JPH03281129A - Installation device for c ring - Google Patents

Abstract

PURPOSE:To facilitate the holding and charge of a C ring, by holding one C ring by the charge holding means of a finger mean with the contraction of the diameter by its separation and also removing the C ring from the charge holding mean after inserting it into the insertion hole of a work. CONSTITUTION:The recessed parts 18, 19 of an opening and closing arms 16, 17 are positioned at the lower part of the C rings vertically stacked inside a magazine 12 by moving an escape part 15 in an arrow mark A direction, the C rings of the lowermost step are stored in the recessed parts 18, 19 with their falling by gravity and the C ring 26 is charged by its pressing in the diameter direction with the internal walls of the recessed parts 18, 19. A finger mean 7 is moved by actuating a triaxial orthogonal type robot, two pins 33, 34 are inserted into the two holes 26a, 26b of the C ring 26, the diameter is enlarged by an elastic force at the C ring 26 by completely retracting the pins 33, 34 after inserting the C ring 26 into the insertion hole of a work by moving the finger mean 7 and fitted into a C ring device groove.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a C-ring attachment device.

[Conventional technology]

The conventional C-ring attachment device is described below (1).
) and (2).

(1) One C-ring from the bottom of a stocker in which C-rings are arranged and stacked is separated by a protruding plate that slides while being guided by a guide by driving a cylinder. By lowering the opening/closing claw with two wooden bottles from above the separated C-ring while keeping it open at a certain angle, two
Insert the book bottles into the two holes of the C-ring. Then, with the opening/closing claws closed to a certain angle, the C-ring is inserted through the insertion hole of the workpiece having the C-ring mounting groove using a transfer device that is moved up and down by two cylinders. Furthermore, by positioning the C-link in the C-ring mounting groove of the workpiece and opening the opening/closing claw, the C-ring fits into the C-ring mounting groove (see the right column of page 1 of Japanese Patent Application Laid-Open No. 60-197324).

(2) As shown in FIG. 10, one C-ring from the bottom of the stocker 61 in which the C-rings 60 are arranged and stacked is guided by the Gytro 3 by the drive of the cylinder 62, and is a protruding plate that slides. 64. The separated C-ring is inserted into the cylindrical portion 65 that has been moved to the insertion position, and is held by a movable claw 66 within the cylindrical portion 65. Next, after moving the cylindrical part 65 directly above the workpiece 67, the air cylinder 68 is driven to lower the lifting block 69 to bring the lower end 65a of the tapered part 71 of the cylindrical part 65 to the "7" end of the workpiece 67. After making contact, the bottle 72 is lowered into the cylindrical portion 65 by driving the conveyance cylinder 70. As a result, the C-ring is pushed downward by the pin 72, and when it slides past the tapered portion 71, its diameter is reduced. Furthermore, the C-ring is pushed down and inserted into the insertion hole of the workpiece 67,
When it reaches the C-ring mounting groove, its diameter expands due to its own elastic force, and it fits into the C-ring mounting groove (Japanese Patent Application Laid-Open No. 197324, page 2, lower right column to page 3, upper left column). reference).

[Problem to be solved by the invention]

Among the above-mentioned conventional C-ring mounting devices, in the case of (1), the C-ring is not fixed when inserting the two bottles into the two holes of the C-ring, so the C-ring may be misaligned. There is a problem that the insertion is difficult. Further, as shown in FIG. 11, when the distance between the insertion opening 67b of the workpiece 67 and the C-ring mounting groove 67a is relatively long, it is necessary to use a long bottle, and therefore the opening/closing claw is There is a problem in that the two wooden bottles break when closing. Furthermore, since the C-ring is supported only by the two wooden bottles and transferred to the C-ring mounting groove, it becomes difficult to maintain the C-ring's posture, causing the C-ring to slip out of position or fall out of the bottle. There are also problems.

On the other hand, in the case of (2), the diameter of the C-ring is reduced (charged) by sliding a part of the taper of the cylindrical part, so when the C-ring is inserted into the insertion hole of the workpiece, the C-ring Due to the elastic force of the C-ring, it comes into sliding contact with the inner surface of the workpiece, causing problems such as displacement of the C-ring and damage to the workpiece. Furthermore, when installing a large diameter C-ring, the frictional force between the C-ring, the taper part, and the work increases, so a large-sized conveying cylinder must be used. , it is necessary to increase the strength of the peripheral support members etc. that support the conveyance cylinder, and as a result, there is also the problem that the entire apparatus becomes large.

The present invention has been made in view of the problems of the above-mentioned conventional techniques, and it facilitates the holding and charging of the C-ring by the charge holding means, and also makes it possible to easily hold and charge the C-ring.
To provide a C-ring mounting device that does not cause the C-ring to shift its position or fall off from a charge holding means, and does not damage a workpiece when the C-ring is transferred to a ring mounting groove.

[Means to solve the problem]

In order to achieve the above object, the C-ring mounting device of the present invention includes a supply means for vertically stacking and storing C-rings, and separating one C-ring from the lowest stage of the supply means, and separating the C-rings from the lowest stage of the supply means. a separate charging means for charging the charged C-ring, and an insertion portion that can be inserted into an insertion hole in which a C-ring mounting groove is formed in the workpiece, and the charged C-ring is held in the insertion portion. a finger means having a charge holding means for removing the C ring from the charge holding means and a charge releasing means for removing the C ring from the charge holding means; the finger means is moved between the separating charge means and the workpiece and the C ring is placed in the C ring mounting groove; and a conveyance means provided with an insertion means for positioning, and the insertion means for positioning the C-link in the C-ring mounting groove is controlled by a controller for controlling the conveyance means.

[Effect]

In the invention according to claim 1 configured as described above, first, one C-ring is stacked vertically by the supplying means.
The C-rings are separated into separate charging means, and the diameter of the one C-ring is reduced (hereinafter referred to as "charging"). The charged C-ring is held charged by the charge holding means of the finger means and is supported by the insertion portion. Next, the conveyance means moves the finger means to the workpiece and positions the C-ring at the insertion position into the workpiece, and then the insertion portion and the C-ring are inserted into the insertion hole of the workpiece by the insertion means of the conveyance means, and the C-ring is inserted into the insertion hole of the workpiece. It is positioned in the C-ring mounting groove of the workpiece. Here, when the C-ring is removed from the charge holding means by the charge release means, the C-ring expands in diameter due to its own elastic force and is fitted into the C-ring mounting groove.

In the invention as set forth in claim 2, the conveyance means is drive-controlled based on a command from the controller, and the insertion means of the conveyance means positions the C-ring in the C-ring mounting groove, so that the positioning is highly accurate.

Furthermore, if the position or type of workpiece is changed and the position of the C-ring mounting groove is also changed, this fact is set in the controller.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

First, a first embodiment of the C-ring mounting device of the present invention will be outlined with reference to FIG.

Reference numeral A indicates a 3-axis orthogonal robot which is a transport means, and this 3-axis orthogonal robot A has an X-axis arm 3 fixed to a column 2 of a base 1 and extending in the X-axis direction, and an A Y-axis arm 4 is supported movably in the X-axis direction by the arm 3 and reciprocated in the X-axis direction by an X-axis drive means (not shown); The Z-axis arm mounting body 6 is reciprocated in the Y-axis direction by a Y-axis drive means (not shown).

A Z-axis arm 5b extending in the Z-axis direction is pivotally supported on the Z-axis arm mounting body 6, and the Z-axis arm 5b is connected to a motor 5a.
It is reciprocated in the Z-axis direction by a known pole thread mechanism driven by. The above-mentioned Z-axis arm mounting body 6, Z-axis arm 5b, motor 5a, and hole screw mechanism constitute an insertion means of the conveyance means.

On the other hand, the finger means 7 is rotatably supported by the lower end of the Z-axis arm 5b, and is driven by a motor 6a, which is a known motor to which rotational force is transmitted regardless of the position of movement in the Z-axis direction. Equipped with a transmission mechanism. By starting this motor 6a, the finger means 7 is rotated and positioned in the circumferential direction.

Reference numeral B designates a controller for driving and controlling the three-axis orthogonal robot A and the motors 5a and 6a, as will be described later.

The separation supply device 8 placed on the base 1 includes a supply means 11 for storing a plurality of C-rings (not shown), and a supply means 1 for storing a plurality of C-rings (not shown).
1, and separate charging means 14 for separately receiving one C-ring and charging the received C-ring. Also, insert hole 9 where the C-ring should be installed.
A two-stage cylindrical workpiece (component) 9 having a C-ring mounting groove (not shown) is also placed on the base 1.

Next, details of each part of the above-mentioned C-link mounting device will be explained with reference to FIGS. 2, 3 (A), (B), (C) and 4 (A), (B). .

As shown in FIG. 2, the supply means 11 of the separation supply device 8 (see FIG. 1) includes a magazine 12 that stores C-rings (not shown) arranged in a certain direction and stacked vertically. ,
The main body 13 supports one end of the magazine 12 and communicates with a lower supply opening of the magazine 12.

On the other hand, a plate-shaped escape part 15, which is a part of the separation charging means 14, passes through the main body 13, and a rod 15a of a cylinder (not shown) is fixed to one end of the escape part 15. As a result, the escape section 15 is reciprocated in the Y-axis direction by the navigation cylinder.

0 As shown in FIGS. 3(A) and 3(B), one end of each of the opening/closing arms 16 and 17 has a pin 20°21
They are each rotatably supported on the top surface of the tip end of the escape section 15 using the escape section 15 as a fulcrum. These-pair opening/closing arms 1
A compression spring 15b is provided between the mutually opposing sides of 6.17.
(See FIG. 3(C)), the pair of opening/closing arms 16, 17 are configured to be in an open state at all times. The upper surfaces of the pair of opening/closing arms 16 and 17 and the upper surface of the escape section 15 are on the same plane. On the upper surface of the tip of the pair of opening/closing arms 16 and 17,
Recesses 18 and 19 are each formed large enough to fit half of the free-diameter C-ring 26, and the depths of these recesses 18 and 19 are approximately equal to the thickness of the C-ring 26.

The C-ring 26 accommodated in the recesses 1B and 19 has its outer peripheral portion regulated by the inner walls of the recesses 18 and 19. With these configurations, when the escape part 15 is reciprocated in the Y-axis direction by the cylinder (not shown), when the recesses 18 and 19 are located below the C-rings stacked in the first stage in the magazine 12, the C-rings in the lowest stage
The ring fell due to its own weight and one C was placed in the recess 18°19.
The link 26 is accommodated, and then the escape part 15
By returning to its original position (the state shown in Figure 3 (8)),
One C ring 26 can be separated.

On the other hand, the cylinder 2 has rods 22a and 23a, respectively.
2.23 is fixed to the base 1 so that the tips of the rods 22a, 23a are respectively opposed to the outer surfaces of the tips of the pair of opening/closing arms 16.17. A pair of opening/closing arms 16 and 17 containing one C ring 26 or escape part 15
When the cylinder 22.
23 are activated synchronously and both rods 22a and 23a protrude, the pair of opening/closing arms 16 and 17 are slightly rotated and closed until their tips abut each other, so that the inside of the recesses 18 and 19 is closed. C-link 26 is charged.

Moreover, as shown in FIG. 3(C), the opening/closing arm 1 of the pin 20.21 and the rods 22a, 23a is
If the distance # It 2 from the point of application to 6.17 is sufficiently long, when charging the C-ring 26, the lot 22a,
Since the force acting on the opening/closing arm 16.17 of 23a is small, a small cylinder 22.23 can be used.

As shown in FIGS. 4(A) and 4(B), the finker means 7 includes a cylindrical main body 7a rotatably supported at the lower end of the Z-axis arm 5b (see FIG. 1), and the main body. A two-stage columnar lower member 7b is fixed to the lower member 7a. The lower part of the first member 7b is an annular insertion part 7c, and the outer diameter of the insertion part 7c is slightly larger than the diameter of the insertion hole 9a of the workpiece 9 shown in FIGS. 6(A) and 6(B). It is approximately equal to the outer diameter of the small and charged C-ring 26, and its inner diameter is slightly larger than the outer diameter of the threaded portion of the heel 9c of the workpiece 9. A cylinder chamber 10c, which is a cylindrical hole, is formed in the lower member 7b, and two guide holes 10a, which are pressurized fluid passages, communicate with the top and bottom ends of the cylinder chamber 10c, respectively.

3 10b is formed. A piston 10 that is slidable in the cylinder chamber 10c is accommodated in the cylinder chamber 10c, and one ends of two wooden pins 33 and 34, which serve as charge holding means, are fixed to the lower surface of the piston 10, respectively. There is. These two wooden pins 33 and 34 extend in the Z-axis direction and are slidable in the Z-axis direction through the insertion portion 7c, and their diameters are slightly smaller than the diameters of the two holes 26a and 26b of the C-ring 26. (See Figure 3 (B)). moreover,
The distance between the two pins 33, 34 is equal to the distance between the two holes 26a, 26b of the charged C-ring 26. With the above-described configuration, when pressurized fluid is supplied into the cylinder chamber 10c from one of the guide holes 10a, the piston 10 moves downward, and the two pins 33 and 34 also move downward, and their tips protrudes from the lower end surface 7d of the insertion portion 7c by the thickness of the C-ring 26. On the other hand, when pressurized fluid is supplied into the cylinder chamber 10c from the other guide hole 10b, the two wooden pins 33 and 34 are completely drawn into the lower member 7b. The above-mentioned cylinder chamber 4 10c, two guide holes 10a, 10b and piston 10
etc., a charge release means is constructed without removing the C ring 26 from the two pins 33 and 34.

The controller B shown in FIG. 1 operates on the X-axis drive means, Y-axis drive means and
This drive controls two motors 5a and 6a.

The controller B controls a first position movement amount of the finger means 7 from the origin position to the separation charge means 14, a second position movement amount of the finger means 7 from the separation charge means 14 to the insertion position into the workpiece 9, and the finger means 7. The three-axis orthogonal robot A is activated by manually executing a program in which a third position movement amount from the insertion position of the workpiece 7 into the C-ring mounting groove is set in advance. Then, controller B has 3
Since the X-axis drive means, Y-axis drive means and motor 5a of the axis-perpendicular robot A are drive-controlled, the fin car means 7 is automatically moved in three axial directions. That is, the finger means 7 previously located at the origin position is automatically moved to the separation charging means 14, and then automatically moved and positioned directly above the insertion hole 9a of the workpiece 9, that is, to the insertion position. . Thereafter, the finger means 7 moves further, and the C-ring held by the finger means 7 is positioned in the C-ring mounting groove of the workpiece 9.

Next, the operation of this embodiment will be explained with reference to FIGS. 5(A) to 5(F) and FIGS. 6(A) and (11).

First, the controller B (see FIG. 1) is instructed to move the finger means 7 from the origin position to the separation charge means 14 by a first position movement amount, and to move the finger means 7 from the separation charge means 14 to the insertion position into the workpiece 9. A program in which the amount of positional movement and the amount of third positional movement of the finger means 7 from the insertion position to the C-ring mounting groove 9b is set is manually written.

The escape part 15 is moved in the direction of arrow A from the position shown in FIG. 2 by a cylinder (not shown) (hereinafter referred to as "retreat"), and the four parts 18.
19 is placed below the vertically stacked C-rings, the lowest C-ring falls off due to its own weight, and one C-ring 26 is accommodated in the four parts 18 and 19 (see Fig. 5). See A). Then, move the escape part 15 in the direction of the arrow (hereinafter referred to as forward J).
and return it to its original position (see Figure 5(B)). Here, by synchronously starting the pair of cylinders 22 and 23 and protruding the respective rods 22a and 23a,
When the pair of opening/closing arms 16 and 17 are closed, the C ring 26
is pressed in the radial direction by the inner walls of the recesses 18 and 19 and charged. Thereafter, the tips of the two pins 33 and 34 of the finger means 7 are made to protrude from the lower end surface 7d of the insertion portion 7c by the thickness of the C ring 26. When the 3-axis orthogonal robot A is started, the 311ilh orthogonal robot A moves the finger means 7, which is pre-positioned at the origin position, in the 3-axis direction by the first position movement amount based on the command from the controller B. (See Figure 5 (C)), 2 wooden pins 33
34 are two holes 26a of the C-ring 26 charged by a pair of opening/closing arms 16 and 17.

7 26b (see FIG. 3(B)), and the upper surface of the C-link 26 abuts the lower end surface 7d of the insertion portion 7C. Next, start the pair of cylinders 22゜3 in synchronization,
Each rod 22a.

When 23a is retracted, the C-ring 26 is supported by the two pins 33 and 34 by its own elastic force. The three-axis orthogonal robot A is held by the two wooden pins 33 and 34 and the insertion part 7C by moving the finger means 7 in the three-axis direction by the second position movement amount (see FIG. 5(D)). The C-ring 26 is positioned directly above the insertion hole 9a of the workpiece 9, that is, at the insertion position. By moving the fin car means 7 downward by the third position movement amount, the insertion portion 7c and the C ring 26 are inserted into the insertion hole 9a of the workpiece 9 (
(See Figure 5 (E) and Figure 6 (A)), C ring 26
is positioned in the C-ring mounting groove 9b. At this time, since the insertion portion 7C has an annular shape, the shaft 9C of the workpiece 9
do not interfere with Then, pressurized fluid is supplied into the cylinder chamber 10c from one of the guide holes 10b, and the two pins 33°
8 When the 34 is completely retracted into the insertion portion 7c, the C ring 2
6 expands in diameter due to its own elastic force and is fitted into the C-link mounting groove 9b (Fig. 5 (F) and Fig. 6 (B)).
)reference). After this, the finger means 7 is returned to the origin position by the 3-axis orthogonal robot A, and from this point on, the workpieces are replaced, and the above-mentioned operations are automatically repeated to sequentially attach the C-ring to a large number of workpieces. I'll come.

When changing the positions of the separation charging means 14 and the workpiece 9, or when changing the type of the workpiece 9, the changed 1st. A program in which the second and third positional movement amounts or the changed third positional movement amounts are set is manually input to the controller B.

In the above embodiment, the two pins 33 and 34 are driven by one piston and the bottom wall of the cylinder, but the invention is not limited to this. It can also be driven synchronously by the bottom wall. Further, in place of the piston and cylinder chamber, electric drive means such as a solenoid can also be used.

Next, a second example will be described.

As shown in FIGS. 7(8) and 7(B), the integrally structured finger means 7' in this embodiment has its main body 7a'.
The insertion portion 7 has a smaller diameter than the main body 7a' which protrudes downward from the main body 7a'.
c', and this insertion portion 7c' has two bins 33a serving as charge holding means.

Most of 34a is inserted and fixed. These two pins 33a and 34a extend in the Z-axis direction, and their tips extend as far as the thickness of the C-ring to the lower end surface 7d' of the insertion portion 7c'.
more prominent. Notches 17e and 17f' extending in the axial direction (arrow Z direction) are provided at both ends of the insertion portion 7c'.
are formed respectively. A pair of cylinders 16a and 17a having rods 16b and 17b, respectively, have their outer peripheral surfaces fixed to the wall surfaces of the notches 17e' and 17f', respectively, so as to be located in the notches 17e and 17f', respectively. These pair of cylinders 16a,
When the rods 17a are activated in synchronization and the rods 16b and 17b are respectively protruded, two C-rings (not shown) held by the bins 33a and 34a are formed.
can be removed from the two pins 33a and 34a by pushing downward, and charging is released.

The above-mentioned pair of cylinders 16a, 17a and rod 16
b and 17b constitute a C-ring charge release means.

The rest of the configuration is the same as that of the first embodiment, so
Explanation will be omitted.

Next, regarding the operation of this embodiment, only the points that differ from that of the first embodiment will be described below.

By holding the charged C-ring and positioning the finger means 7' in the insertion hole of the workpiece, the finger means 7' moves downward by the third position movement amount, so that the insertion part 7c' and the C-ring are inserted into the insertion hole of the workpiece. Then, the lower surface of the C-link is positioned at the upper end of the C-ring mounting groove. Next, when the pair of cylinders 16a and 17a are started synchronously and the rods 16b and 17b are respectively projected, the C-link is pushed downward by the rods 16b and 17b, and the two bottles 3
3a and 34a, its diameter expands due to its own elastic force, and it is fitted into the C-ring mounting groove.

Next, a third example will be described.

As shown in FIG. 8, a cavity is formed in the base (as shown) in which a pair of cylinders 35, 36 of the separate charging means are housed, each cylinder 35, 36 having a
The bottom walls of the respective cylinders are disposed on the base so as to face each other. Further, the pair of levers 37 and 38 are each rotatably supported by a base with the tips of the levers 31 and 32 being supported by two wooden bins 31 and 32, and most of the levers are accommodated in the space. At the lower ends of these pair of levers 37 and 38 are rods 35a of the pair of cylinders 35 and 36.
, 36a are connected to each other, and the tips of the pair of levers 37, 38 are in contact with the outer surfaces of the tips of the pair of opening/closing arms 16, 17, respectively. The rest of the configuration is the same as that of the first embodiment.

In this embodiment, one C-ring or recess 18.19
When the escape part 15 advances 2 and returns to its original position, that is, the charging position, the pair of cylinders 35 and 36 are activated synchronously and the respective rods 35a and 36a protrude. Turn the levers 37 and 38 slightly. Then, the pair of open/close arms 16 and 17 close, and the C-ring is charged.

In addition, with respect to the distance 13 between the pins 31 and 32 and the tips of the pair of levers 37 and 38, the distance between the pins 31 and 32 and the rod 35
If the distance f1.4 between the point of action on the pair of levers 37.38 of the rods 35a and 36a is sufficiently long, when charging the C-link, the pair of levers 37.38 of the rods 35a and 36a
Since the acting force on the cylinder is small, the small cylinder 35°3
6 can be used.

Next, a fourth example will be described.

As shown in FIG. 9, the escape section 41 of the separation charging means includes a main body 41a and a two-stage plate-shaped end 41b fixed to the main body 41a. The end portion 41b includes
A cylinder chamber 42 similar to the cylinder chambers shown in FIGS. 4(A) and 4(B) is formed. 3 Furthermore, two guide holes 43a, which are pressurized fluid passages, communicate with both ends of the cylinder chamber 42, respectively. .

43b is formed. The piston 44 is in the cylinder chamber 4
It is housed within 2. The piston 44 has a rod 45 protruding from the distal end surface of the escape portion 41, and a locking piece 46 having a rectangular cross section is fixed to the distal end of the rod 45. Part 4 47a.

A pair of opening/closing arms 47 and 48 having respective opening/closing arms 48a are rotatably supported at their negative corners by the ends 41b of the escape portion 41 with pins 49 and 50 as fulcrums. Notches 47b and 48b are formed in the opposing inner sides of the pair of opening/closing arms 47 and 48, respectively, and the above-mentioned locking piece 46 is housed in the notches 47b and 48b. The rest of the configuration is the same as that of the first embodiment.

In this embodiment, one C ring has recesses 47a and 4.
8a, and when the escape part 41 returns to the charging position, pressurized fluid is supplied to the cylinder chamber 42 through the guide hole 43a.
supply within. Then, the piston 44 moves toward the main body 41a side, and the locking piece 46 is locked to the pair of opening/closing arms 47.48, so that the pair of opening/closing arms 47.48 are held together until their tips abut each other. Rotate slightly to close. As a result, the C-ring is charged. On the other hand, when pressurized fluid is supplied into the cylinder chamber 42 from the guide hole 43b, the pair of opening/closing arms 47, 48
is opened to the state shown in FIG. 9, and the charge is released.

In each of the above embodiments, a three-axis orthogonal robot is used as the conveying means, but the present invention is not limited to this, and a two-axis orthogonal robot may also be used. In this case, it is necessary to arrange the two bins of the finker means, the recesses of the pair of opening/closing arms at the charging position, and the C-ring mounting groove of the work on the same straight line. Furthermore, the present invention is not limited to the orthogonal robot, and a cylindrical robot or other transfer device may be used.

Further, in each of the above embodiments, the pair of opening/closing arms are shown to be rotatable at the escape part, but the invention is not limited to this, and only one opening/closing arm 5 may be rotatably supported. In this case, in the first, second, and third embodiments, the cylinder for the other opening/closing arm becomes unnecessary, and the separation supply device becomes smaller.

〔Effect of the invention〕

Since the present invention is configured as described above, it produces the effects described below.

In the invention according to claim 1, (1) The C-ring can be easily held and charged by the charge holding means of the finger means.

(2) Since the insertion portion can be inserted into the insertion hole of the workpiece, the C-ring can be mounted in the C-ring mounting groove even when the distance between the insertion port of the workpiece and the C-ring mounting groove is long.

(3) When transferring the C-ring to the workpiece and positioning it in the C-ring mounting groove, the C-ring is supported by the insertion part, so
The posture of the C-ring is maintained, and the C-ring does not shift its position or fall off from the insertion section.

(4) When inserting the C-ring into the workpiece, there is no sliding contact between the workpiece 6 and the C-ring, so no frictional force is generated, the C-ring does not shift, and the workpiece is not damaged. do not have. Furthermore, when attaching a large-diameter C-link, it is not necessary to use a large-sized conveyance means, which prevents the device from becoming larger.

In the invention according to claim 2, in addition to the above-mentioned effects, the positioning of the C-ring in the C-ring mounting groove becomes highly accurate, and the position and type of the workpiece are changed, thereby changing the position of the C-ring mounting groove. Even in this case, the high accuracy can be maintained by setting the controller to that effect.

[Brief explanation of drawings]

FIG. 1 is a schematic perspective view of an embodiment of the C-link mounting device of the present invention, FIG. 2 is an enlarged schematic perspective view of the separation and supply device shown in FIG. 1, and FIG. 3(A) is the main part of FIG. 2. Enlarged perspective view, Figure 3 (B
) is an enlarged top view of the main part of Figure 3 (A), Figure 3 (C) is a top view showing a modification of Figures 3 (A) and (B), and Figure 4 (A) is Figure 1 An enlarged vertical sectional view of the main part of the fin car means,
FIG. 4(B) is an enlarged perspective view of the main part of the finger means;
Figures 5(A) to ([i) are perspective views of essential parts for explaining each process of attaching the C-ring to the workpiece in this embodiment, and Figure 6(8) is the same as Figure 5. (E) is a longitudinal sectional view of the main part, FIG. 6(B) is a longitudinal sectional view of the main part of FIG. 5(F), and FIG. 7(A) is the main part of the finger means of the second embodiment of the present invention. 7(B) is a cross-sectional view of FIG. 7(A), FIG. 8 is a front view of the main part with a part of the separation charging means of the third embodiment in section, and FIG. 9 is a cross-sectional view of FIG. 7(A). FIG. 10 and FIG. 11 are a top view of the main parts of the separation charging means of the fourth embodiment, with a part cut away, and FIG. 11 shows the prior art. FIG. 10 is a schematic front view of a conventional C-ring mounting device, and FIG. is a longitudinal cross-sectional view of the workpiece. A...3-axis orthogonal robot, B...controller,
1... Base, 2... Column, 3...
...X-axis arm, 4...Y-axis arm, 5a
...Motor, 5b...Z-axis arm, 6
...Z-axis arm mounting body, 6a...Motor, 7.7'
...Finger means, 7a, 7a'...Main body, 7b...Lower member, 7
c, 7c'--Insertion part, 7d, 7d'--End face 8 17e'17f'-=Notch, 8... Separation supply device, 9... Workpiece (parts)
, 9a...insertion hole, 9b...C-ring mounting groove, 9c...shaft, 10.44...piston, 10a, 10b, 43a, 43b--guiding hole, 10
c, 42... Cylinder chamber, 11... Supply means, 12... Magazine, 13
...Main body, 14.Separation charging means, 15.41.Escape part, 15a, 16b, 17b, 22a, 23a. 35a, 36a, 45... Rod, 15b... Compression spring, 16.17, 47.48... Opening/closing arm, 18.19
, 47a, 48a... recess, 20.21, 31, 32
, 33° 34.33a, 34a, 49.50...pin, 16a
, 17a, 22, 23° 35.36...Cylinder, 26-C link, 26a, 26b...-hole, 37
38... Lever, 41a... Main body, 41b... End, 46... Locking piece, 47b, 48b... Notch, J'2+ β3, 14... Dimensions.

Claims (1)

[Claims] 1. A supply means for vertically stacking and storing C-rings, and a means for separating one C-ring from the lowest stage of the supply means and charging the separated C-ring. Separation charging means; An insertion portion that can be inserted into an insertion hole in which a C-ring mounting groove is formed in the work; a charge holding means for holding the charge of the charged C-ring in the insertion portion; and the charge holding device. finger means having charge release means for removing the C-ring from the means; and insertion means for moving the finger means between the separating charge means and the workpiece and positioning the C-ring in the C-ring mounting groove. A C-ring mounting device characterized by having a conveying means. 2. The C-ring mounting device according to claim 1, wherein the insertion means for positioning the C-ring in the C-ring mounting groove is controlled by a controller for controlling the conveying means.