contraction direction. Moreover, such a structure can be designed as appropriate.

[Insertion head unit]
The insertion head unit 2 is a member that holds the O-ring 5 supplied from the supply unit 1, conveys the O-ring 5 toward the work 4, and assembles the O-ring 5 in the annular groove 40 of the work 4. be.

The insertion head unit 2 also has a ring guide 20, a holder 21, a guide spring 22, a holder tapered portion 23, a head body 24, an insertion claw 25, and a holder spring 26 (see FIG. 1 ( a) and FIG. 1(b)).

Further, the insertion head unit 2 is moved by a transport unit, which will be described later, to the position where the supply unit 1 is arranged and the position where the workpiece 4 and the lower receiving part 3 are arranged (the lower receiving cylinder 33 shown in FIG. 12(a) is arranged position).

Also, the insertion head unit 2 is configured to be vertically movable between the supply unit 1 and the workpiece 4 by a transport unit, which will be described later.

The insertion head unit 2 moves the O-ring 5 from the supply unit 1 to the insertion head unit 2 or moves the O-ring 5 from the insertion head unit 2 toward the workpiece 4. It has a drive mechanism (composed of an insertion head electric cylinder 282 shown in FIG. 11(a), a guide spring 22 and a holder spring 26) for moving the main body 24 up and down. The details of driving the insertion head unit 2 will be described later.

Further, the head main body 24 is a member that constitutes the main body of the insertion head unit 1 . The head body 24 is configured to be movable in the horizontal direction or the vertical direction via an electric cylinder 280 for transporting the head unit and a cylinder 281 for vertical movement of the head unit (see FIGS. 10 and 11(a)). .

Further, inside the head main body 24, a concave portion 240 whose lower side is open and an intermediate bottom portion 241 positioned above the concave portion 240 are provided (see FIGS. 1(a) and 1(b)). A through hole 242 is formed in the inner bottom portion 241 .

Also, the recess 240 is a space in which the holder shaft 210 constituting the holder 21 is positioned. Also, the recessed portion 240 is a space in which the holder spring 26 attached to the outer peripheral surface of the holder shaft 210 is arranged.

Further, the holder shaft 210 is inserted through the through hole 242 of the inner bottom portion 241 . The holder shaft 210 also has a function of guiding the movement of the head body 24 when the head body 24 moves up and down.

Moreover, the holder spring 26 is composed of a spring member having a biasing force stronger than that of the guide spring 22 . Further, as will be described later, the holder spring 26 moves the insertion claw 25 and the O-ring 5 after the head main body 24 descends and the guide spring 22 contracts (after the ring guide 20 is housed in the holder 21). It is an elastic member for stepwise descent that is lowered toward the work 4 (see FIGS. 7(b) and 9(c)).

Also, the holder 21 is a member that holds the O-ring 5 transported by the lifter 11 of the supply unit 1 . Further, when the insertion claw 25 conveys the O-ring 5 toward the workpiece 4 , the outer peripheral surface of the holder 21 and the outer peripheral surface of the holder tapered portion 23 are members that serve as a transportation path for the O-ring 5 .

Further, the ring guide 20 is a member that guides the movement of the O-ring 5 when moving it from the supply unit 1 to a predetermined position of the holder 21 (the position where the O-ring 5 is held).

Also, when the O-ring is moved from the insertion head unit 2 toward the work 4, the ring guide 20 comes into contact with the upper end surface of the work 4, and when the insertion claw 25 descends, it is housed inside the holder 21. (See FIG. 3(b)). The details of this movement will be described later.

Next, detailed structures of the holder 21 and the ring guide 20 will be described.
A holder shaft 210 is attached to the upper end of the holder 21 (see FIGS. 1(a), 1(b), and 4(a) to (c)). A holder taper portion 23 is provided on the tip side of the holder 21 .

When the O-ring 5 is moved from the supply unit 1 toward the holder 21 via the lifter 11, the holder tapered portion 23 extends the O-ring 5 outward to stabilize the holding posture of the O-ring 5. It is a part for guiding upwards.

Further, when the O-ring 5 is moved from the insertion head unit 2 toward the workpiece 4 via the insertion claws 25, the holder tapered portion 23 extends the O-ring 5 outward to hold the O-ring 5. This is a part for transferring the O-ring 4 from the insertion head unit 2 to the workpiece 4 while stabilizing the posture.

Further, inside the holder 21 and the holder tapered portion 23, a holder recessed portion 212 which opens downward is formed, and the upper end of the guide spring 22 is attached to the bottom surface of the holder recessed portion 212 (FIG. 1(b), and FIGS. 4(a) to 4(c)).

Four guide grooves 211 are formed in a portion of the holder 21 on the distal end side and in the outer peripheral surface of the holder tapered portion 23 (see FIGS. 4(a) to 4(c)). These four guide grooves 211 are portions in which four projecting portions 200 of the ring guide 20, which will be described later, are fitted to guide the movement when the ring guide 20 moves up and down with respect to the holder 21 .

Further, the ring guide 20 has a guide base portion 205 (see FIG. 4C) arranged inside the holder concave portion 212 . A guide recess 204 that opens upward is formed in the upper inner side of the guide base 205, and the lower end of the guide spring 22 is attached to the bottom surface of the guide recess 204 (see FIG. 4(c)).

By attaching the guide spring 22 to the bottom surface of the holder concave portion 212 and the bottom surface of the guide concave portion 204 in this way, the ring guide 20 is configured to be vertically movable with respect to the holder 21 . Further, as described above, the biasing force of the guide spring 22 is composed of a spring member having a weaker biasing force than the holder spring 26 .

The lower side of the ring guide 20 is composed of four protruding portions 200, which are formed to have a substantially cross-shaped cross-sectional shape when viewed from the bottom (lower diagram of FIG. 4B, see FIG. 5). Also, the lower ends of the four protrusions constitute the lower end surface 203 of the ring guide 20 .

Also, the four protruding portions 200 are formed with tapered portions 201 in which the diameter of the outer peripheral surface increases along the vertical direction (FIGS. 4B, 4C and 4C). 5).

The lower side of the ring guide 20 has a horizontal width d1 smaller than the diameter of the inner circle of the O-ring 5 when the holder 21 is viewed from the front (see FIG. 4B). That is, when viewed from the bottom, the outer diameter of the circumference connecting the four projections 200 is smaller than the inner diameter of the O-ring 5 .

The outer diameter of the lower end surface 203 is the range of positional variation when the O-ring 5 is supplied by the O-ring parts feeder device 7 and the O-ring transfer device 8 (see FIG. 10), relative to the inner diameter of the O-ring 5. is acceptably small.

As a result, when the O-ring 5 is moved from the supply unit 1 , it is possible to smoothly pass the lower end surface 203 of the ring guide 20 inside the O-ring 5 placed on the lifter 11 .

That is, even when there is variation in the position of the O-ring 5 on the supply unit 1, or when there is variation in the dimensions of the O-ring 5 itself, the insertion head unit can handle the variation in position and dimension. It becomes possible to move the O-ring 5 to the 2 side.

Further, when the O-ring 5 is positioned on the outer peripheral surface of the four projecting portions 200 of the ring guide 20, the O-ring 5 can be smoothly moved upward along the tapered portion 201. FIG.

In addition, the guide spring 22 is contracted upward, and the lower part of the ring guide 20 is accommodated inside the holder 21 and the holder tapered portion 23 (see the upper, middle, and lower right figures of FIG. 5, and FIG. 7(b), hereinafter referred to as the “accommodated state of the ring guide 20”), the lower end of the holder tapered portion 23 and the lower end surface 203 of the ring guide 20 are positioned at the same height in the vertical direction. It is configured. Also, at this time, the outer peripheral surfaces of the four protrusions 200 are located inside the guide grooves 211 .

With the ring guide 20 housed in this way, when the O-ring 5 is moved from the insertion head unit 2 toward the work 4 via the insertion claws 25 , the holder tapered portion 23 moves the work 4 . This is the part that comes into contact with the upper part (see FIG. 7(b)).

The lower end of the holder tapered portion 23 has a horizontal width d2 larger than the diameter of the inner circle of the O-ring 5 when the holder 21 is viewed from the front (see FIG. 4B). That is, the outer diameter of the lower end of the holder tapered portion 23 is formed larger than the inner diameter of the O-ring 5 when viewed from the bottom.

As a result, when the O-ring 5 is moved from the outer peripheral surface of the four projecting portions 200 of the ring guide 20 to the outer peripheral surface of the holder tapered portion 23 via the lifter 11, the inner diameter of the O-ring 5 is increased. In addition, the O-ring 5 is stretched outward and can be guided upward while stabilizing the holding posture of the O-ring 5 .

In addition, since the outer diameter of the holder tapered portion 23 increases from the bottom to the top, the O-ring 5 should be moved toward the holding position of the holder 21 while being stretched outward so that the inner diameter increases further. can be done.

Also, when the O-ring 5 is transferred from the insertion head unit 2 toward the workpiece 4, the holding posture of the O-ring 5 is stabilized on the outer peripheral surface of the holder tapered portion 23, so that the O-ring 5 does not come off. , can be transferred to the outer peripheral surface of the workpiece 4.

Also, if, as in the present invention, the ring guide 20 is housed in such a shape that the ring guide is not housed inside the holder 21 and the holder tapered portion 23, as shown in FIG. , the lower end of the ring guide 20c becomes a boundary portion with the upper end surface of the work 4 when the O-ring 5 is transferred to the work 4 by the insertion claws 25 .

As a result, the difference between the outer diameter of the lower end of the ring guide 20c and the outer diameter of the upper end of the workpiece 4 becomes large, and the O-ring 5 is twisted and deformed (indicated by reference numeral 5a) while the insertion claw 25 is being conveyed. , the lower end of the ring guide 20c is caught between the upper end surface of the workpiece 4 and the workpiece cannot be conveyed (see FIGS. 6A and 6B). Therefore, the O-ring 5 can be stably transported by the ring guide 20 being accommodated.

In addition, in the structure of the present invention, the outer diameter dimension of the holder taper portion 23 accommodating the ring guide 20 is equal to or slightly larger than the outer diameter dimension of the upper end portion of the workpiece 4 that contacts the lower end of the holder taper 23. is formed by The degree of the size is such that the conveying accuracy when the holder taper portion 23 and the workpiece 4 are brought into contact with each other can be allowed.

Further, the upper end of the holder tapered portion 23 has a horizontal width d3 larger than the horizontal width d2 at the lower end of the holder tapered portion 23 when the holder 21 is viewed from the front (FIG. 4(b)). )reference). That is, the outer diameter of the upper end of the holder tapered portion 23 is larger than the outer diameter of the lower end of the holder tapered portion 23 and the inner diameter of the O-ring 5 when viewed from the bottom.

In addition, the width in the horizontal direction of the outer peripheral surface of the holder 21 from the upper end of the holder tapered portion 23 to the holding position of the O-ring 5 in the holder 21 is the same as the width d3 (FIGS. 3A and 3B). See FIG. 4(b)).

In this way, the upper end of the holder taper portion 23 and the width d3 in the horizontal direction of the outer peripheral surface of the holder 21 are formed to be larger than the outer diameter of the lower end of the holder taper portion 23, so that the O-ring 5 is mounted on the holder 21. When the O-ring 5 is moved to the holding position, the O-ring 5 is stretched outward so that its inner diameter becomes sufficiently large.

As a result, it is possible to move the O-ring 5 upward while further stabilizing the holding posture of the O-ring 5 . Also, when the O-ring 5 is moved downward from the insertion head unit 2 toward the workpiece 4, it is possible to move the O-ring 5 downward while further stabilizing the holding posture of the O-ring 5.

Further, as shown in FIG. 4(d), when the O-ring 5 is positioned on the outer peripheral surfaces of the four projecting portions 200 of the ring guide 2 as viewed from the bottom, the inner surface of the O-ring 5 is substantially cross-shaped. , and the O-ring 5 has a substantially circular shape.

As a result, when the O-ring 5 moves from the upper portion of the ring guide 20 to the lower portion of the holder tapered portion 23 in the vertical direction, the O-ring 5 is caught on the holder tapered portion 23 between the two projecting portions 200 . The O-ring 5 can be transferred to the holder tapered portion 23 smoothly.

Here, for example, as shown in FIG. 4(e), the shape of the lower end side of the ring guide may be a shape having six projecting portions 200a like the ring guide 20a.

Even in this shape, the inner surface of the O-ring 5 is supported by each tip of the six protrusions 200a, and the O-ring 5 has a substantially circular shape in bottom view, and the O-ring 5 is located between the two protrusions 200a. The O-ring 5 can be smoothly transferred to the holder taper portion 23 without being caught by the holder taper portion (reference numeral omitted).

In addition, the shape of the lower portion of the ring guide 20 in the present invention may adopt a shape other than the four protrusions 200 and the six protrusions 200a as long as the O-ring 5 can be supported in a substantially circular shape in bottom view. . However, since the O-ring 5 can be supported in a substantially circular shape when viewed from the bottom, and the structure becomes simpler, the shape of the lower portion of the ring guide 20 is substantially cross-shaped when viewed from the bottom. It is preferably configured with one protrusion 200 .

On the other hand, as shown in FIG. 4(f), when the shape of the lower end of the ring guide is a shape having three projecting portions 200b like the ring guide 20b, the O-ring 5 has a substantially triangular shape when viewed from the bottom. shape. As a result, when the O-ring 5 is transferred from the ring guide 20b to the holder taper portion 23, the O-ring 5 is easily caught by the holder taper portion (reference numerals omitted) between the two projecting portions 200b, stably. Since it becomes difficult to move the O-ring 5, it is not preferable that the lower end of the ring guide has three protrusions 200b.

As shown in FIGS. 1(a) and 1(b), the insertion head unit 2 has an insertion claw 25. As shown in FIG. The insertion claw 25 is attached to the lower side of the head body 24, descends together with the head body 24, contacts the O-ring 5 held by the holder 21, and conveys the work 4 toward the annular groove 40. (see FIGS. 7(a) and 7(b)).

9A to 9C, the insertion head unit 2 has four insertion claws 25, as shown in the upper diagrams of FIGS. 9A to 9C. Each of the insertion claws 25 is arranged at different positions by approximately 90 degrees in the circumferential direction, and is configured to contact the O-ring 5 from above.

In addition, the four lifter claws 110 are configured to be expandable and contractible via a rotating shaft 251 (see FIGS. 1(a), 1(b) and 3(b)).

The four lifter claws 110 are connected to insertion claw springs 250 and are urged by the insertion claw springs 250 in a direction of expansion and contraction in a direction of closing inward in a plan view. In addition, FIG. 3(b) shows the expansion/contraction movement of the insertion claw spring 250 (an arrow indicated by symbol X in FIG. 3(b)) when the holder 21 is viewed from the front.

That is, the four insertion claw springs 250 can be expanded and contracted around the rotating shaft 251, and the insertion claw springs 250 are urged inward in the direction of expansion and contraction in the direction of closing, so that the ring guide 20 and the holder are closed. 21 and the workpiece 4 , the insertion claw spring 250 expands along the outer diameter of each member, and the O-ring 5 can be smoothly conveyed toward the annular groove 40 .

Here, the insertion claw 25 and the insertion claw spring 250 do not necessarily have a structure in which the expanding and contracting insertion claw 25 is urged inward in plan view. For example, the insertion claw itself may be formed of a leaf spring, and the biasing force of the leaf spring may direct the insertion claw inward in the expansion/contraction direction. Moreover, such a structure can be designed as appropriate.

[Lower receiving part]
The lower receiving portion 3 is a member that receives the lower end of the work 4 arranged below the insertion head unit 2 and defines the position of the work 4 (see FIG. 1(b)).

The lower receiving portion 3 is composed of a main body 30 and a lower receiving concave portion 31 provided in the upper portion of the main body 30 (see FIG. 1(b)). The lower receiving recess 31 is formed to match the size of the lower end of the work base 42 of the work 4 .

A workpiece 4 is an object to which the O-ring 5 is attached. An annular groove 40 into which the O-ring 5 is fitted is formed in the outer peripheral surface above the work base 42 of the work 4 (see FIG. 1(b)).

A tapered portion 41 is formed on the upper end portion side of the work 4 (see FIG. 1(b)). The tapered portion 41 guides the O-ring 5 , which is moved downward by the insertion claw 25 , into the annular groove 40 .

Note that the structure of the work 4 is an example, and the O-ring assembly mechanism A to which the present invention is applied can use a structure other than the work 4 as an O-ring assembly target.

The structure described above is the structure of the O-ring assembly mechanism A, which is an example of the O-ring assembly mechanism to which the present invention is applied. In addition, the O-ring assembly mechanism in the present invention can be applied to a dedicated device provided with each constituent member. That is, it can be an independent device for assembling the O-ring.

Moreover, the O-ring assembly mechanism to which the present invention is applied can be incorporated not only as a dedicated device, but also as a part of a production line in a production line for equipment including works. That is, in a production line for processing a work or a device having a work as a part thereof, each member constituting the O-ring assembly mechanism can be used as a part of the processing equipment that operates on the line. can.

As a result, by using the O-ring assembling mechanism to which the present invention is applied in a manufacturing line of equipment including a work, it is possible to supply the O-ring to the supply unit, convey the O-ring, and move the work to the annular groove. It is also possible to build a part of the production line by automating the entire process up to the assembly of the O-ring.

Next, FIG. 10 and FIG. 11 show an example of a transport mechanism or drive mechanism for each unit, O-ring, workpiece, and lower receiving portion when the O-ring assembly mechanism A is applied to an automatic production line. Description will be made with reference to this.

As shown in FIG. 10, near the supply unit 1, an O-ring parts feeder device 7, an O-ring transfer device 8, a supply unit position moving mechanism 9, and a lifter cylinder 130 are provided.

The O-ring parts feeder device 7 includes a ball feeder (not shown) serving as a supply source for the O-rings 5, and a linear feeder 70 connected to the ball feeder and extending to the vicinity of the upper end surface of the main body 10 of the supply unit 1. have. The ball feeder and the linear feeder 70 are members that convey the O-ring 5 to the tip position of the linear feeder 70 while vibrating.

Further, a width adjusting plate 71 that constitutes a conveying path is detachably attached to the linear feeder 70 according to the size of the O-ring 5 . That is, a width adjusting plate 71 having a plate width suitable for the size of the O-ring is selected and attached to the straight feeder 70 so that the conveying path of the straight feeder 70 is matched to the size of the O-ring.

An O-ring stopper 72 for stopping the O-ring 5 conveyed toward the tip position of the linear feeder 70 is provided on the tip position side of the straight feeder 70 . The O-ring stopper 72 is connected to a stopper cylinder 73 and configured to be vertically movable between the straight feeder 70 and the supply unit 1 .

In FIG. 10, in order to clarify the structure, the positions of the O-ring stopper 72 and the stopper cylinder 73 are shown shifted from their original positions. showing the position.

The O-ring transfer device 8 also has a transfer cylinder 80 and a transfer pin 81 . The transfer cylinder 80 is configured to be movable in the vertical direction and to be movable in a direction connecting the tip position of the linear feeder 70 and the approximate center position of the upper surface of the main body 10 in the supply unit 1 .

Further, as the transfer cylinder 80 moves, the transfer pin 81 is conveyed to the tip position of the straight feeder 70, and the tip can be inserted inside the O-ring 5 stopped by the O-ring stopper 72. (vertical movement).

Further, the transfer pin 81 has its tip inside the O-ring 5, and the O-ring 5 is positioned at the approximate center of the upper surface of the main body 10 in the supply unit 1, that is, at the top of the four lifters 110. It is configured to be transportable to a position where the O-ring 5 can be arranged.

Also, the supply unit position moving mechanism 9 is a position moving mechanism that is connected to the supply unit 1 and corrects the position of the supply unit 1 with respect to the linear feeder 70 . The position of the supply unit 1 is corrected according to the size of the target O-ring.

A lifter cylinder 130 for moving the lifter shaft 13 up and down is provided below the lifter shaft 13 of the supply unit 1 .

In this way, the O-ring 5 can be placed above the four lifters 110 in the supply unit 1 via the O-ring parts feeder device 7, the O-ring transfer device 8, the supply unit position moving mechanism 9, and the lifter cylinder 130. The O-ring 5 is transported to the position.

Next, the details of the transport unit for moving the insertion head unit 2 will be described. As shown in FIG. 10 or 11(a), this transfer unit has a head unit transfer electric cylinder 280, a head unit up/down cylinder 281, and an insertion head electric cylinder 282. As shown in FIG.

Here, the head unit conveying electric cylinder 280 is a mechanism for moving the insertion head unit 2 in the horizontal direction, and moves the insertion head unit 2 between above the supply unit 1 and above a lower receiving cylinder 33 described later. It is a member to move between.

The head unit vertical movement cylinder 281 is a mechanism for moving the insertion head unit 2 in the vertical direction, moves the insertion head unit 2 forward and backward with respect to the supply unit 1, and is arranged above the lower receiving cylinder. It is a member that advances and retreats with respect to the work 6.

The head body 24 of the insertion head unit 2 is fixed to the head unit vertical cylinder 281 via the head holder 283 (see FIGS. 11A and 11B). By fixing the head holder 283 , the insertion head unit 2 can be moved via the head unit transfer electric cylinder 280 and the head unit vertical cylinder 281 .

In addition, FIG. 11B shows an exploded structural view of the main members of the head holder 283 and the insertion head unit 2 in order to clarify the shape of the head holder 283. As shown in FIG.

The insertion head electric cylinder 282 is a mechanism that pushes the head main body 24 downward to move it downward. As the head main body 24 descends, the insertion claw 25, the holder 21 and the ring guide 20 also descend.

That is, the insertion head electric cylinder 282 is a member capable of moving the holder 21 and the head main body 24 downward against the biasing force of the guide spring 22 and the holder spring 26 . In addition, the insertion head electric cylinder 282 has a detection function of detecting an overload.

Further, when the insertion head unit 2 is positioned above the supply unit 1, a holder holding cylinder 284 is provided further above the insertion head unit 2 (see FIGS. 10 and 11(a)).

This holder restraining cylinder 284 is a member for restraining the holder 21 of the insertion head unit 2 from rising when the O-ring 5 is moved toward the insertion head unit 2 by the lifter 11 of the supply unit 1. .

Further, as shown in FIG. 11A, the lower receiving portion 3 is arranged above the lower receiving cylinder 33 and configured to be vertically movable via the lower receiving cylinder 33 .

Further, as shown in FIG. 11(a), the workpiece 4 is set on a transport plate 43 having a hole (not shown), and the transport plate 43 is attached to a rotary table 44 connected to a rotating mechanism. It is

The rotary table 44 is a member that conveys the conveying plate 43 on which the work 4 is set and moves the work 4 so that the work 4 is positioned above the lower receiving cylinder 33 .

In addition, in FIG. 11(a), the composition in which the vertical positional relationship between the workpiece 4 and the lower receiving portion 3 is easy to understand is used, and the workpiece 4 and the lower receiving portion 3 are shown separately. In an actual device configuration, the lower receiving part 3 is arranged above the lower receiving cylinder 33 and the insertion head unit 2 is positioned above the work 4 set on the transfer plate 43 .

With the configuration as described above, the lower receiving part 3 and the work 4 are linearly conveyed above the lower receiving cylinder 33, and the lower receiving cylinder 33 is raised to move the lower receiving part 3 and the work 4. can be integrated.

Next, as an example of an O-ring assembling method to which the present invention is applied, a specific O-ring assembling flow using the above-described O-ring assembling mechanism A will be described. The content described below is an example of the flow when the O-ring assembly mechanism A is applied to an automatic production line. The following content is merely an example, and the O-ring assembly method to which the present invention is applied can be changed as appropriate.

In the following description, the middle and lower diagrams of FIGS. 8 and 9 show the composition when the holder 21 is viewed from the front, and the upper diagrams of FIGS. , and a plan view of the lifter 11 or the insertion claw 25. FIG. 9(d) is a plan view of the workpiece 4 to which the O-ring 5 is assembled.

First, the supply and hold process of conveying the O-ring 5 from the supply unit 1 toward the insertion head unit 2 will be described. In the supply holding step, first, the O-ring 5 is conveyed toward the tip position of the straight feeder 70 by the O-ring parts feeder device 7 composed of the ball feeder and the straight feeder 70 (see FIG. 10).

Further, the O-ring stopper 72 rises from between the tip position of the straight feeder 70 and the supply unit 1 via the stopper cylinder 73, and the O-ring 5 is stopped at the tip position of the straight feeder 70 (Fig. 10).

Next, the O-ring stopper 72 descends, the transfer cylinder 80 and the transfer pin 81 move to the position of the O-ring 5 at the tip position of the straight feeder 70, and the transfer pin 81 descends. Then, the tip of the transfer pin 81 is inserted inside the O-ring 5 .

Then, the transfer cylinder 80 and the transfer pin 81 are arranged next to the tip position of the straight feeder 70 in a state where the tip of the transfer pin 81 is inserted inside the O-ring 5 . moves toward the upper surface side of the main body 10.

Here, the O-ring 5 moves toward the center of the upper end surface of the main body 10 of the supply unit 1 while the tip of the transfer pin 81 hooks the O-ring 5 . The O-rings 5 supplied one by one are fixed on the main body 10 of the supply unit 1 by the transfer cylinder 80 and the transfer pin 81 (see FIG. 8A).

Further, in the supply and hold step, the head unit conveying electric cylinder 280 (see FIG. 10) moves the insertion head unit 2 so that the insertion head unit 2 is positioned above the supply unit 2 .

Next, the insertion head unit 2 is lowered (in the direction of the arrow Y shown in FIG. 8B) via the head unit vertical cylinder 281 (see FIG. 10), and the upper end of the lifter 11 and the ring guide 20 are moved downward. are brought into contact with each other (see FIG. 8(b)). In this state, the lower end surface 203 of the ring guide 20 is inside the O-ring 5 .

As described above, the outer diameter of the lower end surface 203 can allow the range of positional variation when the O-ring 5 is supplied by the O-ring parts feeder device 7 and the O-ring transfer device 8 (see FIG. 10). Since the inner diameter of the O-ring 5 is smaller than the inner diameter of the O-ring 5, even if the position of the O-ring 5 varies when the O-ring 5 is supplied to the supply unit 1, problems do not occur in subsequent steps.

Subsequently, the lifter shaft 13 of the supply unit 1 is raised via the lifter cylinder 130 (see FIG. 10) (in the direction of the arrow Y shown in FIGS. 8(c) and 9(c)), and the lifter 11 (Four lifter claws 110) are moved upward to convey the O-ring 5 upward along the outer periphery (tapered portion 201) of the ring guide 20 (see FIG. 8(c)).

Further, the O-ring 5 conveyed upward moves along the ring guide 20 as indicated by the dotted line in FIG. The O-ring 5 is stretched outward so as to become larger (see the upper diagram in FIG. 8(c)) and is guided upward while stabilizing the holding posture of the O-ring 5 .

Further, when the O-ring 5 passes through the upper end of the holder taper portion 23, the O-ring 5 is further stretched outward so that the inner diameter becomes the largest, stabilizing the holding posture of the O-ring 5. , is stably conveyed to a predetermined holding position of the holder 21 and held.

Further, when the lifter 11 moves the O-ring 5 upward, each lifter claw 110 spreads along the outer diameter of the ring guide 20, the holder tapered portion 23, and the holder 21, and the O-ring 5 can be smoothly conveyed upward (see FIG. 3(a)).

At this time, when the holder holding cylinder 284 (see FIG. 10) arranged above the insertion head unit 2 moves the O-ring 5 toward the insertion head unit 2 with the lifter 11 of the supply unit 1, In addition, the lifting of the holder 21 of the insertion head unit 2 is suppressed.

With the flow up to this point, the O-ring 5 can be conveyed from the supply unit 1 toward the insertion head unit 2, and the O-ring 5 can be held by the insertion head unit 2 in a stable holding posture.

Next, an assembling process of conveying the O-ring 5 from the insertion head unit 2 toward the work 4 and assembling the O-ring 5 into the annular groove 40 of the work 4 will be described. In the assembly process, the insertion head unit 2 is moved via the head unit conveying electric cylinder 280 to position the insertion head unit 2 above the lower receiving cylinder 33 (see FIG. 11(a)).

Also, the work 4 set on the transfer plate 43 is transferred above the lower receiving cylinder 33 via the rotary table 44 (see FIG. 11(a)).

Also, the insertion head unit 2 is arranged linearly with respect to the workpiece 4 and the lower receiving portion 3 along the vertical direction (see FIG. 9A).

In addition, the lower receiving part 3 arranged on the upper part of the lower receiving cylinder 33 is lifted by the lower receiving cylinder 33, and the lower receiving recessed part 31 comes into contact with the lower end of the work base part 42 of the work 4, thereby The part 3 and the workpiece 4 are integrated.

Then, the insertion head unit 2 is lowered via the head unit up/down cylinder 281 (see FIG. 11(a)), the insertion head unit 2 is placed above the work 4, and the insertion head electric cylinder 282 is moved. 11(a)), the head body 24 is lowered (in the direction of the arrow Y shown in FIG. 9(a)), and the lower end surface 203 of the ring guide 20 is brought into contact with the upper end surface of the workpiece 4. (see FIG. 9(a)).

Subsequently, the head body 24 is further lowered via the insertion head electric cylinder 282 (in the direction of the arrow Y shown in FIG. 9B). As a result, the lower end surface 203 of the ring guide 20 is in contact with the upper end surface of the workpiece, and the guide spring 22 is contracted as the head main body 24 descends, and the head main body 24 and the holder 21 descend.

At this time, the space of the holder concave portion 212 is filled with the guide base portion 205 of the ring guide 20, and the projecting portion 200 (lower portion of the ring guide 20) along the guide groove portion 211 forms the holder 21 and the holder tapered portion. It is housed inside 23. Also, the lower end surface 203 of the ring guide 20 is at the same height position as the lower end of the holder tapered portion 23, and the ring guide 20 is accommodated (see the right figures of each stage in FIG. 5 and FIG. 9B).

When the ring guide 20 is accommodated, a conveying path for directing the O-ring 5 held by the holder 21 toward the annular groove 40 of the workpiece 4 is constituted by the outer peripheral surfaces of the holder 21 and the holder guide portion 23 (Fig. 9(b)).

In this case, as described above, the outer diameter dimension of the holder taper portion 23 accommodating the ring guide 20 is equal to or slightly smaller than the outer diameter dimension of the upper end portion of the workpiece 4 in contact with the lower end of the holder taper 23. formed in large dimensions. The degree of the size is such that the conveying accuracy when the holder taper portion 23 and the workpiece 4 are brought into contact with each other can be allowed.

As a result, even if the upper end of the work 4 and the lower end of the holder taper portion 23 are shifted due to transportation, the shift can be absorbed and the problem can be prevented.

Then, from this state, when the head body 24 is further lowered via the insertion head electric cylinder 282 (in the direction of the arrow Y shown in FIGS. 9B and 9C), the recess 240 is opened. The holder spring 26 arranged inside is pushed downward by the inner bottom portion 241 of the head main body 24, and the holder spring 26 contracts (see FIGS. 9B and 9C).

In this state, the guide spring 22 does not contract any further, the height position of the ring guide 20 does not change, and the head main body 24 and the insertion claw 25 descend (see FIG. 9B).

As a result, the lower ends of the insertion claws 25 come into contact with the O-ring 5 held by the holder 21 to move the O-ring 5 downward. In addition, the insertion claw 25 smoothly conveys the O-ring 5 while expanding and contracting along the outer peripheral surface of the holder 21, the outer peripheral surface of the holder guide portion 23, and the outer peripheral surface of the work 4 while following the outer diameter thereof. can do.

In addition, since the lower end of the insertion head unit 2 is formed by the lower end of the holder tapered portion 23, the O-ring 5 can be moved from the insertion head unit 2 to the upper portion of the workpiece 4 by moving the O-ring 5 from the holder. At the lower end of tapered portion 23, O-ring 5 assumes an outwardly elongated shape such that the inner diameter increases.

As a result, it is possible to transfer the O-ring 5 to the outer peripheral surface of the workpiece 4 while stabilizing the holding posture of the O-ring 5 and preventing the O-ring 5 from falling off the holder tapered portion 23 .

Further, the O-ring 5 moved to the outer peripheral surface of the upper side of the work 4 is guided downward along the tapered portion 40, and pushed toward the annular groove 40 via the insertion claws 25 (FIG. 9). (b) and FIG. 9(c)). When the insertion claw 25 reaches the vicinity of the upper portion of the annular groove 40, the O-ring 5 is inserted into the annular groove 40, and the assembly of the O-ring 5 is completed.

Further, when the O-ring 5 is completely assembled into the annular groove 40, the insertion head unit 2 and the lower receiving portion 3 are separated from the work 4, completing a series of operations.

With the flow described above, the O-ring 5 can be assembled in the annular groove 40 of the workpiece 4 by the O-ring assembly method to which the present invention is applied. The O-ring assembling method according to the present invention can be applied to the operation of assembling the O-ring to the work using a dedicated device having the constituent members of the O-ring assembling mechanism described above.

In addition, the O-ring assembly method to which the present invention is applied not only uses a dedicated device, but also can be applied to a line for processing a work or a device having a work as a part thereof in a manufacturing line for equipment including a work. can be incorporated as part of the process of

As a result, by using the O-ring assembling method to which the present invention is applied in a manufacturing line of equipment including a work, it is possible to supply the O-ring to the supply unit, convey the O-ring, and move the work to the annular groove. It is also possible to automate the entire process up to the assembly of the O-ring and take part in the production line.

As described above, in the O-ring assembly mechanism or the O-ring assembly method to which the present invention is applied, when the O-ring is supplied from the supply unit to the insertion head unit, the tip diameter is smaller than the inner diameter of the O-ring. By using the ring guide, the O-ring can be picked up smoothly. In addition, the O-ring can be picked up in response to the positional deviation of the O-ring on the supply unit and variations in the dimensions of the O-ring.

Further, when conveying the O-ring from the ring guide to the predetermined holding position of the holder through the holder taper portion, the O-ring is stretched outward so that the inner diameter of the O-ring becomes larger at the holder taper portion. It is possible to move the O-ring to a predetermined position in the holder while stabilizing the holding posture of the O-ring.

Further, at a predetermined position of the holder, the O-ring can be stably held by making the inner diameter of the O-ring sufficiently large and extending it outward.

In addition, the four lifter claws that make up the lifter can be expanded and contracted and are biased inward by the lifter spring, so that the ring guide, the holder taper part, and the expansion of the outer diameter of the holder can be followed. Therefore, the O-ring can be smoothly conveyed.

Further, when the O-ring is transported from the holder to the annular groove of the workpiece, the O-ring can be transported toward the upper part of the workpiece along the outer peripheral surface of the holder and the tapered portion of the holder after the ring guide is in the accommodated state. , the O-ring can be lowered while being extended outward so that the inner diameter of the O-ring becomes larger, and the holding posture of the O-ring is stabilized.

In addition, since the ring guide, the holder tapered portion, and the holder are integrated into one structure, and the transport path for the O-ring is constructed, it is easy to ensure accuracy when moving the O-ring, and it is possible to prevent the O-ring from falling off.

In this way, it is possible to construct an O-ring assembly mechanism with high repeatability and high reliability in each operation of supplying, holding, and inserting the O-ring into the work.

In addition, the supply, holding, and insertion of the O-ring into the work requires a small number of man-hours until the completion of the work, and the process of assembling the O-ring to the work with excellent productivity can be realized.

In addition, since the constituent members involved in the treatment have a simple structure and a small number of members, it is possible to construct a dedicated device or manufacturing line process at low cost.

Furthermore, the entire process of supplying the O-ring, holding it, and inserting it into the workpiece can be performed continuously, and a series of operations can be automated.

INDUSTRIAL APPLICABILITY As described above, the O-ring assembly mechanism according to the present invention has a simple structure that is less likely to be affected by variations in the dimensions of the O-ring and variations in the supply position when the O-ring is assembled to the object. The ring can be held stably, moved stably toward the object, and assembled with high accuracy.
In addition, the O-ring assembling method according to the present invention has a simple structure that is less likely to be affected by dimensional variations and supply position variations of the O-ring when assembling the O-ring to the object, and also stabilizes the O-ring. It is a method that can be held in place and can be stably moved toward the object and assembled with high accuracy.

The invention made by the present inventor has been specifically described above based on the embodiment, but the present invention is not limited to the above embodiment, and can be variously modified without departing from the scope of the invention. Needless to say.

A O-ring assembly mechanism 1 supply unit 10 main body 11 lifter 110 lifter claw 111 rotating shaft 12 lifter spring 13 lifter shaft 130 lifter cylinder 2 insertion head unit 20 ring guide 200 protrusion 201 tapered portion 203 lower end surface 204 guide recess 21 holder 210 holder shaft 211 guide groove 212 holder concave portion 22 guide spring 23 holder tapered portion 24 head main body 240 concave portion 241 middle bottom portion 242 through hole 25 insertion claw 250 insertion claw spring 251 rotating shaft 26 holder spring 3 lower receiving portion 30 main body 31 lower receiving concave portion 33 Lower receiving cylinder 4 Work 40 Annular groove 41 Tapered portion 42 Work base 43 Transfer plate 44 Rotary table 5 O-ring 7 O-ring parts feeder device 70 Linear feeder 71 Width adjustment plate 72 O-ring stopper 73 Cylinder for stopper 8 O-ring Transfer Device 80 Transfer Cylinder 81 Transfer Pin 9 Supply Unit Position Moving Mechanism 280 Head Unit Transfer Electric Cylinder 281 Head Unit Vertical Cylinder 282 Insertion Head Electric Cylinder 283 Head Holder 284 Holder Holding Cylinder

Claims (9)

A supply unit that holds an O-ring; an insertion head unit that supplies the O-ring from the supply unit, holds the O-ring, and feeds the O-ring toward a work to be assembled with the O-ring. and a workpiece receiving portion that defines the position of the workpiece when the O-ring is sent out from the insertion head unit, and the O-ring is assembled into an annular groove formed on the outer peripheral surface of the workpiece. A ring assembly mechanism,
The insertion head unit comprises:
a head main body configured to be movable forward and backward with respect to the supply unit or the work, and arranged to face each other;
It has a substantially columnar shape, has an outer diameter larger than the inner diameter of the O-ring, and can be fitted with the O-ring to extend and hold the O-ring. a holder portion having a bottomed holder hole formed therein and attached to the head body portion via a first elastic body attached to the base end of the holder portion;
It is formed so that the size of the outer diameter becomes smaller from the proximal end connected to the distal end of the holder portion to the distal end located in the opposite direction, and the distal end of the a tapered portion having an outer shape with an outer diameter larger than the inner diameter of the O-ring;
A second elastic body having a smaller biasing force than the first elastic body is attached to the bottom of the holder hole. It is configured to be able to be accommodated inside the holder portion and the tapered portion along the longitudinal direction of the holder, and when the second elastic body has a natural length. , at least the portion protruding from the tapered portion is formed so that the outer diameter of the tapered portion decreases from the base end on the side of the tapered portion to the tip located in the opposite direction, and the outer diameter of the tip is a ring guide portion having an outer diameter smaller than the inner diameter of the O-ring;
The tip of the ring guide provided in the head main body abuts the end face of the work, and the head main body is moved in a state in which the ring guide is housed inside the holder and the tapered portion. As it moves in the direction of the workpiece, the O-ring held by the outer peripheral surface of the holder part is moved along the outer peripheral surface of the holder part and the outer peripheral surface of the workpiece, and is inserted into the annular groove of the workpiece. Having an insertion claw for assembling the O-ring,
The supply unit is
The O-ring is held, and the supply unit is movable forward and backward toward the insertion head unit in a state facing the insertion head unit. a lifter portion that moves the O-ring along the outer peripheral surfaces of the ring guide portion, the taper portion, and the holder portion to transport the O-ring to a predetermined position on the outer peripheral surface of the holder portion;
The work receiving portion is arranged on the opposite side of the work from the insertion head unit, and defines the position of the work along the longitudinal direction of the holder and the direction perpendicular to the axis of the holder. Ring assembly mechanism. When the tip of the ring guide portion abuts the end face of the workpiece and the ring guide portion is housed inside the holder portion and the taper portion, the tip of the ring guide portion and the tip of the ring guide portion are aligned in the longitudinal direction of the holder. 2. The O-ring assembly mechanism according to claim 1, wherein the tip positions of the tapered portions are aligned. The insertion claw portion is configured to be expandable and contractible about the axis of the holder portion, and is adapted to the outer diameters of the outer peripheral surface of the holder portion, the outer peripheral surface of the tapered portion, and the outer peripheral surface of the work. 3. The O-ring assembly mechanism according to claim 1, wherein the O-ring can be moved toward the workpiece while expanding and contracting. The lifter portion is configured to be expandable and contractible about the axis of the supply unit, and is adapted to the outer diameters of the outer peripheral surface of the ring guide portion, the outer peripheral surface of the tapered portion, and the outer peripheral surface of the holder portion. 4. The O-ring assembly mechanism according to claim 1, wherein the O-ring is conveyed to the predetermined position while being expanded together. a supplying and holding step of supplying the O-ring from a supply unit holding the O-ring toward an insertion head unit disposed facing the supply unit, and holding the O-ring by the insertion head unit; an assembling step of moving the O-ring held by the head unit toward the work placed facing the insertion head unit and assembling the O-ring into an annular groove formed in the outer peripheral surface of the work. , an O-ring assembling method for assembling an O-ring to a work,
In the supply and hold step, a tip having an outer shape smaller than the inner diameter of the O-ring in the insertion head unit is passed through the inside of the O-ring, and a lifter portion of the supply unit that holds the O-ring is used in the insertion head unit. moving the O-ring while extending the outer edge of the O-ring from the distal end to the proximal end of the insertion head unit along the outer peripheral surface where the outer diameter increases, and holding the O-ring in the insertion head unit conveying to a predetermined position on the outer peripheral surface of the holder portion, holding the O-ring in a stretched state at the predetermined position of the holder portion;
In the assembling step, the workpiece is arranged to face the insertion head unit, the insertion head unit is moved toward the workpiece, and the tip of the insertion head unit is brought into contact with the tip of the workpiece. Then, a part of the distal end of the insertion head unit is accommodated in the main body of the insertion head unit, and while maintaining the shape in which the O-ring is stretched, the insertion claw portion of the insertion head unit inserts the holder into the holder. moving the O-ring along the outer peripheral surface of the part, the outer peripheral surface of the main body, and the outer peripheral surface of the work, and assembling the O-ring in the annular groove. In the assembling step, the O-ring is attached while expanding and contracting the insertion claw portion according to the outer diameters of the outer peripheral surface of the holder portion, the outer peripheral surface of the main body, and the outer peripheral surface of the work. The O-ring assembly method according to claim 5, wherein the O-ring is moved toward the work. 6. The O-ring is moved to the predetermined position while enlarging the lifter portion according to the size of the outer diameter of the outer peripheral surface of the holder portion in the insertion head unit, in the supplying and holding step. The O-ring assembly method according to claim 6. A function of mounting the O-ring on a holder portion having an outer diameter larger than the outer diameter of a work to which the O-ring is to be attached while widening the inner diameter of the O-ring from an O-ring supply portion; and mounting the O-ring on the holder portion. An O-ring assembling mechanism having a function of transferring the O-ring thus formed to the work and mounting it in an annular groove formed on the outer peripheral surface of the work,
The size of the outer diameter of the tip of the holder portion located on the O-ring supply portion side is larger than the inner diameter of the O-ring so as to be able to absorb variations in the supply position of the O-ring in the O-ring supply portion. is also formed small,
The holder part has a tapered part whose outer diameter gradually increases from the tip to the other end,
having a function of changing the outer diameter of the tip portion side of the holder portion that contacts the work when the O-ring is transferred from the holder portion to the work,
The size of the outer diameter of the tip of the holder part is such that when the O-ring is transferred from the holder part to the work, the transfer accuracy of a transfer mechanism that transfers the work so as to be in contact with the holder part is acceptable. sized and shaped
A tip of a lifter claw provided in the O-ring supply unit and applying force to the O-ring is arranged on a plane perpendicular to the direction of the force applied to the O-ring,
The O-ring assembly mechanism, wherein the direction of the force applied to the O-ring by the lifter claw is opposite to the direction in which the work is positioned as viewed from the holder. 9. The O-ring assembly according to claim 8, wherein the function of changing the outer diameter of the tip portion side of the holder portion that comes into contact with the work is configured by a means that allows the tip portion of the holder portion to be accommodated inside the holder portion. attachment mechanism.

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