JP6709860B2 - Cylindrical soft object mounting device and mounting method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a tubular soft object attachment device and an attachment method. More specifically, at least the distal end of a cylindrical soft body (eg, hose) having a cylindrical shape is attached to a rigid mounting part (eg, a resin tubular part) having a cylindrical or cylindrical tip. The present invention relates to a tubular soft body mounting device and a mounting method for mounting a cylindrical soft body on a mounting portion by fitting the cylindrical soft body on the outer periphery of the cylindrical body.

Conventionally, as seen in, for example, Patent Document 1, the end of the hose is approached to the end of the tubular member at an approach angle of 25 to 60 degrees with respect to a plane orthogonal to the axis of the hose from the chuck of the robot hand. With the protrusion amount of the end portion of 10 mm to 15 mm, the insertion amount is inserted in the angular direction by about 2 mm less than the protrusion amount, and then the hose is raised so that the axis of the tubular member and the axis of the hose are aligned. A method of attaching a hose to a tubular member is known.

JP-A-7-178636

The conventional hose attachment method described above attaches the hose to the tubular member 1 by performing an operation of raising the hose so that the axis of the tubular member and the axis of the hose are aligned after inserting the hose for the primary insertion amount. It is what At this time, since the hose is a soft body, the axis of the hose tip is largely displaced, and the axis of the tubular member does not match the axis of the hose. As a result, the hose cannot be attached in a stable deformed state due to contact with the tubular member. Therefore, the mounting time is not stable.
The problem to be solved by the present invention is to provide a tubular soft body mounting device and a mounting method capable of stabilizing the mounting time of the cylindrical soft body.

In order to solve the above problems, the tubular soft object mounting device of the present invention,
By fitting the distal end portion of the tubular soft body having a cylindrical tip portion to the outer periphery of the mounting portion having a cylindrical or columnar rigidity, the tubular soft body material is attached to the mounting portion. A device to attach,
A gripping member for gripping the tubular soft body,
With the tip of the tubular soft body gripped by the gripping member in contact with the tip of the mounting portion, the gripping member and the tubular soft body are attached with the axis of the tip of the tubular soft body A rocking mechanism that rocks so as to incline to one and the other with respect to the axis of the part,
A moving mechanism that moves the gripping member and the cylindrical soft body swinging by the swinging mechanism toward the mounting portion;
It is characterized by having.

According to this tubular soft object attachment device, the tubular soft article is grasped by the grasping member, and in the state where the tip end portion is brought into contact with the tip end of the attaching portion, the tubular soft body article is grasped together with the grasping member by the swinging mechanism. The rocking member and the tubular soft material are oscillated so that the axis of the distal end of the flexible soft object is inclined to one side and the other with respect to the axis of the mounting portion, and the oscillating mechanism causes the gripping member and the tubular soft object to move. Is moved toward the mounting portion.
That is, the tubular soft body is attached to the attachment portion by being grasped by the grasping member and being pushed by the moving mechanism toward the attachment portion while the tip end portion is being oscillated by the oscillating mechanism.
Then, the tip end portion of the tubular soft body is pushed into the attaching portion while being swung in both directions with respect to the axis of the attaching portion, that is, the axis thereof is inclined to one side and the other side. Therefore, the tubular soft body can be stably attached to the attachment portion regardless of the deformed state. Therefore, the mounting time is stable.

In this tubular soft object mounting device,
In the swinging mechanism, at least a distal end portion of the tubular soft object has a first inclination position in which an axis of the distal end portion inclines to one side with respect to an axis line of the mounting portion, and a second inclination inclines to the other. A rocking mechanism for rocking the tubular soft body so as to include a position,
In the moving mechanism, the distal end portion of the tubular soft body located at the second inclined position is moved further relative to the mounting portion with respect to the distal end portion of the tubular soft body located at the first inclined position. It is a moving mechanism that moves it to the position,
The swinging mechanism may be configured such that the tilt angle of the second tilt position is smaller than the tilt angle of the first tilt position with respect to the axis of the mounting portion.

According to this structure, as the tip end portion of the tubular soft body moves in the mounting direction with respect to the mounting portion, the inclination angle of the tip end portion of the tubular soft body with respect to the axis of the mounting portion can be reduced, and thus the moving mechanism can be used. It is possible to facilitate the pushing operation of the distal end portion of the tubular soft body into the mounting portion due to. As a result, the tubular soft body can be smoothly attached to the attachment portion.

In this tubular soft object mounting device,
It is possible to further include an application nozzle that applies lubricating water to the distal end portion of the tubular soft body before the distal end portion of the tubular soft body comes into contact with the distal end of the mounting portion.
According to this structure, the distal end portion of the tubular soft body is coated with the lubricating water, so that the pushing operation of the distal end portion of the tubular soft body into the mounting portion can be facilitated. As a result, the tubular soft body can be smoothly attached to the attachment portion.

In this tubular soft object mounting device,
The gripping member may be configured to grip a portion that is 1.5 times or more and 4 times or less the inner diameter of the tip end portion of the tubular soft body from the tip end surface of the tubular soft body.
According to this structure, it is possible to smoothly attach the cylindrical soft body to the attachment portion.
When the gripping position by the gripping member is less than 1.5 times the inner diameter of the tip end surface of the tubular soft body from the tip end surface of the cylindrical soft body, the degree of freedom of the portion from the gripping portion of the tubular soft body to the tip surface (Flexibility) becomes low, which may make it difficult to smoothly push the distal end of the cylindrical soft body into the mounting portion. On the other hand, if the gripping position by the gripping member is more than 4 times the inner diameter of the tip end surface of the cylindrical soft body of the tubular soft body, the portion from the gripping section of the tubular soft body to the tip surface is free. The degree of bending (flexibility) may become too high and buckling may occur. When buckling occurs, it is difficult to smoothly push the distal end of the cylindrical soft material into the mounting portion.
On the other hand, by setting the gripping position of the gripping member from the tip surface of the tubular soft body to a portion that is 1.5 times or more and 4 times or less the inner diameter of the tip of the tubular soft body, It is possible to smooth the pushing operation of the tip portion of the into the mounting portion. As a result, the tubular soft body can be smoothly attached to the attachment portion.

In order to solve the above-mentioned problems, the tubular soft object mounting method of the present invention,
By fitting the distal end portion of the tubular soft body having a cylindrical tip portion to the outer periphery of the mounting portion having a cylindrical or columnar rigidity, the tubular soft body material is attached to the mounting portion. How to attach,
Hold the tubular soft body with a holding member,
With the tip of the tubular soft body gripped by the gripping member in contact with the tip of the mounting portion, the gripping member and the tubular soft body are attached with the axis of the tip of the tubular soft body The tubular soft body is attached to the attachment portion by moving the movement portion toward the attachment portion by the movement mechanism while oscillating by the oscillating mechanism so as to incline to one and the other with respect to the axis of the portion. ..

According to this tubular soft body mounting method, the tubular soft body is gripped by the gripping member, and the swinging mechanism causes the tubular soft body to be held together with the gripping member in a state where the tip end portion is brought into contact with the tip end of the mounting portion. The axis of the tip of the object is swung so as to incline in one direction and the other with respect to the axis of the mounting portion, and is moved toward the mounting portion by the moving mechanism.
That is, the tubular soft body is attached to the attachment portion by being grasped by the grasping member and being pushed by the moving mechanism toward the attachment portion while the tip end portion is being pivoted by the pivoting mechanism.
Then, the tip end portion of the tubular soft body is pushed into the attaching portion while being swung in both directions with respect to the axis of the attaching portion, that is, the axis thereof is inclined to one side and the other side. Therefore, the tubular soft body can be stably attached to the attachment portion regardless of the deformed state. Therefore, the mounting time is stable.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the embodiment of the cylindrical soft object mounting apparatus which concerns on this invention, (a) is a front view, (b) is a left side view, (c) is a partial plan view of FIG. It is a figure which shows the state after the attachment operation of the embodiment, (a) is a front view, (b) is a left side view. (A)-(f) is operation|movement explanatory drawing. (G)-(j) is operation|movement explanatory drawing. It is a figure which shows a modification, (a) is a front view, (b) is a left side view, (c) is a partial plan view of FIG. It is a figure which shows another modification, (a) is a partially abbreviated front view, (b) is a bottom view of FIG. (b), (c) is c-c sectional view in (a), (d) is a figure. The enlarged view of (c).

Hereinafter, embodiments of a cylindrical soft object mounting device and a mounting method according to the present invention will be described with reference to the drawings. The drawings should be viewed in the direction of the reference numerals. In each figure, the same or corresponding parts are designated by the same reference numerals.

A tubular soft object mounting device 1 shown in FIG. 1 has a tip end 11 of a cylindrical soft article (for example, a hose) 10 having a cylindrical end portion 11 and a tip end 21 having a cylindrical or columnar rigidity. This is a device for attaching the cylindrical soft body 10 to the attachment portion 20 by fitting the attachment portion 20 (for example, a resin pipe or a metal pipe) 20 with the outer periphery 22 thereof.

The tubular soft body mounting device 1 includes a gripping member 30 for gripping the tubular soft body 10, a swinging mechanism 40 for swinging the tubular soft body 10, and the tubular soft body 10 facing the mounting portion 20. The moving mechanism 50 for moving is provided.

The swinging mechanism 40 holds the holding member 30 and the tubular soft material in a state where the tip 11 of the tubular soft material 10 held by the holding member 30 is in contact with the tip 21 of the mounting portion 20 (see FIG. 3 ). 10 is swung so that the axis A1 of the tip portion 11 of the tubular soft body 10 is inclined to one side and the other with respect to the axis A2 of the mounting portion 20.

The moving mechanism 50 moves the gripping member 30 and the cylindrical soft body 10 which are rocked by the rocking mechanism 40 toward the mounting portion 20.

The tubular soft body mounting method using the tubular soft body mounting apparatus 1 as described above holds the tubular soft body 10 by the gripping member 30, and the tip of the tubular soft body 10 gripped by the gripping member 30. With the portion 11 in contact with the tip 21 of the mounting portion 20, the gripping member 30 and the tubular soft body 10 are arranged such that the axis A1 of the tip 11 of the tubular soft body 10 is relative to the axis A2 of the mounting portion 20. It is characterized in that the cylindrical soft body 10 is attached to the mounting portion 20 by moving the moving body 50 toward the mounting portion 20 while swinging the swinging mechanism 40 so as to incline to one side and the other.

According to the tubular soft object attaching device 1 or the attaching method of this embodiment, the tubular soft object 10 is grasped by the grasping member 30, and the tip portion 11 is brought into contact with the tip 21 of the attaching portion 20. Then, by the swinging mechanism 40, as shown in FIG. 3, for example, the axis A1 of the distal end portion 11 of the tubular soft object 10 is inclined to one side and the other side (right and left direction in FIG. 3) with respect to the axis A2 of the mounting portion 20. The gripping member 30 (not shown in FIG. 3) and the cylindrical soft body 10 that are swung so as to be swung by the swing mechanism 40 are moved toward the mounting portion 20 by the moving mechanism 50. To be made.

That is, the tubular soft body 10 is attached to the attachment portion 20 by being held by the holding member 30 and being pushed by the moving mechanism 50 toward the attachment portion 20 while the tip end portion 11 is being swung by the swinging mechanism 40. It will be.

The tip portion 11 of the tubular soft object 10 is swung in both directions with respect to the axis A2 of the mounting portion 20 such that its axis A1 is inclined to one and the other with respect to the axis A2 of the mounting portion 20. Since the cylindrical soft body 10 is pushed into the mounting portion 20 while being pushed, it can be stably mounted to the mounting portion 20 regardless of the deformed state of the tubular soft body 10. Therefore, the mounting time is stable.

The gripping member 30 may have any structure as long as it can hold the tubular soft body 10 so that the tubular soft body 10 can be pushed into the mounting portion 20 while being swung. In this embodiment, it is composed of a pair of clampers 32, 32 which are opened and closed by a parallel open/close type air chuck mechanism 31. The solid line in FIG. 1A shows the state in which the cylindrical soft body 10 is gripped, and the phantom line shows the state in which the cylindrical soft body 10 is opened.

The swinging mechanism 40 may employ any configuration as long as the gripping member 30 and the cylindrical soft body 10 can be rocked together while the cylindrical soft body 10 is gripped by the gripping member 30.
In this embodiment, the rocking mechanism 40 meshes with the rocking mechanism support 41, the sector gear 43 rotatably supported by the rocking mechanism support 41 on a shaft 42, and the sector-gear 43. A rack 44, a cylinder 45 that reciprocates the rack 44 to rotate (swing) the sector gear 43 around a shaft 42, and a sector gear 43 integrated with the sector gear 43 and the shaft 42. And a gripping member support 46 that rotates together. The grip member 30 is attached to the grip member support 46.
Therefore, when the rack 44 reciprocates due to the operation of the cylinder 45, the sector gear 43, the grip member support 46, the grip member 30, and the cylindrical soft body 10 together rotate about the shaft 42.

The shaft 42 is rotatably supported by the swing mechanism support 41, and the sector gear 43 and the grip member support 46 are non-rotatably attached to the shaft 42. Although the sector gear 43 and the gripping member support 46 are integrated by the shaft 42 in the illustrated example, the gripping member support 46 is directly integrated with the sector gear 43, not by the shaft 42. You can also
The cylinder 45 is attached to the swing mechanism support 41, and its rod 45r is connected to the rack 44.

The moving mechanism 50 may have any structure as long as it can move the gripping member 30 and the cylindrical soft object 10 which are rocked by the rocking mechanism 40 toward the mounting portion 20.
In this embodiment, the moving mechanism 50 includes a cylinder 51 that moves the swinging mechanism support body 41 itself in the direction of the mounting portion 42 in the direction of the axis A2 of the mounting portion 42.

The cylinder 51 is attached to the frame 1F of the tubular soft body attachment device 1, and its rod 51r is connected to the swing mechanism support body 41.
Therefore, when the rocking mechanism support 41 is moved back and forth in the direction of the mounting portion 42 by the operation of the cylinder 50, the entire rocking mechanism 40 mounted on the rocking mechanism support 41 is held by the grip member 30 and the cylindrical soft object 10. Along with, move back and forth in the direction of the mounting portion 42 (see FIG. 2).

Reference numerals 52 and 52 are guide blocks attached to both sides of the swing mechanism support body 41, and 53 is a guide rod for guiding the guide block 52. The guide rod 52 is attached to the frame 1F. Reference numeral 54 is a connecting portion between the rod 51r and the swing mechanism support 41.

As shown in FIG. 1, the mounting portion 20 of this embodiment is a resin pipe, and a distal end 21 is provided with an enlarged diameter portion 21c having a diameter larger than that of the main body portion 23, and an R shape 21r is formed on the enlarged diameter portion 21c. It has a diameter-reduced portion 21b which is continuous with the interposition of.

With this configuration, the tip portion 11 of the tubular soft body 10 can be easily swung with respect to the tip 21 of the mounting portion 20. Therefore, it becomes easy to attach the tip portion 11 of the tubular soft body 10 to the attachment portion 20.

The mounting portion 20 is held by the holding member 60.
The holding member 60 may have any structure as long as it can securely hold the mounting portion 20. In the present embodiment, a pair of clampers 62, 62 that are opened and closed by a parallel open/close type air chuck mechanism 61 is used. The solid line in FIG. 1A shows the state in which the mounting portion 20 is held, and the phantom line shows the state in which the mounting portion 20 is opened.

In the swinging mechanism 40, at least during the swinging operation of the tubular soft body 10, at least the tip portion 11 of the tubular soft body 10 has an axis A1 of the tip portion 11 with respect to an axis A2 of the mounting portion 20. A first tilt position that tilts (for example, a position indicated by a tilt angle θ1 in FIG. 3C) and a second tilt position that tilts toward the other (a position indicated by a tilt angle θ2 in FIG. 3E) are included. The cylindrical soft body 10 is swung so as to move.

In addition, the moving mechanism 50 is configured so that the distal end portion 11 of the tubular soft body 10 at the second tilt position with respect to the distal end portion 11 of the tubular soft body 10 at the first tilt position (see, for example, FIG. 3C). It is moved so that the position (for example, see FIG. 3E) is moved (advanced) with respect to the mounting portion 20.

Further, the swing mechanism 40 reduces the tilt angle (for example, θ2) of the second tilt position with respect to the tilt angle (for example, θ1) of the first tilt position with respect to the axis A2 of the mounting portion 20.

With this configuration, as the tip portion 11 of the tubular soft body 10 moves in the mounting direction with respect to the mounting portion 20, the inclination angle of the tip portion 11 of the tubular soft body 10 with respect to the axis A2 of the mounting portion 20 becomes smaller. Therefore, it is possible to smooth the pushing operation of the distal end portion 11 of the tubular soft body 10 into the mounting portion 20 by the moving mechanism 50. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.

FIG. 3 is an explanatory view of a specific example of an attaching operation of the cylindrical soft object 10 to the attaching portion 20 according to this embodiment.
In this specific example, as shown in FIG. 3A, the tip end portion 11 of the tubular soft body 10 is swung twice to one side and the other side (four times in total). The part 11 is moved toward the mounting part 20 and is pushed in to be mounted. The operation is performed by the swinging mechanism 40 and the moving mechanism 50.
Hereinafter, description will be made step by step.

(1) The cylindrical soft body 10 is gripped by the gripping member 30 (see FIG. 1), and the distal end portion 11 of the cylindrical soft body 10 is moved by the moving mechanism 50 toward the mounting portion 20. As shown, the tip surface 11s of the tip portion 11 is positioned so as to be in contact with or close to the tip 21 of the mounting portion 20.

(2) As shown in FIGS. 3B to 3C, the tip end portion 11 of the tubular soft body 10 is advanced toward the attachment portion 20 while being inclined to one side to the inclination angle θ1.

(3) As shown in FIGS. 3C to 3E, the tip end portion 11 of the tubular soft body 10 is advanced toward the attachment portion 20 while being inclined toward the other side to the inclination angle θ2.
In this process, as shown in FIG. 3D, a state occurs in which the axis A1 of the tip portion 11 of the tubular soft object 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the tip portion 11 of the soft body 10 into the mounting portion 20 has occurred, the pushing of the tip portion 11 of the tubular soft body 10 into the mounting portion 20 is promoted.
Note that θ2<θ1.

(4) As shown in FIGS. 3(e) to 4(g), the tip end portion 11 of the tubular soft object 10 is advanced toward the attachment portion 20 while being inclined again to one side to the inclination angle θ3.
In this process, as shown in FIG. 3(f), a state in which the axis A1 of the tip portion 11 of the cylindrical soft object 10 and the axis A2 of the mounting portion 20 coincide with each other, and even in this state, the cylindrical shape of the moving mechanism 50 Since the pushing operation of the tip portion 11 of the soft body 10 into the mounting portion 20 has occurred, the pushing of the tip portion 11 of the tubular soft body 10 into the mounting portion 20 is promoted.
Note that θ3<θ2.

(5) As shown in FIGS. 4(g) to 4(i), the tip end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined again to the other side to the inclination angle θ4.
In this process, as shown in FIG. 3(h), a state in which the axis A1 of the tip portion 11 of the cylindrical soft object 10 and the axis A2 of the mounting portion 20 coincide with each other, and even in this state, the cylindrical shape by the moving mechanism 50 is changed. Since the pushing operation of the tip portion 11 of the soft body 10 into the mounting portion 20 has occurred, the pushing of the tip portion 11 of the tubular soft body 10 into the mounting portion 20 is promoted.
Note that θ4<θ3.

(6) As shown in FIGS. 4(i) to 4(j), the tip end portion 11 of the tubular soft body 10 is advanced toward the attachment portion 20 while being returned to the neutral position (the position where the axes A1 and A2 coincide). As a result, the attaching operation of the distal end portion 11 of the tubular soft body 10 to the attaching portion 20 is completed.
The state of the device 1 at the time when the attaching operation is completed is shown in FIG.

In addition, the operation of the cylindrical soft object mounting device 1 including the above-described operation is controlled by a control unit (not shown).
Further, in the examples shown in FIGS. 3 and 4, the swinging of the distal end portion 11 of the tubular soft body 10 to one side and the other side is set to 2, but the number of times is one or more on one side and the other on the other side. If it is once or more on the side, it can be appropriately set according to the shape and material of the cylindrical soft body 10 and the shape and material of the mounting portion 20.

As shown in FIG. 1( b ), the tubular soft body attachment device 1 has a distal end of the tubular soft body 10 before the distal end portion 11 of the tubular soft body 10 is brought into contact with the distal end 21 of the attachment portion 20. The portion 11 is provided with a coating nozzle 1n for coating the lubricating water W.

According to this structure, the distal end portion 11 of the tubular soft body 10 is coated with the lubricating water W, so that the pushing operation of the distal end portion 11 of the tubular soft body 10 into the mounting portion 20 can be facilitated. Becomes As a result, it becomes possible to smoothly attach the cylindrical soft body 10 to the attachment portion 20.

As shown in FIG. 1( b ), the grip member 30 is a portion from the tip surface 11 s of the tubular soft body 10 to 1.5 times or more and 4 times or less of the inner diameter D<b>1 of the tip portion 11 of the tubular soft body 10. It is desirable to have a configuration for gripping. That is, it is desirable that the length L1 from the tip end surface 11s of the cylindrical soft object 10 to the gripping position be 1.5 times or more and 4 times or less of the inner diameter D1.
With this structure, the cylindrical soft object 10 can be smoothly attached by the attaching portion 20.
The inner diameter D1 of the tip portion 11 is usually 15 to 25.8 mm. In this case, the maximum outer diameter (outer diameter of the R shape 21r portion) D2 of the expanded diameter portion 21c of the mounting portion 20 is 15.5 to 26 mm, and the outer diameter D3 of the main body portion 23 is 14 to 25 mm. Each diameter is set so that D3<D1<D2 is satisfied.

Assuming that the gripping position by the gripping member 30 is less than 1.5 times the inner diameter D1 of the tip portion 11 of the tubular soft body 10 from the tip surface 11s of the tubular soft body 10, the tip of the tubular soft body 10 is grasped. The degree of freedom (flexibility) of the portion up to the surface 11s may be reduced, and it may be difficult to smoothly push the distal end portion 11 of the tubular soft body 10 into the mounting portion 20. On the other hand, when the gripping position by the gripping member 30 is more than 4 times the inner diameter D1 of the tip portion 11 of the tubular soft body 10 from the tip surface 11s of the tubular soft body 10, the tip of the tubular soft body 10 is grasped. In the portion up to the surface 11s, the degree of freedom (flexibility) becomes too high, and buckling is likely to occur. When the buckling occurs, it is difficult to smoothly push the distal end portion 11 of the tubular soft body 10 into the mounting portion 20.

On the other hand, the gripping position of the gripping member 30 is set to be a portion that is 1.5 times or more and 4 times or less of the inner diameter D1 of the tip portion 11 of the tubular soft body 10 from the tip surface 11s of the tubular soft body 10. Therefore, it is possible to prevent buckling from occurring while ensuring the degree of freedom of the tip portion 11. Therefore, the pushing operation of the tip end portion 11 of the tubular soft body 10 into the mounting portion 20 can be facilitated. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be appropriately modified and implemented within the scope of the gist of the present invention.

For example, as shown in FIG. 5, the swing mechanism 40 is replaced with the above-described mechanism including the sector-gear 43 and the rack 44, and a groove cam 70 that is moved forward and backward by a cylinder 45, and a cam groove of the groove cam 70. The pin 72 may be a cam follower engaging with the pin 71. The pin 72 is attached to the grip member support 46.

Further, for example, as shown in FIG. 6, when the tubular soft object 10 is attached to each attachment portion 20 of the collecting pipe 25 having a plurality of attachment portions 20 (three shown in the figure), as shown in FIG. The direction of the arrow R is such that the collecting pipe 25 is gripped by the robot hand 35 having a three-finger-shaped chuck 34 that can be opened and closed at the tip of the rotary shaft 33, and the mounting portions 20 are sequentially opposed to the cylindrical soft object 10. The cylindrical soft body 10 can be attached to each attachment portion 20 by intermittently rotating.
In this case, the holding member 60 also serves as a positioning member for the mounting portion 20.

In FIG. 6, 80 is a tightening band. The tightening band 80 is for tightening the tip portion 11 of the tubular soft body 10 mounted on the mounting portion 20 to the mounting portion 20. 81 is a tightening bolt. Reference numerals 92 and 92 are positioning members for the tightening band 80. The positioning members 92, 92 are configured to be openable/closable by a parallel opening/closing type air chuck mechanism like the clampers 62, 62. The positioning members 92, 92 perform positioning on the clampers 62, 62 around the mounting portion 20 with the center 80a of the tightening band 80 eccentric to the center 20a of the mounting portion.
With this structure, the tightening operation by the tightening bolt 81 can be smoothly performed.

Further, in the above-described embodiment, the shaft A1 is two-dimensionally swung with respect to the shaft A2, that is, the tip of the tubular soft body is located below the tip 21 of the mounting portion 20 as shown in FIG. 3C. By swinging the tip portion 11 of the tubular soft material to the opposite side (left side of the paper) with a part of the portion 11 (right end of the paper surface) being positioned, as shown in FIG. The entire circumference of the end portion 11 of the tubular soft material is located below the tip 21 of the mounting portion, but the axis A1 is swung three-dimensionally with respect to the axis A2, that is, with respect to the axis A2. The axis A1 may be tilted and swung so as to rotate so that the entire circumference of the distal end portion 11 of the tubular soft body is positioned below the mounting portion distal end 21.

1: Cylindrical soft material mounting device, 1n: Application nozzle, 10: Cylindrical soft material, 11: Tip part, 11s: Tip surface, 20: Mounting part, 21: Tip, 22: Outer periphery, 30: Gripping member, A1 : Axial line of the tip portion 11, A2: Axial line of the mounting portion 20, 40: Swing mechanism, 50: Moving mechanism.

Claims (4)

Fitting the tip portion (11) of the tubular soft body (10) having a cylindrical tip portion (11) to the outer circumference of the mounting portion (20) having a cylindrical or columnar rigidity. A device for attaching the cylindrical soft body (10) to the attachment portion (20),
A holding member (30) for holding the tubular soft body (10),
The gripping member (30) and the cylinder in the state where the tip end (11) of the tubular soft body (10) gripped by the gripping member (30) is brought into contact with the tip end (21) of the mounting portion (20). So that the axis (A1) of the tip (11) of the tubular soft body (10) is inclined to one side and the other with respect to the axis (A2) of the mounting portion (20). A swing mechanism (40) for swinging,
A moving mechanism (50) for moving the gripping member (30) and the cylindrical soft body (10) which are swung by the swinging mechanism (40) toward the mounting portion (20);
Equipped with
In the swinging mechanism (40), at least the tip portion (11) of the tubular soft body (10), the axis (A1) of the tip portion (11) is the axis (A2) of the mounting portion (20). A rocking mechanism (40) for rocking the tubular soft body (10) so as to include a first tilt position tilted to one side and a second tilt position tilted to the other side,
The moving mechanism (50) has a distal end portion (11) of the tubular soft body (10) in the first inclined position, and a distal end portion (11) of the tubular soft body (10) in the second inclined position. 11) is a moving mechanism (50) for moving to a position further moved with respect to the mounting portion (20),
The swing mechanism (40) is characterized in that the tilt angle of the second tilt position is smaller than the tilt angle of the first tilt position with respect to the axis (A2) of the mounting portion (20). Cylindrical soft object mounting device. In claim 1 ,
Before the distal end portion (11) of the tubular soft material (10) is brought into contact with the distal end (21) of the mounting portion (20), the tip end portion (11) of the tubular soft material (10) is lubricated with water. A tubular soft object mounting device, further comprising an application nozzle (1n) for applying (W). In claim 1 or 2 ,
The gripping member (30) is 1.5 times or more the inner diameter (D1) of the distal end portion (11) of the tubular soft body (10) from the distal end surface (11s) of the tubular soft body (10). A tubular soft object mounting device characterized in that it grips a portion equal to or less than twice as long. The tip portion (11) of the cylindrical soft body (10) having a cylindrical tip portion (11) is attached to the outer periphery (22) of the mounting portion (20) having a cylindrical or columnar rigidity. A method of attaching the tubular soft body (10) to the attachment portion (20) by fitting them,
The cylindrical soft body (10) is gripped by the gripping member (30),
The gripping member (30) and the cylinder in the state where the tip end (11) of the tubular soft body (10) gripped by the gripping member (30) is brought into contact with the tip end (21) of the mounting portion (20). So that the axis (A1) of the tip (11) of the tubular soft body (10) is inclined to one side and the other with respect to the axis (A2) of the mounting portion (20). A method of attaching the tubular soft body (10) to the attaching portion (20) by moving the moving body (50) toward the attaching portion (20) while swinging the swinging mechanism (40) ,
In the swinging mechanism (40), at least the tip portion (11) of the tubular soft body (10), the axis (A1) of the tip portion (11) is the axis (A2) of the mounting portion (20). The cylindrical soft body (10) is swung so as to include a first inclined position inclined to one side and a second inclined position inclined to the other side,
The moving mechanism (50) has a distal end portion (11) of the tubular soft body (10) in the first inclined position, and a distal end portion (11) of the tubular soft body (10) in the second inclined position. 11) is moved so as to be a position further moved with respect to the mounting portion (20),
The rocking mechanism (40) has a tubular soft body by making the tilt angle of the second tilt position smaller than the tilt angle of the first tilt position with respect to the axis (A2) of the mounting portion (20). A cylindrical soft object mounting method, characterized in that the object (10) is mounted on the mounting portion (20) .

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