JP6321406B2 - O-ring mounting apparatus and method - Google Patents

Description

  The present invention relates to an O-ring attachment device for attaching an O-ring to an O-ring groove formed on a work inner peripheral surface, an O-ring attachment jig used in the device, an articulated robot equipped with the device, and The present invention relates to an O-ring mounting method using the same device.

  The operation of attaching an O-ring to an O-ring groove formed on the inner peripheral surface of an annular workpiece or the like is generally performed manually by an operator. When manually attaching the O-ring to the O-ring groove, the worker first pushes a part of the O-ring into the O-ring groove with a fingertip, and then gradually installs the O-ring along the circumferential direction. It is necessary to push the groove into the groove and finally adjust the entire circumferential direction. As described above, it is very time-consuming to install the O-ring by the worker.

  On the other hand, an apparatus for automatically attaching an O-ring to an O-ring groove has been proposed (Patent Document 1, etc.).

JP 2010-76037 A

  However, the conventionally proposed O-ring mounting device has a problem that its applicable range is extremely limited and lacks versatility. For example, since the apparatus described in Patent Document 1 is a large-scale apparatus such as a motor or a cylinder installed under the workpiece, it is difficult to apply the apparatus unless the O-ring has a relatively large size.

  The present invention has been made in view of the above-described problems of the prior art, and is not limited by the dimensions of the O-ring, and can be applied in a wide range. It is an object of the present invention to provide a ring mounting jig, an articulated robot equipped with the device, and an O-ring mounting method using the device.

  In order to solve the above-mentioned problem, the present invention according to the first feature is an O-ring attachment device for attaching an O-ring to an O-ring groove formed on an inner peripheral surface of a workpiece, wherein the O-ring groove An O-ring mounting jig having a jig outer peripheral surface to which the O-ring to be mounted is mounted, wherein an O-ring retracting portion into which a part of the O-ring is pulled is formed on the jig outer peripheral surface. And an O-ring retracting means for releasably retracting a part of the O-ring into the O-ring retracting section.

  The present invention according to a second feature is the present invention according to the first feature, wherein when a part of the O-ring is retracted into the O-ring retracting portion by the O-ring retracting means on the jig outer peripheral surface. An O-ring guide surface for guiding the O-ring to a predetermined position on the outer peripheral surface of the jig is formed.

  The present invention according to the third feature is characterized in that, in the present invention according to the second feature, the O-ring guide surface is formed by an inclined surface inclined toward the predetermined position.

  The present invention according to a fourth feature is the present invention according to any one of the first to third features, wherein the hook-shaped portion for positioning the O-ring at a predetermined position on the outer peripheral surface of the jig is the jig. It is formed on the outer peripheral surface.

  According to a fifth aspect of the present invention, in the present invention according to any one of the first to fourth aspects, the O-ring retracting means includes an O-ring gripping member for releasably gripping a part of the O-ring. And holding member advancing / retreating drive means for drawing the O-ring holding member holding a part of the O-ring into the O-ring retracting portion.

  The present invention according to a sixth feature is characterized in that, in the present invention according to any one of the first to fifth features, the O-ring mounting jig is configured to be replaceable.

  The present invention according to a seventh feature is the present invention according to any one of the first to sixth features, wherein the O-ring mounting jig having the O-ring mounted on the jig outer peripheral surface is connected to the work inner peripheral surface. An O-ring positioning means for inserting the O-ring at a position corresponding to the O-ring groove is further provided.

  According to an eighth aspect of the present invention, in the present invention according to the seventh aspect, the O-ring positioning means includes a robot arm to which the O-ring mounting jig is mounted.

  An O-ring mounting jig according to a ninth feature is used as the O-ring mounting jig of the O-ring mounting device according to any one of the first to eighth features.

  An articulated robot according to a tenth feature includes a robot arm on which the O-ring attachment jig of the O-ring attachment device according to the eighth feature is mounted.

  The present invention according to the eleventh feature is an O-ring attachment method for attaching an O-ring to an O-ring groove formed on the inner peripheral surface of a workpiece using the O-ring attachment device according to any one of the first to eighth features. A jig insertion step of inserting the O-ring attachment jig inside the O-ring, and gripping the O-ring by the O-ring retracting means and retracting a part of the O-ring into the O-ring retracting portion. An O-ring retracting step of mounting the O-ring on the outer peripheral surface of the jig, and inserting the O-ring mounting jig inside the inner peripheral surface of the workpiece, and mounting the O-ring mounted on the outer peripheral surface of the jig. An O-ring positioning step for positioning at a position corresponding to the groove for the O-ring, and a state in which the O-ring is retracted by the O-ring retracting means are released, and the O-ring is restored using the restoring force due to the elasticity of the O-ring. An O-ring insertion step of inserting substantially the whole of the O-ring into the groove, and an O-ring insertion state by releasing the gripping state of the O-ring by the O-ring retracting means. And a ring release step.

  According to a twelfth aspect of the present invention, in the present invention according to the eleventh aspect, the O-ring positioning step is performed by an operation of a robot arm on which the O-ring mounting jig is mounted.

  According to a thirteenth aspect of the present invention, in the present invention according to the twelfth aspect, after the O-ring releasing step, a part of the O-ring mounting jig is moved along the inner peripheral surface of the workpiece by the operation of the robot arm. The O-ring is moved toward the bottom of the O-ring groove by a part of the O-ring mounting jig.

  According to the present invention, an O-ring mounting device that can be applied in a wide range without being restricted by the dimensions of the O-ring, an O-ring mounting jig used in the device, an articulated robot equipped with the device, And an O-ring mounting method using the same device.

The perspective view which showed schematic structure of the O-ring attachment apparatus by one Embodiment of this invention with the workpiece | work. The other perspective view which showed schematic structure of the O-ring attachment apparatus shown in FIG. 1 with the workpiece | work. The perspective view which showed the articulated robot with which the O-ring attachment apparatus shown in FIG. 1 was mounted | worn with the arm front-end | tip. The schematic diagram which expanded and showed the part of the O-ring attachment jig | tool of the O-ring attachment apparatus shown in FIG. 1 with the workpiece | work. It is the figure which showed the O-ring drawing-in state of the O-ring attachment apparatus shown in FIG. 1 with the workpiece | work schematically, (a) is the aa arrow directional view of (b). It is the figure which showed the O-ring insertion state of the O-ring attachment apparatus shown in FIG. 1 with the workpiece | work schematically, (a) is the aa arrow directional view of (b). It is a schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow line view of (b). It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). The other schematic diagram for demonstrating O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). It is another schematic diagram for demonstrating the O-ring attachment operation | movement by the O-ring attachment apparatus shown in FIG. 1, (a) is the aa arrow directional view of (b). The schematic diagram which showed the modification of the O ring attachment jig | tool of the O ring attachment apparatus shown in FIG. The schematic diagram which showed the other modification of the O-ring attachment jig of the O-ring attachment apparatus shown in FIG. The schematic diagram which showed the other modification of the O-ring attachment jig | tool of the O-ring attachment apparatus shown in FIG. 1 with the O-ring holding member. The schematic diagram which showed the other modification of the O-ring attachment jig | tool of the O-ring attachment apparatus shown in FIG. 1 with the O-ring holding member. The schematic diagram which showed the other modification of the O-ring attachment jig | tool of the O-ring attachment apparatus shown in FIG. 1 with the O-ring holding member. The schematic diagram which showed the modification of the O-ring positioning means of the O-ring attachment apparatus shown in FIG.

  Hereinafter, an articulated robot including an O-ring mounting device according to an embodiment of the present invention will be described with reference to the drawings. The O-ring attachment device according to this embodiment is for attaching an O-ring to an O-ring groove formed on the inner peripheral surface of an annular workpiece.

  As shown in FIGS. 1 and 2, the O-ring mounting device 1 according to the present embodiment includes an upper plate 2 and a lower plate 3 that are spaced apart from each other. Connected. The upper plate 2, the lower plate 3, and their support members 4 form a frame body 5 in which an accommodation space is formed.

  As shown in FIG. 3, the upper plate 2 of the frame body 5 is attached to the tip of the arm 7 of the articulated robot 6. For example, the upper plate 2 of the O-ring attachment device 1 can be attached to the wrist shaft of an articulated robot.

  As shown in FIG. 4, an O-ring mounting jig in which an O-ring attached to an O-ring groove 52 formed on the inner peripheral surface 51 of the workpiece 50 is mounted on the lower surface of the lower plate 3 of the O-ring mounting device 1. A tool 8 is provided. Preferably, the O-ring attachment jig 8 is detachably attached to the lower surface of the lower plate 3. Thereby, an appropriate O-ring mounting jig 8 selected according to the type (shape, dimension, etc.) of the O-ring or the workpiece can be mounted on the lower surface of the lower plate 3.

  As shown in FIG. 4, the O-ring 53 is mounted on the jig outer peripheral surface 9 of the O-ring mounting jig 8. An O-ring drawing portion 10 into which a part of the O-ring 53 is drawn is formed on the jig outer peripheral surface 9. The O-ring retracting portion 10 penetrates the O-ring mounting jig 8 up and down.

  As shown in FIGS. 1 and 2, the lower plate 3 is formed with a notch 11 corresponding to the O-ring retracting portion 10, and the notch 11 of the lower plate 3 and the O-ring mounting jig 8 The O-ring lead-in part 10 is integrated to form one part as a whole.

  On the jig outer peripheral surface 9 of the O-ring mounting jig 8, the O-ring 53 is placed on the jig outer peripheral surface 9 when a part of the O-ring 53 is drawn into the O-ring drawing portion 10 by an O-ring drawing means (described later). An O-ring guide surface 12 for guiding to a predetermined position is formed. The O-ring guide surface 12 is formed by an inclined surface that is inclined toward the predetermined position. At the lower end portion of the inclined surface that forms the O-ring guide surface 12, a hook-like portion 13 for positioning the O-ring 53 at the predetermined position is formed.

  As can be seen from FIG. 4, the outer dimension (diameter) of the O-ring mounting jig 8 is set slightly smaller than the dimension (diameter) of the work inner peripheral surface 51. Thereby, the O-ring mounting jig 8 can be inserted inside the work inner peripheral surface 51.

  As shown in FIGS. 1, 2, and 5, the O-ring mounting device 1 according to the present embodiment further includes an O-ring for releasably retracting a part of the O-ring 53 into the O-ring retracting portion 10. Withdrawing means. Specifically, the O-ring retracting means includes a pair of O-ring gripping members 14 for releasably gripping a part of the O-ring 53, and for retracting the O-ring gripping member 14 into the O-ring retracting portion 10. Holding member advancing / retreating drive means 15.

  Each of the pair of O-ring gripping members 14 is movable in the vertical direction, and is driven in the vertical direction by the gripping member opening / closing driving means 16 having a driving source such as an air cylinder. The O-ring 53 is gripped by the lower end portion 14 a of the upper O-ring gripping member 14 and the claw portion 14 b formed at the lower end portion of the lower O-ring gripping member 14.

  The gripping member advancing / retreating drive means 15 includes a driving source 17 such as an air cylinder provided on the upper plate 2 and a sliding member 18 provided slidably on the upper plate 2 by a linear guide or the like. The grip member opening / closing drive means 16 is provided on the slide member 18. By driving the slide member 18 back and forth by the drive source 17 provided on the upper plate 2, the grip member opening / closing drive means 16 and the pair of O-ring grip members 14 move back and forth integrally with the slide member 18.

  The front-rear moving direction of the pair of O-ring gripping members 14 corresponds to the extending direction of the O-ring retracting portion 10 formed in the O-ring mounting jig 8. The pair of O-ring gripping members 14 can be retracted into the O-ring retracting portion 10 by retreating the pair of O-ring gripping members 14 by the drive source 17 provided on the upper plate 2.

  In the O-ring mounting apparatus 1 according to the present embodiment, the O-ring mounting jig 8 having the O-ring 53 attached to the jig outer peripheral surface 9 is further inserted inside the work inner peripheral surface 51, and the O-ring 53 is inserted. O-ring positioning means for positioning at a position corresponding to the O-ring groove 52 is provided. In this embodiment, the O-ring positioning means is constituted by the arm 7 of the articulated robot.

  That is, the upper surface of the frame body 5 constituted by the upper plate 2, the lower plate 3, and their support members 4 is attached to the tip of the robot arm 7 as shown in FIG. 3. Since the O-ring mounting jig 8 is mounted on the lower surface of the frame body 5, the O-ring mounting jig 8 is moved to a predetermined position (X, X) inside the work inner peripheral surface 51 by driving the robot arm 7. Y, Z) and posture (O, A, T).

  5 and 6 show a state in which the robot arm 7 is driven and the O-ring mounting jig 8 is positioned at a predetermined position and posture inside the work inner peripheral surface 51. FIG. 5 shows a state in which a part of the O-ring 53 gripped by the pair of O-ring gripping members 14 is pulled into the O-ring pull-in portion 10. FIG. 6 shows a state in which the pair of O-ring gripping members 14 are advanced from the retracted state shown in FIG. 5 while the O-ring 53 is gripped to release the retracted state.

  As shown in FIGS. 5 and 6, the O-ring mounted on the jig outer peripheral surface 9 of the O-ring mounting jig 8 with the center of the O-ring mounting jig 8 and the center of the work 50 aligned with each other. The position and posture of the O-ring mounting jig 8 are determined inside the work inner peripheral surface 51 so that 53 comes to a position corresponding to the position of the O-ring groove 52 formed on the work inner peripheral surface 51. .

  Next, a method of attaching the O-ring 53 to the O-ring groove 52 formed on the work inner peripheral surface 51 using the O-ring attaching device 1 described above will be described with reference to FIGS.

  First, as shown in FIG. 7, the O-ring attachment jig 8 is inserted inside the O-ring 53 placed on the O-ring temporary placement table 19 (jig insertion process). The O-ring temporary placement table 19 is formed by cutting out a part in the circumferential direction of an annular member having a flat upper surface. In the jig insertion step, the robot arm 7 is operated so that the O-ring retracting portion 10 of the O-ring mounting jig 8 corresponds to the notch portion of the O-ring temporary placement table 19.

  From the state shown in FIG. 7, as shown in FIG. 8, the pair of O-ring gripping members 14 in the open state are advanced by driving the gripping member advancing / retreating drive means 15. The gripping portion is brought to the position of the O-ring 53 on the O-ring temporary table 19.

  From the state shown in FIG. 8, as shown in FIG. 9, the gripping member opening / closing driving means 16 is driven to change the pair of O-ring gripping members 14 from the open state to the closed state. A part of the ring 53 is gripped.

  From the state shown in FIG. 9, as shown in FIG. 10, the gripping member advancing / retracting driving means 15 is driven to retract the pair of O-ring gripping members 14, and a part of the O-ring 53 is moved into the O-ring retracting portion 10. (O-ring pull-in process). As a result, the O-ring 53 on the O-ring temporary placement table 19 is drawn toward the jig outer peripheral surface 9 of the O-ring mounting jig 8 and is brought into contact with the jig outer peripheral surface 9.

  Since the O-ring guide surface 12 is formed on the jig outer peripheral surface 9, even if the original O-ring 53 in contact with the jig outer peripheral surface 9 is tilted, the O-ring 53 is guided by the O-ring. It slides on the surface 12 and moves to a predetermined position (position of the bowl-shaped portion 13).

  When the O-ring 53 is mounted on the jig outer peripheral surface 9 of the O-ring mounting jig 8 by the O-ring pulling process, the robot arm 7 is driven and the O-ring mounting jig 8 is attached to the workpiece 50 as shown in FIG. Move directly above.

  The robot arm 7 is driven to lower the O-ring mounting jig 8 and the O-ring mounting jig 8 is inserted inside the work inner peripheral surface 51 as shown in FIG. At this time, the robot arm 7 is operated so that the O-ring 53 comes to a position corresponding to the O-ring groove 52 on the work inner peripheral surface 51 (O-ring positioning step).

  From the state shown in FIG. 12, while holding a part of the O-ring 53 with the pair of O-ring holding members 14, as shown in FIG. The gripping member 14 is advanced, and the retracted state of the O-ring 53 is released. Then, substantially the entire O-ring 53 is inserted into the O-ring groove 52 by the restoring force due to the elasticity of the O-ring 53 (O-ring insertion step).

  From the state shown in FIG. 13, as shown in FIG. 14, the gripping member opening / closing drive means 16 is driven to release the gripping state of the O-ring 53 by the pair of O-ring gripping members 14 (O-ring releasing step). Then, a part of the O-ring 53 held by the pair of O-ring holding members 14 is also inserted into the O-ring groove 52 by the restoring force due to its elasticity. As a result, the entire O-ring 53 is inserted into the O-ring groove 52.

  As described above, according to the articulated robot 6 provided with the O-ring mounting device 1 according to the present embodiment, the O-ring mounting jig 8 having the O-ring 53 mounted on the jig outer peripheral surface 9 is attached to the work inner periphery. The O-ring 53 can be inserted into the O-ring groove 52 by a simple operation of inserting it into the surface 51 and releasing the O-ring 53 by a predetermined operation. For this reason, the O-ring attachment device 1 can be applied in a wide range without being restricted by the dimensions of the O-ring 53 and the like.

  Further, by providing the O-ring mounting jig 8 detachably with respect to the lower plate 3, an appropriate O-ring mounting jig 8 selected according to the type (shape, dimension, etc.) of the O-ring 53 or the workpiece 50 is provided. Can be used.

  As a modification of the above-described embodiment, an O-ring for mounting the O-ring 53 as shown in FIG. 15 with the O-ring guide surface 12 omitted in the jig outer peripheral surface 9 of the O-ring mounting jig 8. The mounting groove 20 may be provided around, or it may be configured to have only the hook-shaped portion 13 as shown in FIG. Note that the O-ring mounting groove 20 of the O-ring mounting jig 8 shown in FIG. 15 may be formed with the same groove width as the O-ring groove 52 of the workpiece 50.

  As another modified example, as shown in FIG. 17, the O-ring attachment jig 8 is formed of a cylindrical member 21, and a part of the cylindrical member 21 in the circumferential direction is cut away, whereby an O-ring retracting portion is formed. 10 may be formed.

  As another modified example, as shown in FIG. 18, the O-ring mounting jig 8 may be formed by using a pair of semi-cylindrical members 22 so that their flat surfaces face each other. In this example, since the O-ring retracting portion 10 also penetrates in the retracting direction of the O-ring gripping member 14, when the O-ring gripping member 14 is retracted by driving the gripping member advance / retreat driving means 15, The gripping member 14 can protrude from the O-ring retracting portion 10 to the right side in the drawing.

  For this reason, in this example, even when the O-ring mounting jig 8 itself is reduced to handle a small-diameter O-ring, for example, the O-ring gripping member 14 is attached to the O-ring when the O-ring gripping member 14 is retracted. Interference with the jig 8 can be reliably prevented.

  As another modified example, as shown in FIG. 19, the O-ring mounting jig 8 may be formed by using a pair of semi-cylindrical members 23 to face the concave surfaces thereof. Also in this example, as in the example shown in FIG. 18, the O-ring retracting portion 10 also penetrates in the retracting direction of the O-ring gripping member 14. It is possible to prevent the O-ring gripping member 14 from interfering with the O-ring mounting jig 8 when the 14 is retracted.

  As another modification, instead of the articulated robot arm 7 as the O-ring positioning means, the workpiece 50 is moved up and down with respect to the fixed O-ring mounting jig 8 as shown in FIG. It is also possible to provide the workpiece driving means 22 to be moved, and to move the workpiece 50 upward by the workpiece driving means 22 so as to be fitted into the O-ring mounting jig 8.

  In short, the O-ring positioning means can insert and position the O-ring mounting jig 8 inside the work inner peripheral surface 51 of the work 50 by relatively moving the O-ring mounting jig 8 and the work 50. If it is good.

  As a modification of the O-ring attachment method using the O-ring attachment device 1, as shown in FIG. 14, the O-ring 53 is attached to the O-ring groove 52 of the workpiece 50, and then the articulated robot 6 is moved. Driven to move a part of the O-ring mounting jig 8 along the work inner peripheral surface 51. As a result, the O-ring 53 is pressed toward the bottom of the O-ring groove 52 by a part of the O-ring attachment jig 8, and the O-ring 53 is securely attached to the O-ring groove 52. Can do.

1 O-ring mounting device 2 Upper plate 3 Lower plate 4 Support member 5 Frame body 6 Articulated robot 7 Robot arm (O-ring positioning means)
8 O-ring mounting jig 9 Jig outer peripheral surface 10 O-ring retracting portion 11 Notch in lower plate 12 O-ring guide surface 13 Hook-shaped portion 14 O-ring gripping member (O-ring retracting means)
15 Holding member advance / retreat driving means (O-ring retracting means)
16 Gripping member opening / closing drive means (O-ring retracting means)
17 Gripping member drive source 18 Slide member 19 O-ring temporary mounting table 20 O-ring mounting groove 21 Cylindrical member 22 Semi-cylindrical member 23 Semi-cylindrical member 50 Work 51 Workpiece inner peripheral surface 52 O-ring groove 53 O ring

Claims (12)

An O-ring attachment device for attaching an O-ring to an O-ring groove formed on an inner peripheral surface of a workpiece,
An O-ring mounting jig having a jig outer peripheral surface to which the O-ring to be attached to the O-ring groove is mounted, and an O-ring drawing portion into which a part of the O-ring is drawn is formed on the jig outer peripheral surface. An O-ring mounting jig,
O-ring retracting means for releasably retracting a part of the O-ring into the O-ring retracting section ,
The O-ring pull-in means pulls the O-ring gripping member for releasably gripping a part of the O-ring and the O-ring gripping member gripping a part of the O-ring into the O-ring retracting part. An O-ring mounting device , wherein the O-ring holding member has a gripping operation direction in a central axis direction of the O-ring.   For guiding the O-ring to a predetermined position on the outer peripheral surface of the jig when a part of the O-ring is pulled into the O-ring retracting portion by the O-ring retracting means on the outer peripheral surface of the jig. The O-ring mounting device according to claim 1, wherein an O-ring guide surface is formed.   The O-ring mounting device according to claim 2, wherein the O-ring guide surface is formed by an inclined surface that is inclined toward the predetermined position.   The O-ring attachment according to any one of claims 1 to 3, wherein a hook-shaped portion for positioning the O-ring at a predetermined position on the outer peripheral surface of the jig is formed on the outer peripheral surface of the jig. apparatus. The O-ring attachment device according to any one of claims 1 to 4 , wherein the O-ring attachment jig is configured to be replaceable. An O for attaching the O-ring mounting jig having the O-ring mounted on the outer peripheral surface of the jig to the inside of the inner peripheral surface of the workpiece and positioning the O-ring at a position corresponding to the groove for the O-ring. The O-ring attachment device according to any one of claims 1 to 5 , further comprising a ring positioning unit. The O-ring mounting device according to claim 6 , wherein the O-ring positioning unit includes a robot arm on which the O-ring mounting jig is mounted. An O-ring mounting jig used as the O-ring mounting jig of the O-ring mounting apparatus according to any one of claims 1 to 7 . An articulated robot comprising a robot arm on which the O-ring mounting jig of the O-ring mounting device according to claim 7 is mounted. An O-ring attachment method for attaching an O-ring to an O-ring groove formed on an inner peripheral surface of a workpiece using the O-ring attachment device according to any one of claims 1 to 7 ,
A jig insertion step of inserting the O-ring attachment jig inside the O-ring;
An O-ring retracting step of gripping the O-ring by the O-ring retracting means, retracting a part of the O-ring into the O-ring retracting portion, and mounting the O-ring on the outer peripheral surface of the jig;
An O-ring positioning step of inserting the O-ring mounting jig inside the inner peripheral surface of the workpiece and positioning the O-ring mounted on the outer peripheral surface of the jig at a position corresponding to the groove for the O-ring;
An O-ring insertion step of releasing the retracted state of the O-ring by the O-ring retracting means, and inserting substantially the entire O-ring into the O-ring groove using a restoring force due to elasticity of the O-ring;
An O-ring attachment method comprising: an O-ring releasing step of releasing the gripping state of the O-ring by the O-ring retracting means and inserting the entire O-ring into the O-ring groove. The O-ring mounting method according to claim 10 , wherein the O-ring positioning step is performed by an operation of a robot arm on which the O-ring mounting jig is mounted. After the O-ring releasing step, a part of the O-ring mounting jig is moved along the inner peripheral surface of the workpiece by the operation of the robot arm, and the O-ring is moved by the part of the O-ring mounting jig. The O-ring mounting method according to claim 11 , wherein the O-ring is pressed toward the bottom of the O-ring groove.

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