JP6973839B1 - O-ring assembly mechanism and O-ring assembly method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple structure that is not easily affected by variations in the dimensions of an O-ring and variations in a supply position when assembling an O-ring to an object, can stably hold the O-ring, and is an object. Provided are an O-ring assembling mechanism and an O-ring assembling method that can be stably moved toward one side and can be assembled with high accuracy. An O-ring assembly mechanism A, which is an example of an O-ring assembly mechanism to which the present invention is applied, includes a supply unit 1, an insertion head unit 2, and a lower receiving portion 3. The O-ring assembly mechanism A automatically performs the work of assembling the O-ring 5 into the annular groove 40 formed on the outer peripheral surface of the work 4 to be assembled of the O-ring 5. [Selection diagram] Fig. 1

Description

The present invention relates to an O-ring assembly mechanism and an O-ring assembly method. Specifically, when assembling the O-ring to the object, it is not easily affected by the dimensional variation of the O-ring and the variation of the supply position, has a simple structure, can stably hold the O-ring, and is the object. It relates to an O-ring assembling mechanism and an O-ring assembling method that can be stably moved to one side and assembled with high accuracy.

Conventionally, O-rings have been used in various devices and members that are required to have a gas or liquid leakage prevention function, such as air equipment and piping parts.

Further, in general, the O-ring is a rubber ring-shaped member, and is assembled to an annular groove formed on the outer peripheral surface of the work to be assembled, the inner peripheral surface of the hole inside the work, or the like. Used for.

Further, in the work of assembling the O-ring to the annular groove formed on the outer peripheral surface of the work, for example, the O-ring is temporarily attached to the outer peripheral surface of the dedicated jig by hand, and the jig is further mounted on the work. The method was adopted in which the O-ring was manually pushed from the jig side to the work side and fitted into the annular groove on the outer peripheral surface of the work.

However, it takes time and effort to accurately assemble the elastic and small-diameter O-ring into the annular groove by manual work using a dedicated jig, and there is a problem in terms of work efficiency.

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

Here, in the O-ring assembly mechanism described in Patent Document 1, as shown in FIG. 12A, a guide 102 having a tapered outer peripheral portion 103 to which the O-ring 100 is temporarily mounted and a small diameter of the guide 102 are used. The O-ring 100, which has an axial recess 106 into which the portion 101 is inserted, is movably mounted along the tapered outer peripheral portion 103 of the guide 102, and is mounted on the tapered outer peripheral portion 103, is a large 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, the pressing jig 105 is attached to the guide 102 (see FIG. 12B), 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 work 108 to which the O-ring 100 is to be mounted (see FIG. 12 (c)).

Further, the pressing jig 105 is further moved in the axial direction along the work 108 direction, the O-ring 100 mounted on the large diameter portion 104 of the guide 102 is moved to the outer periphery of the work 108, and the O-ring 100 is moved to the work 108. It is attached to the O-ring groove 107 of the above (see FIG. 12 (d)).

Japanese Unexamined Patent Publication No. 9-108959

However, in the O-ring assembly mechanism described in Patent Document 1, the guide 102 for temporarily mounting 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 work 108. The pressing jig 105 to be moved is configured as a separate member.

Then, the O-ring 100 is dropped downward toward the guide 102, and the guide 102 is lowered on a table (not shown) with the O-ring 100 stopped in the middle of the tapered outer peripheral portion 103 of the guide 102. , The supply of the O-ring 100 is finished. After that, the table is rotated 180 degrees and transported under the pressing unit (not shown).

After that, the table rises, the base of the pressing unit (not shown) descends, and the O-ring 100 in a state of being stopped in the middle of the tapered outer peripheral portion 103 toward the guide 102 connected to the base is pressed by the pressing jig 105. By pressing with, 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 and attached to the guide 102, the dropped state varies greatly and the reproducibility is poor. was there.

Then, when the O-ring 100 is stopped in the middle of the tapered outer peripheral portion 103 of the guide 102, the probability that the O-ring 100 is stopped in an unbalanced state, for example, the O-ring 100 is tilted with respect to the horizontal direction. Was expensive.

If the O-ring 100 is forcibly pushed down by the pressing jig 105 while the O-ring 100 is in an unbalanced state, the O-ring 100 is likely to be twisted, and when the O-ring 100 is moved to the large diameter portion 104, the O-ring 100 is moved. There was a problem that it was attached to the large diameter portion 104 in a distorted shape that was slanted or twisted.

As described above, the O-ring assembling mechanism described in Patent Document 1 has a problem that it cannot cope with the variation in the supply position when the O-ring 100 is supplied to the guide 102. That is, 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, is conveyed to the top of the work 108 by a transfer robot or the like, and both the pressing jig 105 and the guide 102 are lowered to the work 108. do.

Then, the lower end of the guide 102 comes into contact with 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 upper end of the work 108 and the lower end of the guide 102 are positioned in the same linear shape.

However, in such a device configuration, when the device is continuously operated, the connection portion may be loosened due to wear, vibration, etc., and the operation may be uneven, resulting in a problem such as a misalignment of the axis.

Therefore, when the axial center of the guide 102 and the axial center of the pressing jig 20 are not positioned in the same linear shape due to a mechanical defect due to continuous operation, O-ring occurs. The ring 100 cannot be moved straight toward the work 108, and cannot be assembled to the O-ring groove 107.

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 an even force, the O-ring 100 is deformed and the work has a distorted shape. It fits into the O-ring groove 107 of 108 and leads to leakage of gas or liquid.

Further, in the conventional O-ring assembling mechanism including the O-ring assembling mechanism described in Patent Document 1, there is room for improvement in the mechanism for allowing the dimensional variation of the O-ring and the variation in the supply position.

The present invention was devised in view of the above points, and has a simple structure that is not easily affected by variations in the dimensions of the O-rings and variations in the supply position when the O-rings are assembled to the object. It is an object of the present invention to provide an O-ring assembling mechanism and an O-ring assembling method capable of stably holding an O-ring, stably moving the O-ring toward an object, and assembling with high accuracy.

In order to achieve the above object, the O-ring assembling mechanism of the present invention includes a supply unit in which the O-ring is held, the O-ring is supplied from the supply unit, the O-ring is held, and the O-ring is held. It is provided with an insertion head unit that sends out the O-ring toward the work to be assembled, and a work receiving portion that defines the position of the work when the O-ring is sent out from the insertion head unit. An O-ring assembly 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 attached to the supply unit or the work arranged to face each other. The head body is configured to be able to move forward and backward, and its outer diameter is substantially cylindrical and has an outer diameter larger than the inner diameter of the O-ring. It fits with the O-ring and extends the O-ring. A bottomed holder hole is formed on the tip end side thereof, and the holder portion attached to the head body portion via a first elastic body attached to the base end thereof. , Which is connected to the tip of the holder portion, is formed so that the size of the outer diameter becomes smaller from the base end connected to the tip of the holder portion to the tip located in the opposite direction, and the tip thereof. A tapered portion having an outer diameter larger than the inner diameter of the O-ring and a second elastic body having a smaller urging force than the first elastic body are attached to the bottom of the holder hole portion. When the head main body moves in the direction of the work, the tip thereof abuts on the end surface of the work and is pushed, and can be accommodated inside the holder portion and the tapered portion along the longitudinal direction of the holder. When the second elastic body has a natural length, at least a portion protruding from the tapered portion has an outer diameter from the base end on the tapered portion side to the tip located in the opposite direction. A ring guide portion having an outer diameter smaller than the inner diameter of the O-ring and an outer diameter of the tip thereof being smaller than the inner diameter of the O-ring, and a head main body portion provided with the tip of the ring guide portion. The outer periphery of the holder portion as the head main body portion moves in the direction of the work while the ring guide portion is housed inside the holder portion and the tapered portion in contact with the end surface of the work. The O-ring held by the surface is moved along the outer peripheral surface of the holder portion and the outer peripheral surface of the work, and has an insertion claw portion for assembling the O-ring into the annular groove of the work. The feeding unit can move forward and backward toward the insertion head unit while the O-ring is held and the supply unit faces the insertion head unit, and the feeding unit holds the O-ring. The work has a lifter portion that moves the O-ring along the outer peripheral surfaces of the ring guide portion, the tapered portion, and the holder portion, and conveys the O-ring to a predetermined position on the outer peripheral surface of the holder portion. The receiving portion is arranged on the side opposite to the insertion head unit of the work, and is configured to define the position of the work along the longitudinal direction of the holder and the direction orthogonal to the axis of the holder. Has been done.

Here, the supply unit has an O-ring in the lifter portion by having a lifter portion capable of moving forward and backward toward the insertion head unit in a state where the O-ring is held and the supply unit faces the insertion head unit. The O-ring can be moved toward the insertion head unit while holding.

Further, the supply unit moves the O-ring along the outer peripheral surfaces 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. By having a lifter portion and having a holder portion in which the insertion head unit is fitted with the O-ring and is capable of extending and holding the O-ring, the O-ring conveyed by the lifter portion is held by the holder portion. It can be temporarily attached.

Further, the holder portion is formed with a bottomed holder hole portion opened on the tip end side thereof, and is attached to the head main body portion via a first elastic body attached to the base end thereof, and the tapered portion is a holder. The ring guide portion is continuously provided at the tip of the portion, the ring guide portion is attached to the bottom of the holder hole portion via the second elastic body, and the lifter portion holds the O-ring, and the O-ring is attached to the ring guide portion. By moving the O-ring along the outer peripheral surface of the tapered portion and the holder portion and transporting the O-ring to a predetermined position on the outer peripheral surface of the holder portion, the head main body portion, the holder portion, the tapered portion, and the ring guide portion are formed. It has an integrated structure. Further, the O-ring can be moved to a predetermined position by the lifter portion along the outer peripheral surface of each member in the integrated structure.

Further, the insertion head unit has a head main body portion configured to be able to move forward and backward with respect to a supply unit or a work arranged opposite to each other, and a holder portion is attached to a base end thereof. By being attached to the head body via the body, the structure in which the head body, holder, taper, and ring guide are integrated can be moved forward and backward with respect to the supply unit or work. Can be done.

Further, when the second elastic body has a natural length, at least the portion of the ring guide portion protruding from the tapered portion has a large outer diameter from the base end on the tapered portion side to the tip located in the opposite direction. When the O-ring is moved from the supply unit to the ring guide portion, the O-ring has an outer diameter smaller than the inner diameter of the O-ring. The tip of the ring guide portion can be easily inserted 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 side via the lifter portion. Further, since the outer diameter of the tip of the ring guide portion has an outer diameter smaller than the inner diameter of the O-ring, for example, when the position of the O-ring placed on the lifter portion varies, or the size of the O-ring varies. In this case, 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 of the O-ring in the supply unit and variations in dimensions, and to stably transport the O-ring to the holder portion.

Further, the tapered portion is formed so that the size of the outer diameter becomes smaller from the base end connected to the tip of the holder portion to the tip located in the opposite direction, and the outer diameter of the tip is an O-ring. By having an outer diameter larger than the inner diameter of the O-ring, the O-ring that has passed through the ring guide portion through the lifter portion gradually moves from the inside to the outside as it moves toward the holder portion. The O-ring can be guided toward the holder portion while being stretched to increase the holding force against the O-ring. As a result, the O-ring is less likely to fall off and can be stably moved to the holder portion.

Further, the holder portion has a substantially columnar shape, the outer diameter thereof has an outer diameter larger than the inner diameter of the O-ring, and the holder portion can be fitted with the O-ring to extend and hold the O-ring, whereby the lifter can be held. When the O-ring is conveyed to a predetermined position along the outer peripheral surface of the holder portion, the O-ring can be conveyed in a shape in which the O-ring is extended from the inside to the outside. That is, the O-ring is less likely to fall off from the outer peripheral surface of the holder portion, and the O-ring can be stably moved to a predetermined position. Further, the O-ring can be stably held at a predetermined position of the holder portion by forming the O-ring sufficiently extended from the inside to the outside.

Further, the ring guide portion is attached to the bottom of the holder hole portion via the second elastic body, and the head main body portion moves in the direction of the work, so that the tip thereof abuts on the end surface of the work and is pushed. Since it is configured to be accommodated inside the holder portion and the tapered portion along the longitudinal direction of the holder, the second elastic body shrinks when the head main body portion is moved toward the work. The ring guide portion is housed inside the holder portion and the tapered portion, and the tip of the tapered portion can be brought into contact with the end face of the work. 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, and the tapered portion is formed. It is 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 keeping the shape extended from the inside to the outside. Further, when the O-ring is transferred from the holder portion to the work, the ring guide portion in contact with the work is housed inside the holder portion and the tapered portion, so that the outer diameter of the tip portion side of the holder portion can be changed. can. That is, the outer diameter on the tip end side of the holder portion is composed of the outer diameter of the tapered portion, and changes so that the inner diameter of the O-ring can be maintained in a widened state. 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 main body portion via the first elastic body attached to the base end thereof, and the ring guide portion is attached to the bottom of the holder hole portion with a more urging force than the first elastic body. Attached via a small second elastic body, the head body moves in the direction of the workpiece so that its tip abuts against the end face of the workpiece and is pushed, along the longitudinal direction of the holder to the holder and taper. The insertion claw portion is provided in the head main body portion, the tip of the ring guide portion abuts on the end face of the work, and the ring guide portion is accommodated inside the holder portion and the tapered portion. In this state, as the head body moves in the direction of the work, 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, and 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 work. Further, the O-ring can be fitted into the annular groove of the work by the insertion claw portion. That is, as the head body moves toward the work, the second elastic body contracts before the first elastic body, and the ring guide portion is housed inside the holder portion and the tapered portion. Further, the head main body portion moves toward the work, and the first elastic body contracts, so that the insertion claw portion attached to the head main body portion 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 tapered portion by the insertion claw portion and conveyed toward the annular groove of the work, and the O-ring can be assembled to the annular groove. In addition, since the structure is such that the insertion claw portion is integrated from the holder portion, the positional relationship between the axial centers of both members is unlikely to shift even during continuous operation, and the O-ring is twisted due to this positional shift. Instead, the O-ring can be mounted uniformly and without twisting in the annular groove of the work.

Further, the work receiving portion is arranged on the side opposite to the work insertion head unit, and the insertion head is defined by defining the position of the work along the longitudinal direction of the holder and the direction orthogonal to the axis of the holder. When the O-ring is sent out 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 orthogonal 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 work.

Further, in a state where the tip of 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 tip of the ring guide portion and the tip of the tapered portion are accommodated in the longitudinal direction of the holder. When the positions of the O-rings are aligned, the O-ring can be delivered from the tip of the tapered portion to the end of the work more stably through the insertion claw portion. That is, in the longitudinal direction of the holder, the outer peripheral surface on the tip end side of the ring guide portion is covered with the outer peripheral surface on the tip end of the tapered portion, and the O-ring moves along the outer peripheral surface on the tip end side of the ring guide portion. There is nothing to do. That is, the O-ring is delivered to the end on the work side while maintaining the shape in which the O-ring is extended from the inside to the outside along the outer peripheral surface of the tip of the tapered portion, so that the O-ring does not fall off. It can be moved to the work more stably.

Further, the portion of the ring guide portion that protrudes from the tapered portion when the second elastic body has a natural length has a cross-shaped cross section when viewed from a direction substantially orthogonal to the axial direction of the holder portion. In that case, the shape of the O-ring when moving along the outer peripheral surface of the ring guide portion can be a stable shape. As a result, when the lifter portion moves the O-ring from the ring guide portion to the tapered portion, the O-ring is less likely to be caught by the ring guide portion, and the O-ring is directed toward the tapered portion to be stable. It can be reflected. Further, the cross-shaped relatively simple structure can support the shape of the O-ring with a stable shape.

Further, the portion of the ring guide portion that protrudes from the tapered portion when the second elastic body has a natural length has a cross-shaped cross section when viewed from a direction substantially orthogonal to the axial direction of the holder portion. However, the outer peripheral surface of the holder portion and the outer peripheral surface of the tapered portion are used as guide grooves in a range that can accommodate the ring guide portion when a guide groove that fits with the cross-shaped shape of the ring guide portion is formed. Along, the cross-shaped portion of the ring guide portion can be moved, and the ring guide portion can be accommodated in the holder portion and the tapered portion.

Further, the insertion claw portion is configured to be expandable and contractible around the axis of the holder portion, and expands and contracts according to the size of the outer diameter 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. 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, it is possible to follow the opening degree of the insertion claw portion that abuts on the O-ring and conveys the change in the outer diameter on the outer peripheral surface of the tapered portion and the change in the outer diameter on the outer peripheral surface of the work.

Further, the lifter portion is configured to be expandable and contractible around the axis of the supply unit, and is expanded according to the size of the outer diameter 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. When the O-ring is conveyed to a predetermined position while being carried, the O-ring can be smoothly conveyed by the lifter portion. That is, it is possible to follow the opening degree of the lifter portion that abuts on the O-ring and conveys the change in the outer diameter on the outer peripheral surface of the ring guide portion and the change in the outer diameter on the outer peripheral surface of the tapered portion.

Further, the holder portion and the holder hole portion, which are substantially cylindrical and have 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 portion attached to the bottom and protruding from the tapered portion is formed so that the size of the outer diameter becomes smaller from the base end on the tapered portion side to the tip located in the opposite direction, and the outside of the tip. While holding the ring guide portion whose diameter is smaller than the inner diameter of the O-ring and the O-ring, the O-ring is moved along the outer peripheral surfaces of the ring guide portion, the tapered portion and the holder portion, and the O-ring is held. The lifter portion that conveys to a predetermined position on the outer peripheral surface of the portion and the O-ring provided on the head main body portion and held by the outer peripheral surface of the holder portion are 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 varies due to the insertion claw portion for assembling the O-ring into the annular groove of the work, the inner diameter of the O-ring can be extended while absorbing the variation in the supply position. That is, since the outer diameter of the tip of the ring guide portion is formed to be smaller than the inner diameter of the O-ring, the tip of the ring guide portion is inserted inside the O-ring even if the supply position of the O-ring varies. It will be easier to make.

Further, since the direction in which the lifter portion moves the O-ring toward the holder portion and the direction in which the insertion claw portion moves the O-ring from the holder portion toward the work are opposite, the direction is opposite from the holder portion to the work. The O-ring can be moved toward the holder while extending its inner diameter at the lifter portion with a force opposite to the force applied to the O-ring. That is, the O-ring is finally assembled into the annular groove of the work by combining the two force directions, that is, the direction in which the inner diameter is widened and the direction away from the work and the direction in which the O-ring returns to the work side. In the process of moving by applying force to the supply unit, it is possible to absorb variations in the supply position to the supply unit. Further, since the O-ring moves in the directions of the two forces, the O-ring is less likely to be slanted or twisted into a distorted shape, and can be assembled in the annular groove of the work.

Further, in order to achieve the above object, in the O-ring assembly method of the present invention, the O-ring is supplied from the supply unit holding the O-ring toward the insertion head unit arranged opposite to the supply unit. Then, the supply holding step of holding the O-ring by the insertion head unit and the O-ring held by the insertion head unit are moved toward the work arranged facing the insertion head unit, and the work is moved. An O-ring assembling method for assembling an O-ring to a work, comprising an assembling step of assembling the O-ring to an annular groove formed on the outer peripheral surface of the work, wherein the supply holding step is the O-ring in the insertion head unit. A tip having an outer diameter smaller than the inner diameter of the ring is passed through the inside of the O-ring, and the outer diameter thereof is from the tip to the base end of the insertion head unit at the lifter portion of the supply unit that holds the O-ring. The O-ring is moved while extending the outer edge of the O-ring along the outer peripheral surface where the O-ring becomes large, and 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. The O-ring is held in an extended state at the predetermined position of the holder portion, the work is arranged facing the insertion head unit in the assembly step, and the insertion head unit is placed on the work. The tip of the insertion head unit is brought into contact with the tip of the work, and a part of the tip of the insertion head unit is housed in the main body of the insertion head unit and the O-ring is accommodated. 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 stretched shape of the ring. The O-ring is assembled into the annular groove.

Here, in the supply holding step, when the tip having an outer diameter smaller than the inner diameter of the O-ring in the insertion head unit is passed inside the O-ring, the O-ring is moved from the supply unit to the insertion head unit. 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 portion side via the lifter portion. Further, since the outer diameter of the tip of the insertion head unit has an outer diameter smaller than the inner diameter of the O-ring, for example, when the position of the O-ring placed on the lifter portion varies, or the size of the O-ring varies. In this case, 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 of the O-ring in the supply unit and variations in dimensions, and to stably transport the O-ring to the holder portion.

Further, the supply holding step is a lifter portion of the supply unit that holds the O-ring, and the outer edge of the O-ring is extended from the tip end to the base end of the insertion head unit along the outer peripheral surface where the outer diameter becomes large. By moving the O-ring while moving, the O-ring that has passed through the tip of the insertion head unit via the lifter portion gradually moves from the inside to the outside as it moves toward the holder portion. The O-ring can be guided toward the holder while being stretched to increase the holding force against the O-ring. As a result, the O-ring is less likely to fall off and can be stably moved to the holder portion.

Further, the supply holding step transports the O-ring in the insertion head unit to a predetermined position on the outer peripheral surface of the holder portion, and holds the O-ring in a stretched state at a predetermined position of the holder portion. When the O-ring is conveyed to a predetermined position along the outer peripheral surface of the holder portion in the lifter portion, the O-ring can be conveyed in a shape in which the O-ring is extended from the inside to the outside. That is, the O-ring is less likely to fall off from the outer peripheral surface of the holder portion, and the O-ring can be stably moved to a predetermined position. Further, the O-ring can be stably held at a predetermined position of the holder portion by forming the O-ring sufficiently extended from the inside to the outside.

Further, in the assembling process, the work is arranged to face the insertion head unit, the insertion head unit is moved toward the work, and the tip of the insertion head unit is brought into contact with the tip of the work to bring the insertion head unit into contact with the tip of the work. By accommodating a part of the tip portion in the main body of the insertion head unit, when the insertion head unit is moved toward the work, a part of the tip portion of the insertion head unit becomes 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 face of the work. 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 side while keeping the shape extended from the inside to the outside. can.

Further, in the assembling step, 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 at the insertion claw portion of the insertion head unit, and the O-ring is assembled in the annular groove. Thereby, the O-ring can be moved from the holder portion toward the annular groove of the work at the insertion claw portion. Further, the O-ring can be fitted into the annular groove of the work by the insertion claw portion.

In addition, the assembly process moves the O-ring toward the work while expanding and contracting the insertion claw portion according to the size of 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 work. In the case of making the O-ring, the O-ring can be smoothly conveyed by the insertion claw portion. That is, it is possible to follow the opening degree of the insertion claw portion that abuts on the O-ring and conveys the change in the outer diameter on the outer peripheral surface of the main body and the change in the outer diameter on the outer peripheral surface of the work.

Further, when the supply holding step moves the O-ring to a predetermined position while expanding 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 conveyed by the lifter portion. Can be done smoothly. That is, it is possible to follow the opening degree of the lifter portion that abuts on the O-ring and conveys the change in the outer diameter on the outer peripheral surface on the tip side of the insertion head unit and the change in the outer diameter on the outer peripheral surface of the main body. can.

Further, in order to achieve the above object, the O-ring assembling mechanism of the present invention is larger than the outer diameter of the work to which the O-ring is to be assembled while expanding the inner diameter of the O-ring from the O-ring supply unit. A function of mounting the O-ring on a holder having an outer diameter, and a function of transferring the O-ring mounted on the holder to the work and mounting it on an annular groove formed on the outer peripheral surface of the work. The O-ring assembling mechanism having the The holder portion is formed to be smaller than the inner diameter of the O-ring so as to be possible, and the holder portion has a tapered portion whose outer diameter gradually increases from the tip end to the other end thereof, and the O-ring is said to be the same. When transferring from the holder to the work, it has the function of changing the outer diameter of the tip of the holder in contact with the work, and the size of the outer diameter of the tip of the holder is the size of the O-ring. When the work is transferred from the holder portion to the work, the transport accuracy of the transport mechanism that transports the work so as to be in contact with the holder portion is formed to an allowable size, and is provided in the O-ring supply unit to provide the O-ring. The tip of the lifter claw that applies a force to the ring is arranged on a plane perpendicular to the direction of the force applied to the O-ring, and the direction of the force that the lifter claw applies to the O-ring is viewed from the holder portion. It is configured to be in the direction opposite to the direction in which the work is located.

Here, the size of the outer diameter of the tip of the holder portion located on the O-ring supply portion side is smaller than the inner diameter of the O-ring so as to be able to absorb the variation in the supply position of the O-ring in the O-ring supply portion. The tip of the lifter claw that is formed and provided in the O-ring supply section and applies 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 located as seen from the holder portion, even if the supply position of the O-ring with respect to the O-ring supply portion varies, the inner diameter of the O-ring is absorbed while absorbing the variation in the supply position. Can be expanded. That is, the size of the outer diameter of the tip of the holder portion is formed to be smaller than the inner diameter of the O-ring so that the variation in the supply position of the O-ring in the O-ring supply portion can be absorbed. Even if the supply position varies, the tip of the holder can be easily inserted into the inside of the O-ring.

Also, since the direction of the force applied to the O-ring by the lifter claw is opposite to the direction in which the work is located as seen from the holder, the force is opposite to the force applied to the O-ring from the holder to the work. The O-ring can be moved toward the holder while expanding its inner diameter with a lifter. That is, the O-ring is finally assembled into the annular groove of the work by combining the two force directions, that is, the direction in which the inner diameter is widened and the direction away from the work and the direction in which the O-ring returns to the work side. In the process of moving by applying a force to the O-ring, it is possible to absorb the variation in the supply position to the O-ring supply unit. Further, since the O-ring moves in the directions of the two forces, the O-ring is less likely to be slanted or twisted into a distorted shape, and can be assembled in the annular groove of the work.

In addition, the size of the outer diameter of the tip of the holder is formed to an acceptable size for the transport accuracy of the transport mechanism that transports the work so that it is in contact with the holder when the O-ring is transferred from the holder to the work. As a result, even if the work transfer position is slightly displaced in the transfer of the work transfer mechanism, the O-ring can be transferred from the holder to the work without dropping off to the work side. can.

Further, when the O-ring is transferred from the holder portion to the work, the outer diameter of the tip portion side of the holder portion that comes into contact with the work is changed by changing the outer diameter of the O-ring. The inner diameter can be changed so that the expanded state can be maintained, and 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 portion toward the work.

Further, when the function of changing the outer diameter on the tip end side of the holder portion in contact with the work is configured by a means that allows the tip end of the holder portion to be accommodated inside the holder portion, the tip end of the holder portion is used. The outer diameter on the tip end side of the holder portion can be easily changed with a simple configuration that only accommodates the inside.

The O-ring assembly mechanism according to the present invention has a simple structure that is not easily affected by variations in the dimensions of the O-rings and variations in the supply position when the O-rings are assembled to the object, and the O-rings are stable. It can be held, moved stably toward the object, and can be assembled with high accuracy.
Further, the O-ring assembling method according to the present invention has a simple structure and is stable because it is not easily affected by the dimensional variation of the O-ring and the variation of the supply position when the O-ring is assembled to the object. It is a method that can be held and stably moved toward the object and can be assembled with high accuracy.

It is a schematic diagram which shows the structure of the O-ring assembly mechanism which is an embodiment of this invention, (a) is the schematic front sectional view of the supply unit and the insertion head unit, (b) is the insertion head unit,. It is a schematic front sectional view of a work and a lower receiving part. It is a schematic perspective view which showed the situation of moving up and down of a lifter in a vertical direction. (A) is a schematic front sectional view showing the expansion / contraction movement in the lifter, and (b) is a schematic front sectional view showing the expansion / contraction movement in the insertion claw. (A) to (c) are schematic views showing the structure of the holder and the ring guide, and (d) to (f) are diagrams showing the variation of the structure on the lower side of the ring guide. It is a schematic diagram which shows the movement which the ring guide is accommodated with respect to a holder. It is a schematic diagram which shows the deformation of the O-ring in the structure which cannot take the accommodation state of a ring guide. (A) and (b) are schematic front sectional views showing the downward movement of a head body and an insertion claw. (A) to (c) are process views of a schematic front sectional view and a schematic plan view showing a series of flows for transporting an O-ring from a supply unit to an insertion head unit. (A) to (d) are process diagrams of a schematic front sectional view and a schematic plan view showing a series of flows of transporting an O-ring from an insertion head unit toward a work and assembling the O-ring into an annular groove. It is a schematic perspective view which shows the peripheral structure of a supply unit when the O-ring assembly mechanism is applied to an automatic production line. It is a schematic perspective view which shows the peripheral structure of the drive mechanism of an insertion head unit, and the transport mechanism such as a work, when the O-ring assembly mechanism is applied to an automatic production line. (A) to (c) are diagrams showing the schematic structure of the conventional O-ring assembly mechanism.

Hereinafter, embodiments of the present invention will be described with reference to the drawings for the purpose of understanding 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. The contents shown below are merely examples of the structure to which the present invention is applied, and the embodiments of the present invention are not limited to the structures shown below.

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

The O-ring assembly mechanism A automatically assembles the O-ring 5 into the annular groove 40 (see FIG. 1B) formed on the outer peripheral surface of the work 4 to be assembled of the O-ring 5. It is a mechanism to do.

In the following description, the insertion head unit 2 viewed from the supply unit 1 is referred to as "upper or upper" with reference to FIG. 1A (composition in front view), and is viewed from the insertion head unit 2. The supply unit 1 is referred to as "downward or downward", and the vertical direction in the drawing is referred to as "vertical direction or Z-axis direction".

Further, with reference to FIG. 1A, the left-right direction in the figure is referred to as "X-axis direction", and the direction connecting the front and back of the paper in the figure is referred to as "Y-axis direction". Further, with reference to FIG. 1A, the directions parallel to the X-axis direction and the Y-axis direction are referred to as "horizontal direction". Further, if 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).

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

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

Further, the supply unit 1 has a main body portion 10, a lifter 11, a lifter spring 12, and a lifter shaft 13 (see FIGS. 1A and 1B).

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

Further, in the lifter 11, 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 with each other (in the lifter 11). It is 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 is a member that conveys the O-ring 5 in order to hold the O-ring 5 in the holder 21. Note that FIGS. 2 (a) and 2 (b) show the state of the lifter 11 moving forward and backward in the vertical direction.

Further, the lifter 11 is connected to the lifter shaft 13, and the lifter 11 and the lifter shaft 13 are configured to be able to move forward and backward along the vertical direction by a drive source (lifter cylinder 130 described later) that moves the lifter shaft 13 up and down. There is.

Further, the lifter 11 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 by placing the O-ring 5 on the upper ends thereof.

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

Further, the four lifter claws 110 are connected to the lifter spring 12 and are urged by the lifter spring 12 in a direction of expanding and contracting in a plan view and in a direction of closing inward. Note that FIG. 3A shows the movement of expansion and contraction of the lifter claw 110 (arrow indicated by reference numeral X in FIG. 3A) when the holder 21 is viewed from the front.

That is, the four lifter claws 110 can be expanded and contracted around the rotation shaft 111, and are urged by the lifter spring 12 in the direction of closing inward in the expansion and contraction direction, so that the ring guide 20 and the holder described later will be described. When passing through 21, the lifter claw 110 spreads 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 to have a structure in which the lifter claw 110 that expands and contracts by the lifter claw 110 and the lifter spring 12 is urged inward in a plan view. For example, the lifter claw itself may be formed of a leaf spring, and the urging force of the leaf spring may be configured so that the lifter claw faces inward in the expansion / contraction direction. Moreover, such a structure can be appropriately designed.

[Insert 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 into the annular groove 40 of the work 4. be.

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

Further, in the insertion head unit 2, the position where the supply unit 1 is arranged and the position where the work 4 and the lower receiving portion 3 are arranged (the lower receiving cylinder 33 shown in FIG. 12A) are arranged by the transport unit described later. It is configured to be movable to the placed position).

Further, the insertion head unit 2 is configured to be movable in the vertical direction between the supply unit 1 and the work 4 by a transport unit described later.

Further, the insertion head unit 2 has a holder 21 and a head when moving the O-ring 5 from the supply unit 1 to the insertion head unit 2 or when moving the O-ring 5 from the insertion head unit 2 toward the work 4. It has a drive mechanism for moving the main body 24 up and down (composed of an electric cylinder 282 for an insertion head shown in FIG. 11A, a guide spring 22 and a holder spring 26). The details of driving the insertion head unit 2 will be described later.

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

Further, inside the head main body 24, a recess 240 having an opening on the lower side and an insole portion 241 located on the upper side of the recess 240 are provided (see FIGS. 1A and 1B). Further, a through hole 242 is formed in the insole portion 241.

Further, the recess 240 is a space in which the holder shaft 210 constituting the holder 21 is located. Further, the recess 240 is a space for arranging the holder spring 26 attached to the outer peripheral surface of the holder shaft 210.

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

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

Further, the holder 21 is a member that holds the O-ring 5 conveyed by the lifter 11 of the supply unit 1. Further, when the insertion claw 25 transports the O-ring 5 toward the work 4, the outer peripheral surface of the holder 21 is a member that serves as a transport path for the O-ring 5 together with the outer peripheral surface of the holder tapered portion 23.

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

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

Subsequently, the detailed structure of the holder 21 and the ring guide 20 will be described.
The holder shaft 210 is attached to the upper end side of the holder 21 (see FIGS. 1A, 1B, and 4A to 4C). Further, a holder tapered portion 23 is provided on the tip end side of the holder 21.

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

Further, when the holder tapered portion 23 moves the O-ring 5 from the insertion head unit 2 toward the work 4 via the insertion claw 25, the holder taper 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 work 4 while stabilizing the posture.

Further, inside the holder 21 and the holder tapered portion 23, a holder recess 212 opened on the lower side is formed, and the upper end of the guide spring 22 is attached to the bottom surface of the holder recess 212 (FIG. 1 (b), FIG. And see FIGS. 4 (a) to 4 (c)).

Further, four guide grooves 211 are formed on a part of the holder 21 on the tip end side and the outer peripheral surface of the holder tapered portion 23 (see FIGS. 4A to 4C). The four guide grooves 211 are portions where the four protrusions 200 of the ring guide 20, which will be described later, are fitted to guide the movement of the ring guide 20 when the ring guide 20 moves up and down with respect to the holder 21.

Further, the ring guide 20 has a guide base 205 (see FIG. 4C) arranged inside the holder recess 212. Further, a guide recess 204 opened on the upper side is formed inside the upper part 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. 4C).

As described above, the guide spring 22 is attached to the bottom surface of the holder recess 212 and the bottom surface of the guide recess 204, so that the ring guide 20 can move up and down with respect to the holder 21. Further, as described above, the urging force of the guide spring 22 is composed of a spring member having a weaker urging force than the holder spring 26.

Further, the lower side of the ring guide 20 is composed of four projecting portions 200, and is formed so as to have a substantially cross-shaped cross-sectional shape when viewed from the bottom (see the lower figure of FIG. 4B and FIG. 5). Further, the lower ends of the four protrusions form the lower end surface 203 of the ring guide 20.

Further, the four protruding portions 200 are formed with tapered portions 201 in which the diameter of the outer peripheral surface increases from the lower side to the upper side along the vertical direction (FIGS. 4 (b), 4 (c), and FIGS. 5).

The lower side of the ring guide 20 is formed so that the horizontal width d1 is 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, in bottom view, the outer diameter of the circumference connecting the four protrusions 200 is formed to be smaller than the inner diameter of the O-ring 5.

The outer diameter of the lower end surface 203 is the range of position 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) from the inner diameter of the O-ring 5. Is small enough to be tolerated.

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 the position of the O-ring 5 varies on the supply unit 1 or the size of the O-ring 5 itself varies, the insertion head unit responds to the variation in the position and the size. It is possible to move the O-ring 5 to the 2 side.

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

Further, the guide spring 22 is contracted upward, and the lower part of the ring guide 20 is housed inside the holder 21 and the holder tapered portion 23 (the right side views of the upper, middle, and lower stages of FIG. 5 and the figure). 7 (b). Hereinafter, referred to as “the accommodation 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. Further, at this time, the outer peripheral surfaces of the four protrusions 200 are located inside the guide grooves 211.

When the ring guide 20 is accommodated in this way, the holder tapered portion 23 of the work 4 moves the O-ring 5 from the insertion head unit 2 toward the work 4 via the insertion claw 25. It is a portion that comes into contact with the upper part (see FIG. 7B).

Further, the lower end of the holder tapered portion 23 is formed so that the width d2 in the horizontal direction is 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, when viewed from the bottom surface, the outer diameter of the lower end of the holder tapered portion 23 is formed to be larger than the inner diameter of the O-ring 5.

As a result, when the O-ring 5 is moved from the outer peripheral surface of the four protruding 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 becomes larger. In addition, it is extended outward, and it is possible to guide the O-ring 5 upward while stabilizing the holding posture.

Further, since the outer diameter of the holder tapered portion 23 increases from the lower side to the upper side, the O-ring 5 is moved toward the holding position of the holder 21 while being extended outward so that the inner diameter becomes larger. Can be done.

Further, even when the O-ring 5 is transferred from the insertion head unit 2 to the work 4, the holding posture of the O-ring 5 is stabilized on the outer peripheral surface of the holder tapered portion 23, and the O-ring 5 does not fall off. , It becomes possible to transfer to the outer peripheral surface of the work 4.

Further, if the ring guide is not accommodated inside the holder 21 and the holder tapered portion 23 as in the accommodation state of the ring guide 20 as in the present invention, as shown in FIG. 6A. When the O-ring 5 is transferred to the work 4 by the insertion claw 25, the lower end of the ring guide 20c becomes the boundary portion with the upper end surface of the work 4.

Then, 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 work 4 becomes large, and the O-ring 5 is twisted and deformed during the transfer of the insertion claw 25 (indicated by reference numeral 5a). , The lower end of the ring guide 20c is caught between the upper end surface of the work 4 and cannot be conveyed (see FIGS. 6 (a) and 6 (b)). Therefore, stable transportation of the O-ring 5 can be realized by the accommodation state of the ring guide 20.

Further, in the structure of the present invention, the outer diameter dimension of the holder tapered 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 work 4 in contact with the lower end of the holder taper 23. Is formed of. The degree of the size is such that the transport accuracy when the holder taper portion 23 and the work 4 come into contact with each other can be tolerated.

Further, the upper end of the holder tapered portion 23 is formed so that the horizontal width d3 is 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, when viewed from the bottom surface, the outer diameter of the upper end of the holder tapered portion 23 is formed to be larger than the outer diameter of the lower end of the holder tapered portion 23 and the inner diameter of the O-ring 5.

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

As described above, the width d3 in the horizontal direction of the upper end of the holder tapered portion 23 and the outer peripheral surface of the holder 21 is formed to be larger than the outer diameter of the lower end of the holder tapered portion 23, so that the O-ring 5 is formed in the holder 21. When moving to the holding position of the O-ring 5, the O-ring 5 is extended outward so that its inner diameter becomes sufficiently large.

As a result, the holding posture of the O-ring 5 can be moved upward while being further stabilized. Further, when the O-ring 5 is moved downward from the insertion head unit 2 toward the work 4, the holding posture of the O-ring 5 can be further stabilized and moved downward.

Further, as shown in FIG. 4D, when the O-ring 5 is located on the outer peripheral surface of the four protrusions 200 of the ring guide 2 when viewed from the bottom, the inner surface of the O-ring 5 has a substantially cross shape. Supported by the tips of each of the four protrusions 200 having a cross section of, the O-ring 5 has a substantially circular shape.

As a result, when the O-ring 5 moves from the upper part of the ring guide 20 to the lower part of the holder tapered portion 23 in the vertical direction, the O-ring 5 is caught by the holder tapered portion 23 between the two protruding portions 200. It becomes difficult and the O-ring 5 can be smoothly transferred to the holder tapered portion 23.

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 protrusions 200a like the ring guide 20a.

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

Further, as the shape of the lower portion of the ring guide 20 in the present invention, if the O-ring 5 can be supported as a substantially circular shape in bottom view, a shape other than the four protrusions 200 and the six protrusions 200a can be adopted. .. However, since the O-ring 5 can be supported as a substantially circular shape in the bottom view and has a simpler structure, the shape of the lower part of the ring guide 20 is a substantially cross shape in the bottom view 4. It is preferably composed of two protrusions 200.

On the other hand, as shown in FIG. 4 (f), as the shape of the lower end side of the ring guide, in the shape having three protrusions 200b like the ring guide 20b, the O-ring 5 is a substantially triangular shape in bottom view. It becomes a shape. As a result, when the O-ring 5 is transferred from the ring guide 20b to the holder tapered portion 23, the O-ring 5 is easily caught by the holder tapered portion (reference numeral omitted) between the two protruding portions 200b, and is stable. Since it becomes difficult to move the O-ring 5, the shape having three protrusions 200b is not preferable in the shape on the lower end side of the ring guide.

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

Further, as shown in the upper figure of each of FIGS. 9 (a) to 9 (c), the insertion head unit 2 has four insertion claws 25. Each of the insertion claws 25 is arranged at different positions by approximately 90 degrees in the circumferential direction, and is configured to be able to abut on the O-ring 5 from above.

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

Further, the four lifter claws 110 are connected to the insertion claw spring 250 and are urged by the insertion claw spring 250 in the direction of expansion and contraction in a plan view and in the direction of closing inward. Note that FIG. 3B shows the expansion / contraction movement of the insertion claw spring 250 (arrow indicated by reference numeral X in FIG. 3B) when the holder 21 is viewed from the front.

That is, the four insertion claw springs 250 can be expanded and contracted around the rotation shaft 251 and are urged by the insertion claw spring 250 in the direction of closing inward in the expansion and contraction direction, so that the ring guide 20 and the holder When moving on the outer peripheral surfaces of the 21 and the work 4, the insertion claw spring 250 spreads 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 that expands and contracts by the insertion claw 25 and the insertion claw spring 250 does not necessarily have to have a structure that is urged inward in a plan view. For example, the insertion claw itself may be formed of a leaf spring, and the insertion claw may be configured to face inward in the expansion / contraction direction by the urging force of the leaf spring. Moreover, such a structure can be appropriately designed.

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

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

The work 4 is an assembly target of the O-ring 5. In the work 4, an annular groove 40 into which the O-ring 5 is fitted is formed on the outer peripheral surface above the work base 42 (see FIG. 1 (b)).

Further, 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 moving downward by the insertion claw 25 to the annular groove 40.

The structure of the work 4 is an example, and the O-ring assembly mechanism A to which the present invention is applied can target 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. The O-ring assembly mechanism in the present invention can be applied to a dedicated device including each component. That is, it can be an independent device for assembling the O-ring.

Further, the O-ring assembling mechanism to which the present invention is applied can be incorporated not only as a dedicated device but also as a part of a manufacturing line of a device such as a device including a work. That is, in a line for processing a work or a device having a part of the work on the production line, it is possible to use each member or the like constituting the O-ring assembly mechanism as a part of the processing equipment operating on the line. can.

As a result, by using the O-ring assembly mechanism to which the present invention is applied in the production line of equipment including the work, the supply of the O-ring to the supply unit, the transfer of the O-ring, and the annular groove of the work are performed. It is also possible to automate the entire process up to the assembly of the O-ring and build a part of the production line.

Subsequently, FIGS. 10 and 11 show an example of a transport mechanism or a drive mechanism relating to each unit, the O-ring, the work, and the lower receiving portion when the O-ring assembly mechanism A is applied to the automatic production line. It will be explained with reference to it.

As shown in FIG. 10, 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 in the vicinity of the supply unit 1.

Further, the O-ring parts feeder device 7 has a ball feeder (not shown) that is a supply source of the O-ring 5 and a straight feeder 70 that is connected to the ball feeder and extends to the vicinity of the upper end surface of the main body 10 of the supply unit 1. Have. The ball feeder and the straight feeder 70 are members that convey the O-ring 5 to the tip position of the straight feeder 70 while vibrating.

Further, a width adjusting plate 71 constituting a transport path is detachably attached to the straight 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, and the transport path of the straight feeder 70 is adjusted to the size of the O-ring.

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

In addition, in FIG. 10, in order to clarify the structure, the positions of the O-ring stopper 72 and the stopper cylinder 73 are specified by shifting from the original positions, and the O-ring stopper 72 moves up and down along the dotted line in the figure. It shows the position.

Further, the O-ring transfer device 8 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 straight feeder 70 and the substantially 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 its tip can be inserted inside the O-ring 5 stopped by the O-ring stopper 72. (Move up and down).

Further, with the tip of the transfer pin 81 inserted inside the O-ring 5, the O-ring 5 is placed at a substantially center position on the upper surface of the main body 10 in the supply unit 1, that is, at the upper part of the four lifters 110. It is configured so that it can be transported to a position where the O-ring 5 can be arranged.

Further, the supply unit position moving mechanism 9 is connected to the supply unit 1 and is a position moving mechanism for correcting the position of the supply unit 1 with respect to the straight-ahead feeder 70. The position of the supply unit 1 is corrected by the size of the target O-ring.

Further, 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 arranged 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 transport unit for moving the insertion head unit 2 will be described in detail. As shown in FIG. 10 or FIG. 11A, this transfer unit has a head unit transfer electric cylinder 280, a head unit upper / lower cylinder 281 and an insertion head electric cylinder 282.

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

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

Further, the head main body 24 in the insertion head unit 2 is fixed to the head unit upper / lower cylinder 281 via the head holder 283 (see FIGS. 11 (a) and 11 (b)). By fixing the head holder 283, the insertion head unit 2 can be moved via the electric cylinder 280 for transporting the head unit and the cylinder 281 for raising and lowering the head unit.

Note that FIG. 11B shows an exploded structure diagram of the head holder 283 and the main members of the insertion head unit 2 in order to clarify the shape of the head holder 283.

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

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

Further, in a state where the insertion head unit 2 is located above the supply unit 1, a holder holding cylinder 284 is provided above the insertion head unit 2 (see FIGS. 10 and 11A).

The holder holding cylinder 284 is a member for suppressing the lifting of the holder 21 of the insertion head unit 2 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 is configured to be vertically movable via the lower receiving cylinder 33.

Further, as shown in FIG. 11A, the work 4 is set on a transport plate 43 in which a hole (not shown) is formed, and the transport plate 43 is attached to a rotary table 44 connected to a rotation mechanism. Has been done.

Further, the rotary table 44 is a member that conveys the transport plate 43 in 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 FIG. 11A, the vertical positional relationship between the work 4 and the lower receiving portion 3 is easy to understand, and the work 4 and the lower receiving portion 3 are described separately. In the actual device configuration, the lower receiving portion 3 is arranged on the upper part of the lower receiving cylinder 33, and the insertion head unit 2 is located above the work 4 set on the transport plate 43.

From the above configuration, the lower receiving portion 3 and the work 4 are linearly conveyed above the lower receiving cylinder 33, and the lower receiving cylinder 33 rises to raise the lower receiving portion 3 and the work 4. Can be integrated.

Subsequently, as an example of the O-ring assembly method to which the present invention is applied, a specific flow of O-ring assembly using the above-mentioned O-ring assembly mechanism A will be described. The contents described below are an example of the flow when the O-ring assembly mechanism A is applied to the automatic production line. The following contents are merely examples, and the O-ring assembly method to which the present invention is applied can be appropriately changed.

Further, in the following description, the middle and lower views of FIGS. 8 and 9 are compositions in which the holder 21 is viewed from the front, and the upper views of FIGS. 8 and 9 (a) to 9 (c) are shown. , The lifter 11 or the insertion claw 25 in a plan view. Further, the upper diagram of FIG. 9D is a plan view of the work 4 to which the O-ring 5 is assembled.

First, a supply holding step of transporting the O-ring 5 from the supply unit 1 to the insertion head unit 2 will be described. In the supply holding step, first, the O-ring parts feeder device 7 composed of the ball feeder and the straight-ahead feeder 70 conveys the O-ring 5 toward the tip position of the straight-ahead feeder 70 (see FIG. 10).

Further, the O-ring stopper 72 rises from between the tip position of the straight-ahead 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-ahead feeder 70 (FIG. See 10).

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

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

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

Further, in the supply holding step, the head unit transport electric cylinder 280 (see FIG. 10) moves the insertion head unit 2 so that the insertion head unit 2 is located above the supply unit 2.

Next, the insertion head unit 2 is lowered (in the direction of the arrow of the reference numeral Y shown in FIG. 8B) via the head unit upper / lower cylinder 281 (see FIG. 10), and the upper end of the lifter 11 and the ring guide 20 are used. The lower end surface 203 of the above is brought into contact with each other (see FIG. 8B). 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 tolerate a range of position 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 it is supplied to the supply unit 1, no problem will occur in the 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 of the reference numeral Y shown in FIGS. 8C and 9C), and the lifter 11 is used. (Four lifter claws 110) are moved upward, and the O-ring 5 is conveyed 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 shown by the dotted line in FIG. 8C, and the inner diameter of the O-ring 5 is close to the lower end of the holder tapered portion 23. It is stretched outward so as to be large (see the upper diagram of FIG. 8C), 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 tapered portion 23, the O-ring 5 is further extended outward so as to have the largest inner diameter, while stabilizing the holding posture of the O-ring 5. , Is stably transported and held to a predetermined holding position of the holder 21.

Further, when the O-ring 5 is moved upward, the lifter 11 expands each lifter claw 110 in the direction of expansion and contraction along the outer diameters of the ring guide 20, the holder tapered portion 23 and the holder 21, and the O-ring 5 Can be smoothly transported upward (see FIG. 3A).

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 by 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 insertion head unit 2 can hold the O-ring 5 in a stable holding posture.

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

Further, the work 4 set on the transport plate 43 is transported above the lower receiving cylinder 33 via the rotary table 44 (see FIG. 11A).

Further, the insertion head unit 2 is in a state of being linearly arranged with respect to the work 4 and the lower receiving portion 3 along the vertical direction (see FIG. 9A).

Further, the lower receiving portion 3 arranged at the upper part of the lower receiving cylinder 33 is raised by the lower receiving cylinder 33, and the lower receiving recess 31 is in contact with the lower end of the work base 42 of the work 4 to receive the work underwear. The part 3 and the work 4 are integrated.

Then, the insertion head unit 2 is lowered via the head unit upper and lower cylinder 281 (see FIG. 11A), the insertion head unit 2 is installed on the upper part of the work 4, and the insertion head electric cylinder 282 is further provided. (See FIG. 11A), the head body 24 is lowered (in the direction of the arrow of the reference numeral Y shown in FIG. 9A), and the lower end surface 203 of the ring guide 20 is brought into contact with the upper end surface of the work 4. (See FIG. 9 (a)).

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

At this time, the space of the holder recess 212 is filled with the guide base 205 of the ring guide 20, and the protrusion 200 (lower part of the ring guide 20) along the guide groove 211 is the holder 21 and the holder tapered portion. It is housed inside 23. Further, 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 figure of each stage of FIG. 5 and FIG. 9 (b)).

When the ring guide 20 is accommodated, a transport path for directing the O-ring 5 held by the holder 21 to the annular groove 40 of the work 4 is configured on the outer peripheral surfaces of the holder 21 and the holder guide portion 23 (FIG. FIG. 9 (b)).

Further, in this case, as described above, the outer diameter dimension of the holder tapered portion 23 accommodating the ring guide 20 is equal to or slightly equal to or slightly equal to the outer diameter dimension of the upper end portion of the work 4 in contact with the lower end of the holder taper 23. It is formed with large dimensions. The degree of the size is such that the transport accuracy when the holder taper portion 23 and the work 4 come into contact with each other can be tolerated.

As a result, even if a deviation occurs between the upper end of the work 4 and the lower end of the holder tapered portion 23 due to transportation, the deviation can be absorbed and a defect can be prevented.

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

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

As a result, the lower end of the insertion claw 25 comes into contact with the O-ring 5 held by the holder 21 and moves the O-ring 5 downward. Further, the insertion claw 25 smoothly conveys the O-ring 5 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 expanding and contracting while following the outer diameter thereof. can do.

Further, since the lower end of the insertion head unit 2 is composed of the lower end of the holder tapered portion 23, the O-ring 5 is also a holder when the O-ring 5 is transferred from the insertion head unit 2 to the upper portion of the work 4. At the lower end of the tapered portion 23, the O-ring 5 has a shape extended outward so that the inner diameter becomes larger.

As a result, the holding posture of the O-ring 5 can be stabilized, and the O-ring 5 can be transferred to the outer peripheral surface of the work 4 without falling off from the holder tapered portion 23.

Further, the O-ring 5 that has moved to the outer peripheral surface on 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 claw 25 (FIG. 9). (B) and FIG. 9 (c)). When the insertion claw 25 reaches the vicinity of the upper part 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.

When the assembly of the O-ring 5 to the annular groove 40 is completed, the insertion head unit 2 and the lower receiving portion 3 are separated from the work 4, and a series of operations is completed.

With the above flow, the O-ring 5 can be assembled to the annular groove 40 of the work 4 by the O-ring assembling method to which the present invention is applied. The O-ring assembling method in the present invention can be applied to the work of assembling the O-ring to the work using a dedicated device including each component of the O-ring assembling mechanism described above.

Further, the O-ring assembling method to which the present invention is applied not only uses a dedicated device, but also processes a work or a device having a part of the work in a manufacturing line of equipment including the work. Can be incorporated as part of the process of.

As a result, by using the O-ring assembly method to which the present invention is applied in the manufacturing line of equipment including the work, the supply of the O-ring to the supply unit, the transfer of the O-ring, and the annular groove of the work are performed. It is also possible to automate the entire process up to the assembly of the O-ring and take charge of a part of the process of 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 the variation in the dimensions of the O-ring.

Further, when the O-ring is conveyed from the ring guide to the predetermined holding position of the holder via the holder taper portion, the holder taper portion is extended outward so that the inner diameter of the O-ring becomes large. The holder can be moved to a predetermined position while stabilizing the holding posture of the O-ring.

Further, at a predetermined position of the holder, the inner diameter of the O-ring is sufficiently large and extended outward, so that the O-ring can be stably held.

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

Further, when the O-ring is conveyed from the holder to the annular groove of the work, after the ring guide is in the accommodated state, the O-ring can be conveyed toward the upper part of the work along the outer peripheral surface of the holder and the holder tapered portion. Therefore, the O-ring can be lowered while extending outward so that the inner diameter of the O-ring becomes large and stabilizing the holding posture of the O-ring.

In addition, since the ring guide, the holder taper portion, and the holder are integrated to form a transport path for the O-ring, it is easy to ensure the 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 having high repeatability and high reliability in each of the operations of supplying, holding, and inserting the O-ring into the work.

Further, the supply, holding, and insertion of the O-ring into the work require less man-hours to complete the work, and it is possible to realize the process of assembling the O-ring to the work having excellent productivity.

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

Further, the entire process from supplying, holding, and inserting the O-ring into the work can be continuously performed, and a series of operations can be automated.

As described above, the O-ring assembly mechanism according to the present invention has a simple structure and is not easily affected by variations in the dimensions of the O-rings and variations in the supply position when the O-rings are assembled to the object. The ring can be held stably, and it can be stably moved toward the object and assembled with high accuracy.
Further, the O-ring assembling method according to the present invention has a simple structure and is stable because it is not easily affected by the dimensional variation of the O-ring and the variation of the supply position when the O-ring is assembled to the object. It is a method that can be held and stably moved toward the object and can be assembled with high accuracy.

Although the invention made by the present inventor has been specifically described above based on the embodiment, the present invention is not limited to the above embodiment and can be variously modified without departing from the gist thereof. 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 Protruding part 201 Tapered part 203 Lower end surface 204 Guide recess 21 Holder 210 Holder shaft 211 Guide groove 212 Holder recess 22 Guide spring 23 Holder taper part 24 Head body 240 Recess 241 Insole part 242 Through hole 25 Insertion claw 250 Insertion claw spring 251 Rotating shaft 26 Holder spring 3 Under receiving part 30 Main body 31 Under receiving recess 33 Cylinder for underlay 4 Work 40 Circular groove 41 Tapered part 42 Work base 43 Transport plate 44 Rotary table 5 O ring 7 O ring parts Feeder equipment 70 Straight feeder 71 Width adjustment plate 72 O ring stopper 73 Stopper cylinder 8 O ring Transfer device 80 Transfer cylinder 81 Transfer pin 9 Supply unit position movement 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 in which the O-ring is held, and an insertion head unit in which the O-ring is supplied from the supply unit, the O-ring is held, and the O-ring is sent out toward the work to be assembled of the O-ring. And, when the O-ring is sent out from the insertion head unit, the O-ring is provided with a work receiving portion that defines the position of the work, and the O-ring is assembled to the annular groove formed on the outer peripheral surface of the work. It is a ring assembly mechanism,
The insertion head unit is
It is configured to be movable between the position facing the supply unit and the position facing the work, and to be able to move forward and backward with respect to the supply unit or the work arranged facing each other. Head body and
It is substantially cylindrical, has an outer diameter larger than the inner diameter of the O-ring, can be fitted with the O-ring, can be extended and held, and has an opening on the tip side thereof. A bottomed holder hole is formed, and a holder portion attached to the head body portion via a first elastic body attached to the base end thereof and a holder portion.
It is formed so that the size of the outer diameter becomes smaller from the base end connected to the tip of the holder portion and connected to the tip of the holder portion to the tip located in the opposite direction, and the tip of the holder portion is formed. A tapered portion whose outer diameter is larger than the inner diameter of the O-ring,
It is attached to the bottom of the holder hole via a second elastic body having a smaller urging force than the first elastic body, and the head body portion moves in the direction of the work so that the tip thereof is the same. contact is pushed by the end surface of the workpiece, along the longitudinal direction of the holder portion, the housing configured to enable the interior of the holder portion and the tapered portion, when the second elastic body has a natural length In addition, at least a portion protruding from the tapered portion is formed so that the size of the outer diameter becomes smaller from the base end on the tapered portion side to the tip located in the opposite direction, and the outer diameter of the tip is reduced. Has a ring guide portion having an outer diameter smaller than the inner diameter of the O-ring, and
The head main body is provided in the head main body, the tip of the ring guide is in contact with the end surface of the work, and the ring guide is housed inside the holder and the tapered portion. As the O-ring is moved in the direction of the work, the O-ring held on 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, and is moved into the annular groove of the work. Has an insertion claw to assemble the same O-ring,
The supply unit is
With the O-ring held and the supply unit facing the insertion head unit, the O-ring can be moved forward and backward toward the insertion head unit, and the O-ring is held while the O-ring is held. It has a lifter portion that moves along the outer peripheral surfaces of the ring guide portion, the tapered portion, and the holder portion, and conveys the O-ring to a predetermined position on the outer peripheral surface of the holder portion.
The workpiece receiving unit, wherein the said insertion head unit of the work is arranged on the opposite side defines a longitudinal direction of the holder portion, and, along a direction orthogonal to the axis of the holder, the position of the workpiece O-ring assembly mechanism. When the tip of 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 tip of the ring guide portion is accommodated in the longitudinal direction of the holder portion. The O-ring assembly mechanism according to claim 1, wherein the positions of the tips of the tapered portions are aligned with each other. The insertion claw portion is configured to be expandable and contractible around the axis of the holder portion, and is adjusted to the size of the outer diameter 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. The O-ring assembly mechanism according to claim 1 or 2, wherein the O-ring can be moved toward the work while expanding or contracting. The lifter portion is configured to be expandable and contractible around the axis of the supply unit, and has the size of the outer diameter 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. The O-ring assembly mechanism according to claim 1, claim 2 or claim 3, wherein the O-ring is conveyed to the predetermined position while being expanded together. A supply holding step of supplying the O-ring from the supply unit holding the O-ring toward the insertion head unit arranged opposite to the supply unit and holding the O-ring in the insertion head unit, and the insertion. The O-ring held by the head unit is moved toward the work arranged facing the insertion head unit, and the O-ring is assembled to the annular groove formed on the outer peripheral surface of the work. , It is an O-ring assembly method that assembles the O-ring to the work.
In the supply holding step, the tip of the insertion head unit having an outer diameter smaller than the inner diameter of the O-ring is passed through the inside of the O-ring, and the lifter portion of the supply unit holding the O-ring is the insertion head unit. The O-ring is moved while extending the outer edge of the O-ring along the outer peripheral surface where the outer diameter is increased from the tip to the proximal end, and the O-ring in the insertion head unit is held. The O-ring is transported to a predetermined position on the outer peripheral surface of the holder portion, and the O-ring is held in the stretched state at the predetermined position of the holder portion.
In the assembling step, the work is arranged to face the insertion head unit, the insertion head unit is moved toward the work, and the tip of the insertion head unit is brought into contact with the tip of the work. The holder at the insertion claw of the insertion head unit while accommodating a part of the tip of the insertion head unit in the main body of the insertion head unit and maintaining the shape in which the O-ring is extended. An O-ring assembly method in which the O-ring is moved along the outer peripheral surface of the portion, the outer peripheral surface of the main body, and the outer peripheral surface of the work, and the O-ring is assembled into the annular groove. In the assembling step, the O-ring is expanded and contracted according to the size of 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 work. The O-ring assembly method according to claim 5, wherein the O-ring is moved toward the work. 5. The O-ring assembly method according to claim 6. While expanding the inner diameter of the O-ring from the O-ring supply unit, the function of mounting the O-ring on the holder portion having an outer diameter larger than the outer diameter of the work to which the O-ring is to be assembled and the mounting on the holder portion. An O-ring assembly mechanism having a function of transferring the O-ring to the work and mounting the O-ring 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 the variation in the supply position of the O-ring in the O-ring supply portion. Also formed small,
The holder portion has a tapered portion whose outer diameter gradually increases from the tip end to the other end.
When the O-ring is transferred from the holder portion to the work, it has a function of changing the outer diameter of the tip portion side of the holder portion in contact with the work.
The size of the outer diameter of the tip of the holder portion allows the transport accuracy of the transport mechanism that transports the work so as to be in contact with the holder portion when the O-ring is transferred from the holder portion to the work. Formed to size,
The tip of the lifter claw provided in the O-ring supply unit and applying a force to the O-ring is arranged on a plane perpendicular to the direction of the force applied to the O-ring.
An O-ring assembly mechanism in which the direction of the force applied by the lifter claw to the O-ring is opposite to the direction in which the work is located as seen from the holder portion. The O-ring set according to claim 8, wherein the function of changing the outer diameter on the tip end side of the holder portion in contact with the work is configured by means that the tip end of the holder portion can be accommodated inside the holder portion. O-ring mechanism.

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