WO2018142513A1 - Device and method for attaching cylindrical soft object - Google Patents

Device and method for attaching cylindrical soft object Download PDF

Info

Publication number
WO2018142513A1
WO2018142513A1 PCT/JP2017/003633 JP2017003633W WO2018142513A1 WO 2018142513 A1 WO2018142513 A1 WO 2018142513A1 JP 2017003633 W JP2017003633 W JP 2017003633W WO 2018142513 A1 WO2018142513 A1 WO 2018142513A1
Authority
WO
WIPO (PCT)
Prior art keywords
cylindrical soft
soft body
cylindrical
tip
axis
Prior art date
Application number
PCT/JP2017/003633
Other languages
French (fr)
Japanese (ja)
Inventor
徳寿 石堂
恵太 松尾
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to JP2018565145A priority Critical patent/JP6709860B2/en
Priority to PCT/JP2017/003633 priority patent/WO2018142513A1/en
Publication of WO2018142513A1 publication Critical patent/WO2018142513A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control

Definitions

  • the present invention relates to a cylindrical soft object mounting apparatus and a mounting method. More specifically, at least the tip of a cylindrical soft body (for example, a hose) having a cylindrical tip, and a rigid mounting portion (for example, a resin tubular portion) having a tip or a cylindrical shape. It is related with the cylindrical soft body attachment apparatus and attachment method which attach a cylindrical soft body to an attachment part by fitting to the outer periphery of this.
  • a cylindrical soft body for example, a hose
  • a rigid mounting portion for example, a resin tubular portion
  • the end of the hose from the chuck of the robot hand is brought close to the end of the tubular member at an approach angle of 25 to 60 degrees with respect to a plane orthogonal to the axis.
  • the protruding amount of the end of the tube is set to 10 mm to 15 mm, and a primary insertion amount that is about 2 mm smaller than the protruding amount is inserted in the angular direction, and then the hose is raised so that the axis of the tubular member and the axis of the hose coincide.
  • a hose attachment method for attaching a hose to a tubular member is known.
  • the above-described conventional hose attachment method attaches the hose to the tubular member 1 by performing an operation of raising the hose so that the axis of the tubular member and the axis of the hose coincide after inserting the primary insertion amount of the hose. It is what. At that time, since the hose is a soft object, the axis of the hose tip is largely displaced, and the axis of the tubular member does not match the hose axis. As a result, the hose cannot be attached depending on a stable deformed state such as coming into contact with the tubular member. Therefore, the mounting time is not stable.
  • the problem to be solved by the present invention is to provide a cylindrical soft body mounting apparatus and a mounting method capable of stabilizing the mounting time of the cylindrical soft body.
  • the cylindrical soft object mounting apparatus of the present invention is: By fitting the tip of the cylindrical soft body having a cylindrical tip to the outer periphery of a mounting portion having a cylindrical or columnar rigidity, the cylindrical soft object is attached to the mounting portion.
  • a device to attach A gripping member for gripping the cylindrical soft object; With the tip of the cylindrical soft body gripped by the gripping member in contact with the tip of the mounting portion, the axis of the tip of the cylindrical soft body is attached to the gripping member and the cylindrical soft body.
  • a swing mechanism that swings so as to tilt in one direction and the other with respect to the axis of the part;
  • the cylindrical soft object is gripped by the gripping member, and in the state where the tip end portion is brought into contact with the tip end of the mounting portion, the cylindrical soft body is moved together with the gripping member by the swing mechanism.
  • the gripping member and the cylindrical soft body that are swung by the swing mechanism are swung so that the axis of the tip of the cylindrical soft body is inclined in one direction and the other with respect to the axis of the mounting portion. Thus, it is moved toward the mounting portion.
  • the cylindrical soft body is attached to the attachment part by being held by the holding member and being pushed toward the attachment part by the moving mechanism while the tip part is being swung by the swing mechanism.
  • the distal end portion of the cylindrical soft body is pushed into the mounting portion so that its axis is inclined in one direction or the other with respect to the axis of the mounting portion, that is, while being swung in both directions with respect to the axis of the mounting portion. Therefore, it can be stably attached to the attachment portion regardless of the deformed state of the cylindrical soft body. Therefore, the installation time is stable.
  • the swing mechanism includes at least a first inclined position where the tip of the cylindrical soft body is inclined in one direction with respect to the axis of the mounting portion, and a second inclination in which the axis of the tip is inclined to the other.
  • a configuration may further include an application nozzle that applies lubricating water to the tip of the cylindrical soft object before the tip of the cylindrical soft object is brought into contact with the tip of the mounting portion. If comprised in this way, it will become possible to smooth the pushing operation to the attachment part of the front-end
  • the gripping member can be configured to grip from 1.5 to 4 times the inner diameter of the distal end portion of the cylindrical soft body from the distal end surface of the cylindrical soft body. If comprised in this way, it will become possible to attach a cylindrical soft body smoothly to an attaching part. If the gripping position by the gripping member is less than 1.5 times the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body, the degree of freedom of the portion from the grip of the cylindrical soft body to the tip surface (Ease of bending) becomes low, and there is a possibility that it is difficult to smoothly push the tip of the cylindrical soft body into the mounting portion.
  • the gripping position by the gripping member is more than four times the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body, the portion from the grip of the cylindrical soft body to the tip surface is free.
  • the degree (easy to bend) becomes too high, which may cause buckling.
  • the gripping position of the gripping member is set to a site that is 1.5 times or more and 4 times or less the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body. It is possible to smooth the push-in operation of the front end portion into the mounting portion. As a result, the cylindrical soft body can be smoothly attached to the attachment portion.
  • the cylindrical soft body mounting method of the present invention is: By fitting the tip of the cylindrical soft body having a cylindrical tip to the outer periphery of a mounting portion having a cylindrical or columnar rigidity, the cylindrical soft object is attached to the mounting portion.
  • a method of attaching, Grip the cylindrical soft body with a gripping member With the tip of the cylindrical soft body gripped by the gripping member in contact with the tip of the mounting portion, the axis of the tip of the cylindrical soft body is attached to the gripping member and the cylindrical soft body.
  • the cylindrical soft body is attached to the attachment portion by being moved toward the attachment portion by a moving mechanism while being oscillated by the oscillating mechanism so as to be inclined in one direction and the other with respect to the axis of the portion. .
  • the cylindrical soft body is gripped by the gripping member, and the cylindrical soft body is held together with the gripping member by the swing mechanism in a state where the tip is in contact with the tip of the mounting portion. While the axis of the tip of the object is swung so as to incline in one direction and the other with respect to the axis of the mounting section, it is moved toward the mounting section by the moving mechanism.
  • the cylindrical soft body is attached to the attachment part by being held by the holding member and being pushed toward the attachment part by the moving mechanism while the tip part is being swung by the swing mechanism.
  • the distal end portion of the cylindrical soft body is pushed into the mounting portion so that its axis is inclined in one direction or the other with respect to the axis of the mounting portion, that is, while being swung in both directions with respect to the axis of the mounting portion. Therefore, it can be stably attached to the attachment portion regardless of the deformed state of the cylindrical soft body. Therefore, the installation time is stable.
  • FIG. 1 It is a figure which shows embodiment of the cylindrical soft body attachment apparatus which concerns on this invention, (a) is a front view, (b) is a left view, (c) is a partial top view of FIG. (B). It is a figure which shows the state after the attachment operation
  • FIG. 4 is a diagram illustrating another modification, in which (a) is a partially omitted front view, (b) is a bottom view of FIG. (B), (c) is a cross-sectional view taken along line cc in FIG. The enlarged view of (c).
  • the cylindrical soft object mounting apparatus 1 shown in FIG. 1 has the rigidity of the tip part 11 of the cylindrical soft object (for example, a hose) 10 whose tip part 11 is cylindrical, and the tip 21 has a cylindrical or columnar rigidity.
  • This is a device for attaching the cylindrical soft body 10 to the attachment portion 20 by fitting it to the outer periphery 22 of the attachment portion (for example, a resin pipe or a metal pipe) 20 having the same.
  • the tubular soft object mounting apparatus 1 includes a gripping member 30 that grips the tubular soft object 10, a swinging mechanism 40 that swings the tubular soft object 10, and the tubular soft object 10 facing the attachment portion 20. And a moving mechanism 50 for moving.
  • the swinging mechanism 40 is in a state where the distal end portion 11 of the cylindrical soft body 10 gripped by the gripping member 30 is in contact with the distal end 21 of the mounting portion 20 (see FIG. 3). 10 is swung so that the axis A1 of the distal end portion 11 of the cylindrical soft body 10 is inclined in one direction and the other with respect to the axis A2 of the attachment portion 20.
  • the moving mechanism 50 moves the gripping member 30 and the cylindrical soft body 10 that are rocked by the rocking mechanism 40 toward the mounting portion 20.
  • the cylindrical soft body mounting method using the cylindrical soft body mounting apparatus 1 as described above is such that the cylindrical soft body 10 is gripped by the gripping member 30 and the tip of the cylindrical soft body 10 gripped by the gripping member 30. With the portion 11 in contact with the distal end 21 of the mounting portion 20, the gripping member 30 and the cylindrical soft body 10 are arranged so that the axis A 1 of the distal end portion 11 of the cylindrical soft body 10 is relative to the axis A 2 of the mounting portion 20.
  • the cylindrical soft body 10 is attached to the attachment portion 20 by being moved toward the attachment portion 20 by the moving mechanism 50 while being oscillated by the oscillating mechanism 40 so as to be inclined to one side or the other.
  • the cylindrical soft object 10 is gripped by the gripping member 30 and the tip portion 11 is brought into contact with the tip 21 of the mounting portion 20.
  • the axis A ⁇ b> 1 of the distal end portion 11 of the cylindrical soft body 10 is tilted to one side and the other (right-left direction in FIG. 3) with respect to the axis A ⁇
  • the gripping member 30 (not shown in FIG. 3) and the cylindrical soft body 10 that are swung by the swinging mechanism 40 are moved toward the mounting portion 20 by the moving mechanism 50. Be made.
  • the cylindrical soft body 10 is attached to the attachment portion 20 by being held by the holding member 30 and being pushed toward the attachment portion 20 by the moving mechanism 50 while being swung by the swing mechanism 40. It will be.
  • the distal end portion 11 of the cylindrical soft body 10 is swung in both directions with respect to the axis A2 of the mounting portion 20 so that the axis A1 is inclined to one side and the other of the axis A2 of the mounting portion 20. Since it is pushed into the attachment portion 20 while being attached, it is stably attached to the attachment portion 20 regardless of the deformation state of the cylindrical soft body 10. Therefore, the installation time is stable.
  • the gripping member 30 may adopt any structure as long as it can grip the cylindrical soft object 10 so that it can be pushed into the mounting portion 20 while swinging the cylindrical soft object 10.
  • it is composed of a pair of clampers 32 and 32 that are opened and closed by a parallel open / close type air chuck mechanism 31.
  • a solid line in FIG. 1A indicates a state where the cylindrical soft body 10 is gripped, and a virtual line indicates a state where the cylindrical soft body 10 is opened.
  • the swing mechanism 40 may employ any configuration as long as the gripping member 30 and the cylindrical soft body 10 can swing together while gripping the cylindrical soft body 10 with the gripping member 30.
  • the oscillating mechanism 40 meshes with the oscillating mechanism support 41, the sector gear 43 that is rotatably supported by the oscillating mechanism support 41 on the shaft 42, and the sector gear 43.
  • a gripping member support 46 that rotates together.
  • the grip member 30 is attached to the grip member support 46. Therefore, when the rack 44 is reciprocated by the operation of the cylinder 45, the sector gear 43, the gripping member support 46, the gripping member 30, and the cylindrical soft body 10 are rotated together around the shaft 42.
  • the shaft 42 is supported so as to be rotatable with respect to the swing mechanism support body 41, and the sector gear 43 and the gripping member support body 46 are attached so as not to be rotatable with respect to the shaft 42.
  • the sector gear 43 and the gripping member support 46 are integrated by the shaft 42, but the gripping member support 46 is directly integrated with the sector gear 43, not by the shaft 42. You can also.
  • the cylinder 45 is attached to the swing mechanism support body 41, and its rod 45 r is connected to the rack 44.
  • the moving mechanism 50 may employ any configuration as long as it can move the gripping member 30 and the cylindrical soft body 10 that are swung by the swinging mechanism 40 toward the mounting portion 20.
  • the moving mechanism 50 includes a cylinder 51 that moves the swinging mechanism support 41 itself forward and backward in the direction of the mounting portion 42 with respect to the direction of the axis A2 of the mounting portion 42.
  • the cylinder 51 is attached to the frame 1F of the cylindrical soft object mounting apparatus 1, and the rod 51r is connected to the swing mechanism support body 41. Therefore, when the swing mechanism support body 41 moves back and forth in the direction of the mounting portion 42 by the operation of the cylinder 50, the entire swing mechanism 40 attached to the swing mechanism support body 41 becomes the gripping member 30 and the cylindrical soft object 10. And move forward and backward in the direction of the mounting portion 42 (see FIG. 2).
  • 52 and 52 are guide blocks attached to both sides of the swinging mechanism support 41, and 53 is a guide rod for guiding the guide block 52.
  • the guide rod 52 is attached to the frame 1F.
  • Reference numeral 54 denotes a connecting portion between the rod 51r and the swinging mechanism support 41.
  • the mounting portion 20 of this embodiment is a resin pipe, and an enlarged portion 21 c having a diameter larger than that of the main body portion 23 is formed at the tip 21, and an R shape 21 r is formed on the enlarged portion 21 c. And a diameter-reduced portion 21b continuous therewith.
  • the attachment portion 20 is held by the holding member 60.
  • the holding member 60 can adopt any structure as long as it can hold the mounting portion 20 reliably.
  • it is composed of a pair of clampers 62 and 62 that are opened and closed by a parallel open / close type air chuck mechanism 61.
  • a solid line in FIG. 1A indicates a state where the mounting portion 20 is held, and a virtual line indicates a state where the mounting portion 20 is opened.
  • the swing mechanism 40 has at least the distal end portion 11 of the cylindrical soft body 10 so that the axis A ⁇ b> 1 of the distal end portion 11 is in one direction with respect to the axis A ⁇ b> 2 of the mounting portion 20.
  • a first inclined position that is inclined for example, a position indicated by an inclination angle ⁇ 1 in FIG. 3C
  • a second inclined position that is inclined to the other side for example, a position indicated by an inclination angle ⁇ 2 in FIG. 3E
  • the cylindrical soft body 10 is swung so as to be
  • the moving mechanism 50 has a distal end portion 11 of the cylindrical soft body 10 in the second inclined position with respect to the distal end portion 11 (see, for example, FIG. 3C) of the cylindrical soft body 10 in the first inclined position. (For example, refer FIG.3 (e)), it is moved so that it may become the position which moved more (advanced) with respect to the attaching part 20.
  • the swing mechanism 40 reduces the tilt angle (for example, ⁇ 2) of the second tilt position as compared to the tilt angle (for example, ⁇ 1) of the first tilt position with respect to the axis A2 of the mounting portion 20.
  • tip part 11 of the cylindrical soft body 10 with respect to the axis A2 of the attachment part 20 will become small as the front-end
  • FIG. 3 is an explanatory diagram of a specific example of the operation of attaching the cylindrical soft body 10 to the attachment portion 20 according to this embodiment.
  • the tip of the cylindrical soft body 10 is moved while the tip 11 of the cylindrical soft body 10 is swung twice on one side and the other side (four times in total).
  • the part 11 is moved toward the attachment part 20 and attached so as to be pushed.
  • the operation is performed by the swing mechanism 40 and the moving mechanism 50. In the following, description will be given in order.
  • FIG. 3 (b) As shown, the distal end surface 11 s of the distal end portion 11 is positioned in a state in which the distal end surface 11 s is in contact with or close to the distal end 21 of the mounting portion 20.
  • the tip end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined to the inclination angle ⁇ 1 to one side.
  • the distal end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined to the other side to the inclination angle ⁇ 2.
  • FIG. 3D a state occurs in which the axis A1 of the distal end portion 11 of the cylindrical soft body 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the distal end portion 11 of the soft body 10 into the attachment portion 20 occurs, the pushing of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20 is promoted. Note that ⁇ 2 ⁇ 1.
  • the distal end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined again to the inclination angle ⁇ 4 toward the other side.
  • a state occurs in which the axis A1 of the distal end portion 11 of the cylindrical soft body 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the distal end portion 11 of the soft body 10 into the attachment portion 20 occurs, the pushing of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20 is promoted. Note that ⁇ 4 ⁇ 3.
  • FIGS. 4I to 4J the distal end portion 11 of the cylindrical soft body 10 is advanced toward the mounting portion 20 while returning to the neutral position (a position where the axes A1 and A2 coincide). Thereby, the attachment operation
  • FIG. 2 shows the state of the device 1 at the time when the mounting operation is completed.
  • this cylindrical soft body attachment apparatus 1 including the above operations is controlled by the control part which is not shown in figure.
  • the tip portion 11 of the cylindrical soft body 10 is swung to one side and the other side, but the number of times is one or more times on one side, If it is one or more times on the side, it can be appropriately set according to the shape and material of the cylindrical soft body 10 and the shape and material of the mounting portion 20.
  • the tubular soft object mounting apparatus 1 is configured such that the distal end of the tubular soft object 10 is brought into contact with the distal end 21 of the attachment part 20 before the distal end portion 11 of the tubular soft object 10 is brought into contact with the distal end 21.
  • the part 11 is provided with an application nozzle 1n for applying the lubricating water W.
  • the lubrication water W is apply
  • the gripping member 30 is a portion that is 1.5 times or more and 4 times or less the inner diameter D ⁇ b> 1 of the distal end portion 11 of the cylindrical soft body 10 from the front end surface 11 s of the cylindrical soft body 10. It is desirable to have a configuration for gripping That is, it is desirable that the length L1 from the distal end surface 11s to the gripping position of the cylindrical soft body 10 is 1.5 times or more and 4 times or less of the inner diameter D1. If comprised in this way, it will become possible to attach the cylindrical soft body 10 smoothly by the attachment part 20.
  • the inner diameter D1 of the distal end portion 11 is normally 15 to 25.8 mm.
  • the maximum outer diameter (outer diameter of the R-shaped 21r portion) D2 of the enlarged diameter portion 21c of the mounting portion 20 is 15.5 to 26 mm, and the outer diameter D3 of the main body portion 23 is 14 to 25 mm.
  • Each diameter is set so that D3 ⁇ D1 ⁇ D2.
  • the gripping portion of the cylindrical soft body 10 from the distal end There is a possibility that the degree of freedom (easy to bend) of the portion up to the surface 11 s becomes low, and it is difficult to smoothly push the tip portion 11 of the cylindrical soft body 10 into the mounting portion 20.
  • the gripping position by the gripping member 30 is more than four times the inner diameter D1 of the distal end portion 11 of the cylindrical soft body 10 from the distal end surface 11s of the cylindrical soft body 10, the gripping portion of the cylindrical soft body 10 is advanced from the distal end surface.
  • the degree of freedom (easy to bend) becomes too high, and there is a high risk of buckling.
  • buckling occurs, it becomes difficult to smoothly push the distal end portion 11 of the cylindrical soft object 10 into the mounting portion 20.
  • the gripping position of the gripping member 30 is set to a site that is 1.5 times or more and 4 times or less than the inner diameter D1 of the distal end portion 11 of the cylindrical soft object 10 from the distal end surface 11s of the cylindrical soft object 10.
  • buckling can be made difficult to occur while ensuring the degree of freedom of the tip portion 11. Therefore, it becomes possible to smooth the pushing operation of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.
  • the rocking mechanism 40 is replaced with the above-described mechanism by the sector gear 43 and the rack 44, and as shown in FIG. It can also be constituted by a pin 72 which is a cam follower engaged with 71.
  • the pin 72 is attached to the gripping member support 46.
  • each attachment portion 20 of the collecting pipe 25 having a plurality of attachment portions 20 (three shown in the figure), as shown in FIG.
  • the collecting tube 25 is gripped by a robot hand 35 having a three-finger chuck 34 that can be opened and closed at the tip of the rotating shaft 33, and each mounting portion 20 is sequentially opposed to the cylindrical soft body 10 in the direction of arrow R.
  • the cylindrical soft body 10 can be attached to each attachment portion 20 by intermittent rotation.
  • the holding member 60 also serves as a positioning member for the mounting portion 20.
  • 80 is a fastening band.
  • the fastening band 80 is for fastening the distal end portion 11 of the cylindrical soft body 10 attached to the attachment portion 20 to the attachment portion 20.
  • Reference numeral 81 denotes a fastening bolt.
  • Reference numerals 92 and 92 denote positioning members for the fastening band 80.
  • the positioning members 92 and 92 are configured to be opened and closed by a parallel opening and closing type air chuck mechanism, like the clampers 62 and 62.
  • the positioning members 92 and 92 are positioned on the clampers 62 and 62 around the attachment portion 20 in a state where the center 80a of the fastening band 80 is eccentric with respect to the center 20a of the attachment portion. If comprised in this way, the clamping operation
  • the axis A1 is swung two-dimensionally with respect to the axis A2, that is, as shown in FIG. 3C, the tip of the cylindrical soft body is below the tip 21 of the mounting portion 20.
  • the tip 11 of the cylindrical soft body is swung to the opposite side (left side of the paper) with a part of the portion 11 (right side of the paper surface) being positioned, and the one end is caught.
  • the axis A1 is swung in three dimensions with respect to the axis A2, that is, with respect to the axis A2. It is also possible to swing the shaft A1 so as to rotate while inclining, so that the entire circumference of the end portion 11 of the cylindrical soft body is positioned below the attachment portion tip 21.
  • SYMBOLS 1 Cylindrical soft body attachment apparatus, 1n: Application

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Hand Tools For Fitting Together And Separating, Or Other Hand Tools (AREA)
  • Joints That Cut Off Fluids, And Hose Joints (AREA)
  • Manipulator (AREA)

Abstract

A method for attaching a tubular soft object 10 to an attachment part 20 by fitting a distal-end part 11 of the tubular soft object 10, the distal end part 11 having a cylindrical shape, on the external periphery of the rigid attachment part 20, the distal end of which is cylindrical or columnar, wherein, in a state in which the tubular soft object 10 is gripped by a gripping member 30 and the distal-end part 11 of the tubular soft object 10 gripped by the gripping member 30 is placed in contact with a distal end 21 of the attachment part 20, the gripping member 30 and the tubular soft object 10 are moved toward the attachment part 20 by a movement mechanism 50 while being oscillated by an oscillation mechanism 40 so that an axis A1 of the distal-end part 11 of the tubular soft object 10 is tilted to one side or the other in relation to an axis A2 of the attachment part 20, whereby the tubular soft object 10 is attached to the attachment part 20.

Description

筒状軟体物取付装置および取付方法Cylindrical soft object mounting apparatus and mounting method
　本発明は、筒状軟体物取付装置および取付方法に関するものである。より詳しくは、少なくとも先端部が円筒形となっている筒状軟体物（例えばホース）の先端部を、先端が円筒状または円柱状となっている剛性を有する取付部（例えば樹脂製管状部）の外周に嵌め合わせることで、筒状軟体物を取付部に取り付ける筒状軟体物取付装置および取付方法に関するものである。 The present invention relates to a cylindrical soft object mounting apparatus and a mounting method. More specifically, at least the tip of a cylindrical soft body (for example, a hose) having a cylindrical tip, and a rigid mounting portion (for example, a resin tubular portion) having a tip or a cylindrical shape. It is related with the cylindrical soft body attachment apparatus and attachment method which attach a cylindrical soft body to an attachment part by fitting to the outer periphery of this.
　従来、例えば特許文献１に見られるように、管状部材の端部にその軸線と直交する平面に対し２５度～６０度のアプローチ角度でホースの端部を接近させ、ロボットハンドのチャックからのホースの端部の突き出し量を１０ｍｍ～１５ｍｍとして、前記角度方向に前記突き出し量より２ｍｍ程度少ない一次挿入量挿入し、その後、管状部材の軸線とホースの軸線とが一致するようにホースを起こすことで、ホースを管状部材に取り付けるホース取付方法が知られている。 Conventionally, for example, as seen in Patent Document 1, the end of the hose from the chuck of the robot hand is brought close to the end of the tubular member at an approach angle of 25 to 60 degrees with respect to a plane orthogonal to the axis. The protruding amount of the end of the tube is set to 10 mm to 15 mm, and a primary insertion amount that is about 2 mm smaller than the protruding amount is inserted in the angular direction, and then the hose is raised so that the axis of the tubular member and the axis of the hose coincide. A hose attachment method for attaching a hose to a tubular member is known.
特開平７－１７８６３６号公報JP-A-7-178636
　上述した従来のホース取付方法は、ホースを一次挿入量挿入した後、管状部材の軸線とホースの軸線とが一致するようにホースを起こすという動作を行うことで、ホースを管状部材１に取り付けようとするものである。その際、ホースが軟体物のためホース先端の軸線のずれが大きく、管状部材の軸線とホース軸線が一致しない。これにより、ホースが管状部材に接触するなどして安定した変形状態によっては取付ができない。したがって、取付時間が安定しない。
　本発明が解決しようとする課題は、筒状軟体物の取付時間を安定させることができる筒状軟体物取付装置および取付方法を提供することである。 The above-described conventional hose attachment method attaches the hose to the tubular member 1 by performing an operation of raising the hose so that the axis of the tubular member and the axis of the hose coincide after inserting the primary insertion amount of the hose. It is what. At that time, since the hose is a soft object, the axis of the hose tip is largely displaced, and the axis of the tubular member does not match the hose axis. As a result, the hose cannot be attached depending on a stable deformed state such as coming into contact with the tubular member. Therefore, the mounting time is not stable.
The problem to be solved by the present invention is to provide a cylindrical soft body mounting apparatus and a mounting method capable of stabilizing the mounting time of the cylindrical soft body.
　上記課題を解決するために本発明の筒状軟体物取付装置は、
　先端部が円筒形となっている筒状軟体物の前記先端部を、先端が円筒状または円柱状の剛性を有する取付部の外周に嵌め合わせることで、前記筒状軟体物を前記取付部に取り付ける装置であって、
　前記筒状軟体物を把持する把持部材と、
　この把持部材で把持された筒状軟体物の先端部を前記取付部の先端に当接させた状態で、把持部材および筒状軟体物を、該筒状軟体物の先端部の軸線が前記取付部の軸線に対して一方および他方に傾斜するように揺動させる揺動機構と、
　この揺動機構により揺動する前記把持部材および筒状軟体物を、前記取付部に向けて移動させる移動機構と、
を備えていることを特徴とする。 In order to solve the above problems, the cylindrical soft object mounting apparatus of the present invention is:
By fitting the tip of the cylindrical soft body having a cylindrical tip to the outer periphery of a mounting portion having a cylindrical or columnar rigidity, the cylindrical soft object is attached to the mounting portion. A device to attach,
A gripping member for gripping the cylindrical soft object;
With the tip of the cylindrical soft body gripped by the gripping member in contact with the tip of the mounting portion, the axis of the tip of the cylindrical soft body is attached to the gripping member and the cylindrical soft body. A swing mechanism that swings so as to tilt in one direction and the other with respect to the axis of the part;
A moving mechanism for moving the gripping member and the cylindrical soft body swinging by the swinging mechanism toward the mounting portion;
It is characterized by having.
　この筒状軟体物取付装置によれば、筒状軟体物は、把持部材で把持され、先端部が取付部の先端に当接させられた状態で、揺動機構によって、把持部材とともに、当該筒状軟体物の先端部の軸線が前記取付部の軸線に対して一方および他方に傾斜するように揺動させられ、この揺動機構により揺動させられる把持部材および筒状軟体物が、移動機構によって、前記取付部に向けて移動させられる。
　つまり、筒状軟体物は、把持部材で把持され、先端部が揺動機構で揺動させられながら移動機構で取付部に向けて押されることで取付部に取り付けられることとなる。
　そして、筒状軟体物の先端部は、その軸線が取付部の軸線に対して一方および他方に傾斜するように、つまり取付部の軸線に対して両方向に揺動させられながら取付部に押し込まれるので、筒状軟体物の変形状態によらず取付部に安定的に取り付けられる。したがって、取付時間が安定する。 According to this cylindrical soft object mounting apparatus, the cylindrical soft object is gripped by the gripping member, and in the state where the tip end portion is brought into contact with the tip end of the mounting portion, the cylindrical soft body is moved together with the gripping member by the swing mechanism. The gripping member and the cylindrical soft body that are swung by the swing mechanism are swung so that the axis of the tip of the cylindrical soft body is inclined in one direction and the other with respect to the axis of the mounting portion. Thus, it is moved toward the mounting portion.
In other words, the cylindrical soft body is attached to the attachment part by being held by the holding member and being pushed toward the attachment part by the moving mechanism while the tip part is being swung by the swing mechanism.
The distal end portion of the cylindrical soft body is pushed into the mounting portion so that its axis is inclined in one direction or the other with respect to the axis of the mounting portion, that is, while being swung in both directions with respect to the axis of the mounting portion. Therefore, it can be stably attached to the attachment portion regardless of the deformed state of the cylindrical soft body. Therefore, the installation time is stable.
　この筒状軟体物取付装置においては、
　前記揺動機構は、少なくとも、前記筒状軟体物の先端部が、該先端部の軸線が前記取付部の軸線に対して一方に傾斜する第１の傾斜位置と他方に傾斜する第２の傾斜位置とを含むように前記筒状軟体物を揺動させる揺動機構であり、
　前記移動機構は、前記第１の傾斜位置にある筒状軟体物の先端部に対し前記第２の傾斜位置にある筒状軟体物の先端部の方が、前記取付部に対してより移動した位置となるように移動させる移動機構であり、
　前記揺動機構は、前記取付部の軸線に対する前記第１の傾斜位置の傾斜角に比べて前記第２の傾斜位置の傾斜角を小さくする構成とすることができる。 In this cylindrical soft object mounting device,
The swing mechanism includes at least a first inclined position where the tip of the cylindrical soft body is inclined in one direction with respect to the axis of the mounting portion, and a second inclination in which the axis of the tip is inclined to the other. A swing mechanism that swings the cylindrical soft body so as to include a position,
In the moving mechanism, the distal end portion of the cylindrical soft body in the second inclined position has moved more with respect to the attachment portion than the distal end portion of the cylindrical soft body in the first inclined position. It is a moving mechanism that moves to a position,
The swing mechanism may be configured to make the tilt angle of the second tilt position smaller than the tilt angle of the first tilt position with respect to the axis of the mounting portion.
　このように構成すると、筒状軟体物の先端部が取付部に対し取付方向へ移動するにつれて、取付部の軸線に対する筒状軟体物の先端部の傾斜角を小さくすることができるため、移動機構による筒状軟体物の先端部の取付部への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物を取付部に円滑に取り付けることが可能となる。 If comprised in this way, since the inclination angle of the front-end | tip part of a cylindrical soft body with respect to the axis line of an attachment part can be made small as the front-end | tip part of a cylindrical soft body moves to an attachment direction with respect to an attachment part, a moving mechanism It becomes possible to smooth the pushing operation of the tip of the cylindrical soft body to the mounting portion by the above. As a result, the cylindrical soft body can be smoothly attached to the attachment portion.
　この筒状軟体物取付装置においては、
　前記筒状軟体物の先端部を前記取付部の先端に当接させる前に、前記筒状軟体物の先端部に潤滑水を塗布する塗布ノズルをさらに備えている構成とすることができる。
　このように構成すると、筒状軟体物の先端部に潤滑水が塗布されることで、筒状軟体物の先端部の取付部への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物を取付部に円滑に取り付けることが可能となる。 In this cylindrical soft object mounting device,
A configuration may further include an application nozzle that applies lubricating water to the tip of the cylindrical soft object before the tip of the cylindrical soft object is brought into contact with the tip of the mounting portion.
If comprised in this way, it will become possible to smooth the pushing operation to the attachment part of the front-end | tip part of a cylindrical soft body by apply | coating lubricating water to the front-end | tip part of a cylindrical soft body. As a result, the cylindrical soft body can be smoothly attached to the attachment portion.
　この筒状軟体物取付装置においては、
　前記把持部材は、前記筒状軟体物の先端面から、筒状軟体物の先端部の内径の１．５倍以上、４倍以下の部位を把持する構成とすることができる。
　このように構成すると、筒状軟体物を取付部に円滑に取り付けることが可能となる。
　把持部材による把持位置を、筒状軟体物の先端面から、筒状軟体物の先端部の内径の１．５倍未満とすると、筒状軟体物の把持部から先端面までの部分の自由度（撓りやすさ）が低くなって筒状軟体物の先端部の取付部への円滑な押し込み動作が困難になるおそれがある。一方、把持部材による把持位置を、筒状軟体物の先端面から、筒状軟体物の先端部の内径の４倍超とすると、筒状軟体物の把持部から先端面までの部分は、自由度（撓りやすさ）が高くなりすぎて座屈を生じるおそれがある。座屈が生じると筒状軟体物の先端部の取付部への円滑な押し込み動作が困難になる。
　これに対し、把持部材の把持位置を、筒状軟体物の先端面から、筒状軟体物の先端部の内径の１．５倍以上、４倍以下の部位とすることで、筒状軟体物の先端部の取付部への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物を取付部に円滑に取り付けることが可能となる。 In this cylindrical soft object mounting device,
The gripping member can be configured to grip from 1.5 to 4 times the inner diameter of the distal end portion of the cylindrical soft body from the distal end surface of the cylindrical soft body.
If comprised in this way, it will become possible to attach a cylindrical soft body smoothly to an attaching part.
If the gripping position by the gripping member is less than 1.5 times the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body, the degree of freedom of the portion from the grip of the cylindrical soft body to the tip surface (Ease of bending) becomes low, and there is a possibility that it is difficult to smoothly push the tip of the cylindrical soft body into the mounting portion. On the other hand, if the gripping position by the gripping member is more than four times the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body, the portion from the grip of the cylindrical soft body to the tip surface is free. The degree (easy to bend) becomes too high, which may cause buckling. When buckling occurs, it becomes difficult to smoothly push the tip of the cylindrical soft object into the mounting portion.
On the other hand, the gripping position of the gripping member is set to a site that is 1.5 times or more and 4 times or less the inner diameter of the tip of the cylindrical soft body from the tip surface of the cylindrical soft body. It is possible to smooth the push-in operation of the front end portion into the mounting portion. As a result, the cylindrical soft body can be smoothly attached to the attachment portion.
　上記課題を解決するために本発明の筒状軟体物取付方法は、
　先端部が円筒形となっている筒状軟体物の前記先端部を、先端が円筒状または円柱状の剛性を有する取付部の外周に嵌め合わせることで、前記筒状軟体物を前記取付部に取り付ける方法であって、
　前記筒状軟体物を把持部材で把持し、
　この把持部材で把持された筒状軟体物の先端部を前記取付部の先端に当接させた状態で、把持部材および筒状軟体物を、該筒状軟体物の先端部の軸線が前記取付部の軸線に対して一方および他方に傾斜するように揺動機構で揺動させながら、移動機構で前記取付部に向けて移動させることにより筒状軟体物を取付部に取り付けることを特徴とする。 In order to solve the above problem, the cylindrical soft body mounting method of the present invention is:
By fitting the tip of the cylindrical soft body having a cylindrical tip to the outer periphery of a mounting portion having a cylindrical or columnar rigidity, the cylindrical soft object is attached to the mounting portion. A method of attaching,
Grip the cylindrical soft body with a gripping member,
With the tip of the cylindrical soft body gripped by the gripping member in contact with the tip of the mounting portion, the axis of the tip of the cylindrical soft body is attached to the gripping member and the cylindrical soft body. The cylindrical soft body is attached to the attachment portion by being moved toward the attachment portion by a moving mechanism while being oscillated by the oscillating mechanism so as to be inclined in one direction and the other with respect to the axis of the portion. .
　この筒状軟体物取付方法によれば、筒状軟体物は、把持部材で把持され、先端部が取付部の先端に当接させられた状態で、揺動機構によって把持部材とともに当該筒状軟体物の先端部の軸線が前記取付部の軸線に対して一方および他方に傾斜するように揺動させられながら、移動機構によって前記取付部に向けて移動させられることとなる。
　つまり、筒状軟体物は、把持部材で把持され、先端部が揺動機構で揺動させられながら移動機構で取付部に向けて押されることで取付部に取り付けられることとなる。
　そして、筒状軟体物の先端部は、その軸線が取付部の軸線に対して一方および他方に傾斜するように、つまり取付部の軸線に対して両方向に揺動させられながら取付部に押し込まれるので、筒状軟体物の変形状態によらず取付部に安定的に取り付けられる。したがって、取付時間が安定する。 According to this cylindrical soft body mounting method, the cylindrical soft body is gripped by the gripping member, and the cylindrical soft body is held together with the gripping member by the swing mechanism in a state where the tip is in contact with the tip of the mounting portion. While the axis of the tip of the object is swung so as to incline in one direction and the other with respect to the axis of the mounting section, it is moved toward the mounting section by the moving mechanism.
In other words, the cylindrical soft body is attached to the attachment part by being held by the holding member and being pushed toward the attachment part by the moving mechanism while the tip part is being swung by the swing mechanism.
The distal end portion of the cylindrical soft body is pushed into the mounting portion so that its axis is inclined in one direction or the other with respect to the axis of the mounting portion, that is, while being swung in both directions with respect to the axis of the mounting portion. Therefore, it can be stably attached to the attachment portion regardless of the deformed state of the cylindrical soft body. Therefore, the installation time is stable.
本発明に係る筒状軟体物取付装置の実施の形態を示す図で、（ａ）は正面図、（ｂ）は左側面図、（ｃ）は図（ｂ）の部分平面図。It is a figure which shows embodiment of the cylindrical soft body attachment apparatus which concerns on this invention, (a) is a front view, (b) is a left view, (c) is a partial top view of FIG. (B). 同実施の形態の取付動作後の状態を示す図で、（ａ）は正面図、（ｂ）は左側面図。It is a figure which shows the state after the attachment operation | movement of the embodiment, (a) is a front view, (b) is a left view. （ａ）～（ｆ）は作動説明図。(A)-(f) is operation | movement explanatory drawing. （ｇ）～（ｊ）は作動説明図。(G)-(j) is operation | movement explanatory drawing. 変形例を示すを示す図で、（ａ）は正面図、（ｂ）は左側面図、（ｃ）は図（ｂ）の部分平面図。It is a figure which shows a modification, (a) is a front view, (b) is a left view, (c) is a partial top view of figure (b). 他の変形例を示す図で、（ａ）は部分省略正面図、（ｂ）は図（ｂ）の底面図、（ｃ）は図（ａ）におけるｃ－ｃ断面図、（ｄ）は図（ｃ）の拡大図。FIG. 4 is a diagram illustrating another modification, in which (a) is a partially omitted front view, (b) is a bottom view of FIG. (B), (c) is a cross-sectional view taken along line cc in FIG. The enlarged view of (c).
　以下、本発明に係る筒状軟体物取付装置および取付方法の実施の形態について図面を参照して説明する。なお、図面は符号の向きに見るものとする。各図において、同一部分ないし相当する部分には、同一の符号を付してある。 Hereinafter, embodiments of a cylindrical soft object mounting device and a mounting method according to the present invention will be described with reference to the drawings. The drawings are viewed in the direction of the reference numerals. In the drawings, the same or corresponding parts are denoted by the same reference numerals.
　図１に示す筒状軟体物取付装置１は、先端部１１が円筒形となっている筒状軟体物（例えばホース）１０の前記先端部１１を、先端２１が円筒状または円柱状の剛性を有する取付部（例えば樹脂製パイプまたは金属製パイプ）２０の外周２２に嵌め合わせることで、筒状軟体物１０を取付部２０に取り付ける装置である。 The cylindrical soft object mounting apparatus 1 shown in FIG. 1 has the rigidity of the tip part 11 of the cylindrical soft object (for example, a hose) 10 whose tip part 11 is cylindrical, and the tip 21 has a cylindrical or columnar rigidity. This is a device for attaching the cylindrical soft body 10 to the attachment portion 20 by fitting it to the outer periphery 22 of the attachment portion (for example, a resin pipe or a metal pipe) 20 having the same.
　この筒状軟体物取付装置１は、筒状軟体物１０を把持する把持部材３０と、筒状軟体物１０を揺動させる揺動機構４０と、筒状軟体物１０を取付部２０に向けて移動させる移動機構５０とを備えている。 The tubular soft object mounting apparatus 1 includes a gripping member 30 that grips the tubular soft object 10, a swinging mechanism 40 that swings the tubular soft object 10, and the tubular soft object 10 facing the attachment portion 20. And a moving mechanism 50 for moving.
　揺動機構４０は、把持部材３０で把持された筒状軟体物１０の先端部１１を取付部２０の先端２１に当接させた状態で（図３参照）、把持部材３０および筒状軟体物１０を、筒状軟体物１０の先端部１１の軸線Ａ１が取付部２０の軸線Ａ２に対して一方および他方に傾斜するように揺動させる。 The swinging mechanism 40 is in a state where the distal end portion 11 of the cylindrical soft body 10 gripped by the gripping member 30 is in contact with the distal end 21 of the mounting portion 20 (see FIG. 3). 10 is swung so that the axis A1 of the distal end portion 11 of the cylindrical soft body 10 is inclined in one direction and the other with respect to the axis A2 of the attachment portion 20.
　移動機構５０は、揺動機構４０により揺動する把持部材３０および筒状軟体物１０を、取付部２０に向けて移動させる。 The moving mechanism 50 moves the gripping member 30 and the cylindrical soft body 10 that are rocked by the rocking mechanism 40 toward the mounting portion 20.
　上記のような筒状軟体物取付装置１を用いた筒状軟体物取付方法は、筒状軟体物１０を把持部材３０で把持し、この把持部材３０で把持された筒状軟体物１０の先端部１１を取付部２０の先端２１に当接させた状態で、把持部材３０および筒状軟体物１０を、筒状軟体物１０の先端部１１の軸線Ａ１が取付部２０の軸線Ａ２に対して一方および他方に傾斜するように揺動機構４０で揺動させながら、移動機構５０で取付部２０に向けて移動させることにより筒状軟体物１０を取付部２０に取り付けることを特徴としている。 The cylindrical soft body mounting method using the cylindrical soft body mounting apparatus 1 as described above is such that the cylindrical soft body 10 is gripped by the gripping member 30 and the tip of the cylindrical soft body 10 gripped by the gripping member 30. With the portion 11 in contact with the distal end 21 of the mounting portion 20, the gripping member 30 and the cylindrical soft body 10 are arranged so that the axis A 1 of the distal end portion 11 of the cylindrical soft body 10 is relative to the axis A 2 of the mounting portion 20. The cylindrical soft body 10 is attached to the attachment portion 20 by being moved toward the attachment portion 20 by the moving mechanism 50 while being oscillated by the oscillating mechanism 40 so as to be inclined to one side or the other.
　この実施の形態の筒状軟体物取付装置１ないし取付方法によれば、筒状軟体物１０は、把持部材３０で把持され、先端部１１が取付部２０の先端２１に当接させられた状態で、揺動機構４０によって、例えば図３に示すように、筒状軟体物１０の先端部１１の軸線Ａ１が取付部２０の軸線Ａ２に対して一方および他方（図３において右左方向）に傾斜するように揺動させられ、この揺動機構４０により揺動させられる把持部材３０（図３においては図示を省略）および筒状軟体物１０が、移動機構５０によって、取付部２０に向けて移動させられる。 According to the cylindrical soft object mounting apparatus 1 or the mounting method of this embodiment, the cylindrical soft object 10 is gripped by the gripping member 30 and the tip portion 11 is brought into contact with the tip 21 of the mounting portion 20. Thus, as shown in FIG. 3, for example, as shown in FIG. 3, the axis A <b> 1 of the distal end portion 11 of the cylindrical soft body 10 is tilted to one side and the other (right-left direction in FIG. 3) with respect to the axis A < The gripping member 30 (not shown in FIG. 3) and the cylindrical soft body 10 that are swung by the swinging mechanism 40 are moved toward the mounting portion 20 by the moving mechanism 50. Be made.
　つまり、筒状軟体物１０は、把持部材３０で把持され、先端部１１が揺動機構４０で揺動させられながら移動機構５０で取付部２０に向けて押されることで取付部２０に取り付けられることとなる。 That is, the cylindrical soft body 10 is attached to the attachment portion 20 by being held by the holding member 30 and being pushed toward the attachment portion 20 by the moving mechanism 50 while being swung by the swing mechanism 40. It will be.
　そして、筒状軟体物１０の先端部１１は、その軸線Ａ１が取付部２０の軸線Ａ２に対して一方および他方に傾斜するように、つまり取付部２０の軸線Ａ２に対して両方向に揺動させられながら取付部２０に押し込まれるので、筒状軟体物１０の変形状態によらず取付部２０に安定的に取り付けられる。したがって、取付時間が安定する。 The distal end portion 11 of the cylindrical soft body 10 is swung in both directions with respect to the axis A2 of the mounting portion 20 so that the axis A1 is inclined to one side and the other of the axis A2 of the mounting portion 20. Since it is pushed into the attachment portion 20 while being attached, it is stably attached to the attachment portion 20 regardless of the deformation state of the cylindrical soft body 10. Therefore, the installation time is stable.
　把持部材３０は、筒状軟体物１０を揺動させながら取付部２０に押し込むことができるように筒状軟体物１０を把持することができる構造であれば任意の構造を採用し得る。この実施の形態では、平行開閉型のエアチャック機構３１で開閉する一対のクランパ３２，３２で構成されている。図１（ａ）の実線は筒状軟体物１０を把持した状態を示しており、仮想線は筒状軟体物１０を開放する状態を示している。 The gripping member 30 may adopt any structure as long as it can grip the cylindrical soft object 10 so that it can be pushed into the mounting portion 20 while swinging the cylindrical soft object 10. In this embodiment, it is composed of a pair of clampers 32 and 32 that are opened and closed by a parallel open / close type air chuck mechanism 31. A solid line in FIG. 1A indicates a state where the cylindrical soft body 10 is gripped, and a virtual line indicates a state where the cylindrical soft body 10 is opened.
　揺動機構４０は、把持部材３０で筒状軟体物１０を把持したまま把持部材３０と筒状軟体物１０とを一緒に揺動させることができる構成であれば任意の構成を採用し得る。
　この実施の形態では、揺動機構４０は、揺動機構支持体４１と、この揺動機構支持体４１に軸４２で回動可能に支持されたセクター歯車４３と、このセクタ－歯車４３と噛み合うラック４４と、このラック４４を往復動させることで前記セクター歯車４３を軸４２回りに回動（揺動）させるシリンダー４５と、前記セクター歯車４３と軸４２で一体化されていてセクター歯車４３と一緒に回動する把持部材支持体４６とを備えている。この把持部材支持体４６に前記把持部材３０が取り付けられている。
　したがって、シリンダー４５の作動でラック４４が往復動すると、セクター歯車４３、把持部材支持体４６、把持部材３０、および筒状軟体物１０が一緒になって、軸４２回りに回動する。 The swing mechanism 40 may employ any configuration as long as the gripping member 30 and the cylindrical soft body 10 can swing together while gripping the cylindrical soft body 10 with the gripping member 30.
In this embodiment, the oscillating mechanism 40 meshes with the oscillating mechanism support 41, the sector gear 43 that is rotatably supported by the oscillating mechanism support 41 on the shaft 42, and the sector gear 43. A rack 44, a cylinder 45 for rotating (swinging) the sector gear 43 around the shaft 42 by reciprocating the rack 44, and the sector gear 43 integrated with the sector gear 43 and the shaft 42; And a gripping member support 46 that rotates together. The grip member 30 is attached to the grip member support 46.
Therefore, when the rack 44 is reciprocated by the operation of the cylinder 45, the sector gear 43, the gripping member support 46, the gripping member 30, and the cylindrical soft body 10 are rotated together around the shaft 42.
　なお、軸４２は揺動機構支持体４１に対して回動可能に支持され、セクター歯車４３と把持部材支持体４６は軸４２に対して回動不能に取り付けられている。図示のものは、セクター歯車４３と把持部材支持体４６とが軸４２で一体化されているが、軸４２によってではなく、把持部材支持体４６をセクター歯車４３に対して直接一体的に構成することもできる。
　シリンダ４５は揺動機構支持体４１に取り付けられており、そのロッド４５ｒが前記ラック４４に連結されている。 The shaft 42 is supported so as to be rotatable with respect to the swing mechanism support body 41, and the sector gear 43 and the gripping member support body 46 are attached so as not to be rotatable with respect to the shaft 42. In the illustrated example, the sector gear 43 and the gripping member support 46 are integrated by the shaft 42, but the gripping member support 46 is directly integrated with the sector gear 43, not by the shaft 42. You can also.
The cylinder 45 is attached to the swing mechanism support body 41, and its rod 45 r is connected to the rack 44.
　移動機構５０は、揺動機構４０により揺動する把持部材３０および筒状軟体物１０を、取付部２０に向けて移動させることができる構成であれば任意の構成を採用し得る。
　この実施の形態では、移動機構５０は、取付部４２の軸線Ａ２方向に関し、前記揺動機構支持体４１自体を取付部４２の方向に進退動させるシリンダ５１を備えている。 The moving mechanism 50 may employ any configuration as long as it can move the gripping member 30 and the cylindrical soft body 10 that are swung by the swinging mechanism 40 toward the mounting portion 20.
In this embodiment, the moving mechanism 50 includes a cylinder 51 that moves the swinging mechanism support 41 itself forward and backward in the direction of the mounting portion 42 with respect to the direction of the axis A2 of the mounting portion 42.
　シリンダ５１はこの筒状軟体物取付装置１のフレーム１Ｆに取り付けられており、そのロッド５１ｒが揺動機構支持体４１に連結されている。
　したがって、シリンダー５０の作動で揺動機構支持体４１が取付部４２の方向に進退動すると、揺動機構支持体４１に取り付けられている揺動機構４０全体が把持部材３０および筒状軟体物１０と一緒に、取付部４２の方向に進退動する（図２参照）。 The cylinder 51 is attached to the frame 1F of the cylindrical soft object mounting apparatus 1, and the rod 51r is connected to the swing mechanism support body 41.
Therefore, when the swing mechanism support body 41 moves back and forth in the direction of the mounting portion 42 by the operation of the cylinder 50, the entire swing mechanism 40 attached to the swing mechanism support body 41 becomes the gripping member 30 and the cylindrical soft object 10. And move forward and backward in the direction of the mounting portion 42 (see FIG. 2).
　５２、５２は揺動機構支持体４１の両側に取り付けられたガイドブロック、５３はガイドブロック５２を案内するガイドロッドである。ガイドロッド５２は前記フレーム１Ｆに取り付けられている。５４はロッド５１ｒと揺動機構支持体４１との連結部である。 52 and 52 are guide blocks attached to both sides of the swinging mechanism support 41, and 53 is a guide rod for guiding the guide block 52. The guide rod 52 is attached to the frame 1F. Reference numeral 54 denotes a connecting portion between the rod 51r and the swinging mechanism support 41.
　図１に示すように、この実施の形態の取付部２０は樹脂製のパイプであり、先端２１に、本体部２３より径が大きい拡径部２１ｃと、この拡径部２１ｃにＲ形状２１ｒを介して連続する縮径部２１ｂとを有している。 As shown in FIG. 1, the mounting portion 20 of this embodiment is a resin pipe, and an enlarged portion 21 c having a diameter larger than that of the main body portion 23 is formed at the tip 21, and an R shape 21 r is formed on the enlarged portion 21 c. And a diameter-reduced portion 21b continuous therewith.
　このように構成すると、筒状軟体物１０の先端部１１を、取付部２０の先端２１に対して揺動させやすくなる。したがって、筒状軟体物１０の先端部１１を取付部２０に取り付けやすくなる。 With this configuration, it becomes easy to swing the distal end portion 11 of the cylindrical soft body 10 with respect to the distal end 21 of the mounting portion 20. Therefore, it becomes easy to attach the front end portion 11 of the cylindrical soft body 10 to the attachment portion 20.
　取付部２０は、保持部材６０によって保持される。
　保持部材６０は、取付部２０を確実に保持することができる構造であれば任意の構造を採用し得る。本実施の形態では、平行開閉型のエアチャック機構６１で開閉する一対のクランパ６２，６２で構成されている。図１（ａ）の実線は取付部２０を保持した状態を示しており、仮想線は取付部２０を開放する状態を示している。 The attachment portion 20 is held by the holding member 60.
The holding member 60 can adopt any structure as long as it can hold the mounting portion 20 reliably. In this embodiment, it is composed of a pair of clampers 62 and 62 that are opened and closed by a parallel open / close type air chuck mechanism 61. A solid line in FIG. 1A indicates a state where the mounting portion 20 is held, and a virtual line indicates a state where the mounting portion 20 is opened.
　揺動機構４０は、筒状軟体物１０の揺動動作中において、少なくとも、筒状軟体物１０の先端部１１が、該先端部１１の軸線Ａ１が取付部２０の軸線Ａ２に対して一方に傾斜する第１の傾斜位置（例えば図３（ｃ）に傾斜角θ１で示す位置）と他方に傾斜する第２の傾斜位置（例えば図３（ｅ）に傾斜角θ２で示す位置）とが含まれるように筒状軟体物１０を揺動させる。 During the swinging operation of the cylindrical soft body 10, the swing mechanism 40 has at least the distal end portion 11 of the cylindrical soft body 10 so that the axis A <b> 1 of the distal end portion 11 is in one direction with respect to the axis A <b> 2 of the mounting portion 20. A first inclined position that is inclined (for example, a position indicated by an inclination angle θ1 in FIG. 3C) and a second inclined position that is inclined to the other side (for example, a position indicated by an inclination angle θ2 in FIG. 3E) are included. The cylindrical soft body 10 is swung so as to be
　また、移動機構５０は、第１の傾斜位置にある筒状軟体物１０の先端部１１（例えば図３（ｃ）参照）に対し第２の傾斜位置にある筒状軟体物１０の先端部１１（例えば図３（ｅ）参照）の方が、取付部２０に対してより移動した（進んだ）位置となるように移動させる。 In addition, the moving mechanism 50 has a distal end portion 11 of the cylindrical soft body 10 in the second inclined position with respect to the distal end portion 11 (see, for example, FIG. 3C) of the cylindrical soft body 10 in the first inclined position. (For example, refer FIG.3 (e)), it is moved so that it may become the position which moved more (advanced) with respect to the attaching part 20. FIG.
　そしてさらに、揺動機構４０は、取付部２０の軸線Ａ２に対する前記第１の傾斜位置の傾斜角（例えばθ１）に比べて前記第２の傾斜位置の傾斜角（例えばθ２）を小さくする。 Further, the swing mechanism 40 reduces the tilt angle (for example, θ2) of the second tilt position as compared to the tilt angle (for example, θ1) of the first tilt position with respect to the axis A2 of the mounting portion 20.
　このように構成すると、筒状軟体物１０の先端部１１が取付部２０に対し取付方向へ移動するにつれて、取付部２０の軸線Ａ２に対する筒状軟体物１０の先端部１１の傾斜角を小さくすることができるため、移動機構５０による筒状軟体物１０の先端部１１の取付部２０への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物１０を取付部２０に円滑に取り付けることが可能となる。 If comprised in this way, the inclination | tilt angle of the front-end | tip part 11 of the cylindrical soft body 10 with respect to the axis A2 of the attachment part 20 will become small as the front-end | tip part 11 of the cylindrical soft body 10 moves to an attachment direction with respect to the attachment part 20. Therefore, the pushing operation of the distal end portion 11 of the cylindrical soft body 10 to the attachment portion 20 by the moving mechanism 50 can be smoothed. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.
　図３は、この実施の形態による筒状軟体物１０の取付部２０への取付動作の一具体例の説明図である。
　この具体例では、図３（ａ）に示すように筒状軟体物１０の先端部１１を一方側および他方側への揺動を２回（計４回）行いながら筒状軟体物１０の先端部１１を取付部２０へ向け移動させて押し込むようにして取り付ける。その動作は揺動機構４０および移動機構５０によってなされる。
　以下、順を追って説明する。 FIG. 3 is an explanatory diagram of a specific example of the operation of attaching the cylindrical soft body 10 to the attachment portion 20 according to this embodiment.
In this specific example, as shown in FIG. 3A, the tip of the cylindrical soft body 10 is moved while the tip 11 of the cylindrical soft body 10 is swung twice on one side and the other side (four times in total). The part 11 is moved toward the attachment part 20 and attached so as to be pushed. The operation is performed by the swing mechanism 40 and the moving mechanism 50.
In the following, description will be given in order.
（１）　把持部材３０（図１参照）で筒状軟体物１０を把持し、移動機構５０で筒状軟体物１０の先端部１１を取付部２０に向けて移動させ、図３（ｂ）に示すように、先端部１１の先端面１１ｓを取付部２０の先端２１に当接または近接させた状態に位置決めする。 (1) The cylindrical soft body 10 is gripped by the gripping member 30 (see FIG. 1), and the distal end portion 11 of the cylindrical soft body 10 is moved toward the mounting portion 20 by the moving mechanism 50. FIG. 3 (b) As shown, the distal end surface 11 s of the distal end portion 11 is positioned in a state in which the distal end surface 11 s is in contact with or close to the distal end 21 of the mounting portion 20.
（２）　図３（ｂ）から（ｃ）に示すように筒状軟体物１０の先端部１１を一方側へ傾斜角θ１まで傾斜させながら取付部２０へ向けて進める。 (2) As shown in FIGS. 3B to 3C, the tip end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined to the inclination angle θ1 to one side.
（３）　図３（ｃ）から（ｅ）に示すように、筒状軟体物１０の先端部１１を他方側へ傾斜角θ２まで傾斜させながら取付部２０へ向けて進める。
　この過程で図３（ｄ）に示すように、筒状軟体物１０の先端部１１の軸線Ａ１と取付部２０の軸線Ａ２とが一致する状態が生じ、この状態においても移動機構５０による筒状軟体物１０の先端部１１の取付部２０への押し込み動作は生じているから、筒状軟体物１０の先端部１１の取付部２０への押し込みが促進される。
　なお、θ２＜θ１である。 (3) As shown in FIGS. 3C to 3E, the distal end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined to the other side to the inclination angle θ2.
In this process, as shown in FIG. 3D, a state occurs in which the axis A1 of the distal end portion 11 of the cylindrical soft body 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the distal end portion 11 of the soft body 10 into the attachment portion 20 occurs, the pushing of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20 is promoted.
Note that θ2 <θ1.
（４）　図３（ｅ）から図４（ｇ）に示すように、筒状軟体物１０の先端部１１を再び一方側へ傾斜角θ３まで傾斜させながら取付部２０へ向けて進める。
　この過程で図３（ｆ）に示すように、筒状軟体物１０の先端部１１の軸線Ａ１と取付部２０の軸線Ａ２とが一致する状態が生じ、この状態においても移動機構５０による筒状軟体物１０の先端部１１の取付部２０への押し込み動作は生じているから、筒状軟体物１０の先端部１１の取付部２０への押し込みが促進される。
　なお、θ３＜θ２である。 (4) As shown in FIGS. 3 (e) to 4 (g), the distal end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined again to the one side to the inclination angle θ3.
In this process, as shown in FIG. 3 (f), a state occurs in which the axis A1 of the distal end portion 11 of the cylindrical soft body 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the distal end portion 11 of the soft body 10 into the attachment portion 20 occurs, the pushing of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20 is promoted.
Note that θ3 <θ2.
（５）　図４（ｇ）から図４（ｉ）に示すように、筒状軟体物１０の先端部１１を再び他方側へ傾斜角θ４まで傾斜させながら取付部２０へ向けて進める。
　この過程で図３（ｈ）に示すように、筒状軟体物１０の先端部１１の軸線Ａ１と取付部２０の軸線Ａ２とが一致する状態が生じ、この状態においても移動機構５０による筒状軟体物１０の先端部１１の取付部２０への押し込み動作は生じているから、筒状軟体物１０の先端部１１の取付部２０への押し込みが促進される。
　なお、θ４＜θ３である。 (5) As shown in FIG. 4G to FIG. 4I, the distal end portion 11 of the cylindrical soft body 10 is advanced toward the attachment portion 20 while being inclined again to the inclination angle θ4 toward the other side.
In this process, as shown in FIG. 3 (h), a state occurs in which the axis A1 of the distal end portion 11 of the cylindrical soft body 10 and the axis A2 of the mounting portion 20 coincide with each other. Since the pushing operation of the distal end portion 11 of the soft body 10 into the attachment portion 20 occurs, the pushing of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20 is promoted.
Note that θ4 <θ3.
（６）　図４（ｉ）から（ｊ）に示すように、筒状軟体物１０の先端部１１を中立位置（軸線Ａ１とＡ２とが一致する位置）まで戻しながら取付部２０へ向けて進めることによって、筒状軟体物１０の先端部１１の取付部２０への取付動作が終了する。
　取付動作が終了した時点での装置１の状態を図２に示す。 (6) As shown in FIGS. 4I to 4J, the distal end portion 11 of the cylindrical soft body 10 is advanced toward the mounting portion 20 while returning to the neutral position (a position where the axes A1 and A2 coincide). Thereby, the attachment operation | movement to the attachment part 20 of the front-end | tip part 11 of the cylindrical soft body 10 is complete | finished.
FIG. 2 shows the state of the device 1 at the time when the mounting operation is completed.
　なお、以上のような動作を含め、この筒状軟体物取付装置１の動作は、図示しない制御部によって制御される。
　また、図３，図４に示した例では、筒状軟体物１０の先端部１１の一方側および他方側への揺動を各２としたが、その回数は、一方側一回以上、他方側一回以上であれば、筒状軟体物１０の形状や材質、および取付部２０の形状や材質に応じて適宜設定できる。 In addition, operation | movement of this cylindrical soft body attachment apparatus 1 including the above operations is controlled by the control part which is not shown in figure.
In the example shown in FIGS. 3 and 4, the tip portion 11 of the cylindrical soft body 10 is swung to one side and the other side, but the number of times is one or more times on one side, If it is one or more times on the side, it can be appropriately set according to the shape and material of the cylindrical soft body 10 and the shape and material of the mounting portion 20.
　図１（ｂ）に示すように、この筒状軟体物取付装置１は、筒状軟体物１０の先端部１１を取付部２０の先端２１に当接させる前に、筒状軟体物１０の先端部１１に潤滑水Ｗを塗布する塗布ノズル１ｎを備えている。 As shown in FIG. 1 (b), the tubular soft object mounting apparatus 1 is configured such that the distal end of the tubular soft object 10 is brought into contact with the distal end 21 of the attachment part 20 before the distal end portion 11 of the tubular soft object 10 is brought into contact with the distal end 21. The part 11 is provided with an application nozzle 1n for applying the lubricating water W.
　このように構成すると、筒状軟体物１０の先端部１１に潤滑水Ｗが塗布されることで、筒状軟体物１０の先端部１１の取付部２０への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物１０を取付部２０に円滑に取り付けることが可能となる。 If comprised in this way, the lubrication water W is apply | coated to the front-end | tip part 11 of the cylindrical soft body 10, and the pushing operation to the attachment part 20 of the front-end | tip part 11 of the cylindrical soft body 10 can be smoothed. It becomes. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.
　図１（ｂ）に示すように、把持部材３０は、筒状軟体物１０の先端面１１ｓから、筒状軟体物１０の先端部１１の内径Ｄ１の１．５倍以上、４倍以下の部位を把持する構成とすることが望ましい。つまり、筒状軟体物１０の先端面１１ｓから把持位置までの長さＬ１は内径Ｄ１の１．５倍以上、４倍以下とするのが望ましい。
　このように構成すると、筒状軟体物１０を取付部２０により円滑に取り付けることが可能となる。
　なお、先端部１１の内径Ｄ１は、通常、１５～２５．８ｍｍである。この場合、取付部２０の拡径部２１ｃの最大外径（Ｒ形状２１ｒ部分の外径）D２は１５．５～２６ｍｍ、本体部２３の外径Ｄ３は１４～２５ｍｍである。各径は、Ｄ３＜Ｄ１＜Ｄ２が成立するように設定される。 As shown in FIG. 1B, the gripping member 30 is a portion that is 1.5 times or more and 4 times or less the inner diameter D <b> 1 of the distal end portion 11 of the cylindrical soft body 10 from the front end surface 11 s of the cylindrical soft body 10. It is desirable to have a configuration for gripping That is, it is desirable that the length L1 from the distal end surface 11s to the gripping position of the cylindrical soft body 10 is 1.5 times or more and 4 times or less of the inner diameter D1.
If comprised in this way, it will become possible to attach the cylindrical soft body 10 smoothly by the attachment part 20. FIG.
The inner diameter D1 of the distal end portion 11 is normally 15 to 25.8 mm. In this case, the maximum outer diameter (outer diameter of the R-shaped 21r portion) D2 of the enlarged diameter portion 21c of the mounting portion 20 is 15.5 to 26 mm, and the outer diameter D3 of the main body portion 23 is 14 to 25 mm. Each diameter is set so that D3 <D1 <D2.
　把持部材３０による把持位置を、筒状軟体物１０の先端面１１ｓから、筒状軟体物１０の先端部１１の内径Ｄ１の１．５倍未満とすると、筒状軟体物１０の把持部から先端面１１ｓまでの部分の自由度（撓りやすさ）が低くなって筒状軟体物１０の先端部１１の取付部２０への円滑な押し込み動作が困難になるおそれがある。一方、把持部材３０による把持位置を、筒状軟体物１０の先端面１１ｓから、筒状軟体物１０の先端部１１の内径Ｄ１の４倍超とすると、筒状軟体物１０の把持部から先端面１１ｓまでの部分は、自由度（撓りやすさ）が高くなりすぎて座屈を生じるおそれが高くなる。座屈が生じると筒状軟体物１０の先端部１１の取付部２０への円滑な押し込み動作が困難になる。 When the gripping position by the gripping member 30 is less than 1.5 times the inner diameter D1 of the distal end portion 11 of the cylindrical soft body 10 from the distal end surface 11s of the cylindrical soft body 10, the gripping portion of the cylindrical soft body 10 from the distal end There is a possibility that the degree of freedom (easy to bend) of the portion up to the surface 11 s becomes low, and it is difficult to smoothly push the tip portion 11 of the cylindrical soft body 10 into the mounting portion 20. On the other hand, when the gripping position by the gripping member 30 is more than four times the inner diameter D1 of the distal end portion 11 of the cylindrical soft body 10 from the distal end surface 11s of the cylindrical soft body 10, the gripping portion of the cylindrical soft body 10 is advanced from the distal end surface. In the portion up to the surface 11s, the degree of freedom (easy to bend) becomes too high, and there is a high risk of buckling. When buckling occurs, it becomes difficult to smoothly push the distal end portion 11 of the cylindrical soft object 10 into the mounting portion 20.
　これに対し、把持部材３０の把持位置を、筒状軟体物１０の先端面１１ｓから、筒状軟体物１０の先端部１１の内径Ｄ１の１．５倍以上、４倍以下の部位とすることで、先端部１１の自由度を確保しながら座屈も生じ難くすることができる。したがって、筒状軟体物１０の先端部１１の取付部２０への押し込み動作を円滑化することが可能となる。結果として、筒状軟体物１０を取付部２０に円滑に取り付けることが可能となる。 On the other hand, the gripping position of the gripping member 30 is set to a site that is 1.5 times or more and 4 times or less than the inner diameter D1 of the distal end portion 11 of the cylindrical soft object 10 from the distal end surface 11s of the cylindrical soft object 10. Thus, buckling can be made difficult to occur while ensuring the degree of freedom of the tip portion 11. Therefore, it becomes possible to smooth the pushing operation of the distal end portion 11 of the cylindrical soft body 10 into the attachment portion 20. As a result, the cylindrical soft body 10 can be smoothly attached to the attachment portion 20.
　以上、本発明の実施の形態について説明したが、本発明は上記の実施の形態に限定されるものではなく、本発明の要旨の範囲内において適宜変形実施可能である。 The embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and can be appropriately modified within the scope of the gist of the present invention.
　例えば、揺動機構４０は、前述したセクタ－歯車４３とラック４４とによる機構に代えて、図５に示すように、シリンダ４５で進退動される溝カム７０と、この溝カム７０のカム溝７１と係合するカムフォロアであるピン７２とで構成することもできる。ピン７２は把持部材支持体４６に取り付けられている。 For example, the rocking mechanism 40 is replaced with the above-described mechanism by the sector gear 43 and the rack 44, and as shown in FIG. It can also be constituted by a pin 72 which is a cam follower engaged with 71. The pin 72 is attached to the gripping member support 46.
　また、例えば図６に示すように、取付部２０を複数（図示のものは３つ）有する集合管２５の各取付部２０に筒状軟体物１０を取り付ける場合には、同図に示すように、回転軸３３の先端部に開閉可能な３本指状のチャック３４を有するロボットハンド３５で集合管２５を把持し、各取付部２０を順次筒状軟体物１０に対向させるように矢印Ｒ方向へ間欠回転させて、各取付部２０に筒状軟体物１０を取り付けるようにすることもできる。
　この場合、保持部材６０は取付部２０の位置決め部材としての役割も果たす。 For example, as shown in FIG. 6, when the cylindrical soft body 10 is attached to each attachment portion 20 of the collecting pipe 25 having a plurality of attachment portions 20 (three shown in the figure), as shown in FIG. The collecting tube 25 is gripped by a robot hand 35 having a three-finger chuck 34 that can be opened and closed at the tip of the rotating shaft 33, and each mounting portion 20 is sequentially opposed to the cylindrical soft body 10 in the direction of arrow R. The cylindrical soft body 10 can be attached to each attachment portion 20 by intermittent rotation.
In this case, the holding member 60 also serves as a positioning member for the mounting portion 20.
　図６において、８０は締付バンドである。締付バンド８０は、取付部２０に取り付けられた筒状軟体物１０の先端部１１を取付部２０に対して締め付けるためのものである。８１は締付ボルトである。９２，９２は締付バンド８０の位置決め部材である。位置決め部材９２，９２は、クランパ６２，６２と同様に平行開閉型のエアチャック機構で開閉可能に構成されている。位置決め部材９２，９２は、クランパ６２，６２上で、取付部２０の周りに、締付バンド８０の中心８０ａを取付部の中心２０ａに対して偏心させた状態で位置決めする。
　このように構成すると、締付ボルト８１による締付動作を円滑に行うことができる。 In FIG. 6, 80 is a fastening band. The fastening band 80 is for fastening the distal end portion 11 of the cylindrical soft body 10 attached to the attachment portion 20 to the attachment portion 20. Reference numeral 81 denotes a fastening bolt. Reference numerals 92 and 92 denote positioning members for the fastening band 80. The positioning members 92 and 92 are configured to be opened and closed by a parallel opening and closing type air chuck mechanism, like the clampers 62 and 62. The positioning members 92 and 92 are positioned on the clampers 62 and 62 around the attachment portion 20 in a state where the center 80a of the fastening band 80 is eccentric with respect to the center 20a of the attachment portion.
If comprised in this way, the clamping operation | movement with the clamping bolt 81 can be performed smoothly.
　また、上記の実施形態においては、軸Ａ２に対して二次元で軸Ａ１を揺動させる、すなわち、図３（ｃ）で示すように取付部２０の先端２１より下方に筒状軟体物の先端部１１の一部（紙面右端）を位置させた状態で筒状軟体物の先端部１１を反対側（紙面左側）に揺動させることで、一端をひっかけたまま図（ｄ）で示すように筒状軟体物の先端部１１の端部全周を取付部先端２１より下方に位置させるようにしたが、軸Ａ２に対して三次元で軸Ａ１を揺動させる、即ち、軸Ａ２に対して軸Ａ１を傾斜させつつ回転させるように揺動させて筒状軟体物の先端部１１の端部全周を取付部先端２１より下方に位置させるようにすることもできる。 In the above embodiment, the axis A1 is swung two-dimensionally with respect to the axis A2, that is, as shown in FIG. 3C, the tip of the cylindrical soft body is below the tip 21 of the mounting portion 20. As shown in FIG. 4D, the tip 11 of the cylindrical soft body is swung to the opposite side (left side of the paper) with a part of the portion 11 (right side of the paper surface) being positioned, and the one end is caught. Although the entire circumference of the end of the tip 11 of the cylindrical soft body is positioned below the attachment tip 21, the axis A1 is swung in three dimensions with respect to the axis A2, that is, with respect to the axis A2. It is also possible to swing the shaft A1 so as to rotate while inclining, so that the entire circumference of the end portion 11 of the cylindrical soft body is positioned below the attachment portion tip 21.
　１：筒状軟体物取付装置、１ｎ：塗布ノズル、１０：筒状軟体物、１１：先端部、１１ｓ：先端面、２０：取付部、２１：先端、２２：外周、３０：把持部材、Ａ１：先端部１１の軸線、Ａ２：取付部２０の軸線、４０：揺動機構、５０：移動機構。 DESCRIPTION OF SYMBOLS 1: Cylindrical soft body attachment apparatus, 1n: Application | coating nozzle, 10: Cylindrical soft body, 11: Front-end | tip part, 11s: Front-end | tip surface, 20: Attachment part, 21: Front-end | tip, 22: Outer periphery, 30: Holding member, A1 : Axis of tip 11, A2: Axis of attachment 20, 40: swing mechanism, 50: moving mechanism.

Claims (5)

  1. 　先端部（１１）が円筒形となっている筒状軟体物（１０）の前記先端部（１１）を、先端が円筒状または円柱状の剛性を有する取付部（２０）の外周に嵌め合わせることで、前記筒状軟体物（１０）を前記取付部（２０）に取り付ける装置であって、
    　前記筒状軟体物（１０）を把持する把持部材（３０）と、
    　この把持部材（３０）で把持された筒状軟体物（１０）の先端部（１１）を前記取付部（２０）の先端（２１）に当接させた状態で、把持部材（３０）および筒状軟体物（１０）を、該筒状軟体物（１０）の先端部（１１）の軸線（Ａ１）が前記取付部（２０）の軸線（Ａ２）に対して一方および他方に傾斜するように揺動させる揺動機構（４０）と、
    　この揺動機構（４０）により揺動する前記把持部材（３０）および筒状軟体物（１０）を、前記取付部（２０）に向けて移動させる移動機構（５０）と、
    を備えていることを特徴とする筒状軟体物取付装置。     The front end portion (11) of the cylindrical soft body (10) having the front end portion (11) having a cylindrical shape is fitted to the outer periphery of the attachment portion (20) having a cylindrical or columnar rigidity. In the apparatus for attaching the cylindrical soft body (10) to the attachment portion (20),
    A gripping member (30) for gripping the cylindrical soft body (10);
    With the tip (11) of the cylindrical soft body (10) gripped by the gripping member (30) in contact with the tip (21) of the mounting portion (20), the gripping member (30) and the cylinder The cylindrical soft body (10) so that the axis (A1) of the tip (11) of the cylindrical soft body (10) is inclined to one side and the other with respect to the axis (A2) of the mounting portion (20). A rocking mechanism (40) for rocking;
    A moving mechanism (50) for moving the gripping member (30) and the cylindrical soft body (10) that are swung by the swinging mechanism (40) toward the mounting portion (20);
    A cylindrical soft object mounting apparatus comprising:
  2. 　請求項１において、
    　前記揺動機構（４０）は、少なくとも、前記筒状軟体物（１０）の先端部（１１）が、該先端部（１１）の軸線（Ａ１）が前記取付部（２０）の軸線（Ａ２）に対して一方に傾斜する第１の傾斜位置と他方に傾斜する第２の傾斜位置とを含むように前記筒状軟体物（１０）を揺動させる揺動機構（４０）であり、
    　前記移動機構（５０）は、前記第１の傾斜位置にある筒状軟体物（１０）の先端部（１１）に対し前記第２の傾斜位置にある筒状軟体物（１０）の先端部（１１）の方が、前記取付部（２０）に対してより移動した位置となるように移動させる移動機構（５０）であり、
    　前記揺動機構（４０）は、前記取付部（２０）の軸線（Ａ２）に対する前記第１の傾斜位置の傾斜角に比べて前記第２の傾斜位置の傾斜角を小さくすることを特徴とする筒状軟体物取付装置。     In claim 1,
    The rocking mechanism (40) includes at least the tip (11) of the cylindrical soft body (10), and the axis (A1) of the tip (11) is the axis (A2) of the attachment (20). A swing mechanism (40) for swinging the cylindrical soft body (10) so as to include a first tilt position tilted to one side and a second tilt position tilted to the other side,
    The moving mechanism (50) includes a distal end portion (10) of the cylindrical soft body (10) in the second inclined position with respect to a distal end portion (11) of the cylindrical soft body (10) in the first inclined position. 11) is a moving mechanism (50) that moves to a position moved more with respect to the mounting portion (20),
    The swing mechanism (40) is characterized in that the tilt angle of the second tilt position is smaller than the tilt angle of the first tilt position with respect to the axis (A2) of the mounting portion (20). Cylindrical soft object mounting device.
  3. 　請求項１または２において、
    　前記筒状軟体物（１０）の先端部（１１）を前記取付部（２０）の先端（２１）に当接させる前に、前記筒状軟体物（１０）の先端部（１１）に潤滑水（Ｗ）を塗布する塗布ノズル（１ｎ）をさらに備えていることを特徴とする筒状軟体物取付装置。     In claim 1 or 2,
    Before bringing the tip (11) of the cylindrical soft body (10) into contact with the tip (21) of the mounting portion (20), lubricating water is applied to the tip (11) of the cylindrical soft body (10). A cylindrical soft object mounting apparatus, further comprising an application nozzle (1n) for applying (W).
  4. 　請求項１～３のうちいずれか一項において、
    　前記把持部材（３０）は、前記筒状軟体物（１０）の先端面（１１ｓ）から、筒状軟体物（１０）の先端部（１１）の内径（Ｄ１）の１．５倍以上、４倍以下の部位を把持することを特徴とする筒状軟体物取付装置。     In any one of claims 1 to 3,
    The gripping member (30) is at least 1.5 times the inner diameter (D1) of the distal end portion (11) of the cylindrical soft body (10) from the front end surface (11s) of the cylindrical soft body (10). A cylindrical soft object mounting apparatus characterized by gripping a portion equal to or less than double.
  5. 　先端部（１１）が円筒形となっている筒状軟体物（１０）の前記先端部（１１）を、先端が円筒状または円柱状の剛性を有する取付部（２０）の外周（２２）に嵌め合わせることで、前記筒状軟体物（１０）を前記取付部（２０）に取り付ける方法であって、
    　前記筒状軟体物（１０）を把持部材（３０）で把持し、
    　この把持部材（３０）で把持された筒状軟体物（１０）の先端部（１１）を前記取付部（２０）の先端（２１）に当接させた状態で、把持部材（３０）および筒状軟体物（１０）を、該筒状軟体物（１０）の先端部（１１）の軸線（Ａ１）が前記取付部（２０）の軸線（Ａ２）に対して一方および他方に傾斜するように揺動機構（４０）で揺動させながら、移動機構（５０）で前記取付部（２０）に向けて移動させることにより筒状軟体物（１０）を取付部（２０）に取り付けることを特徴とする筒状軟体物取付方法。     The distal end portion (11) of the cylindrical soft body (10) having the distal end portion (11) having a cylindrical shape is placed on the outer periphery (22) of the attachment portion (20) having a cylindrical or columnar rigidity at the distal end. It is a method of attaching the cylindrical soft body (10) to the attachment portion (20) by fitting,
    The cylindrical soft body (10) is gripped by a gripping member (30),
    With the tip (11) of the cylindrical soft body (10) gripped by the gripping member (30) in contact with the tip (21) of the mounting portion (20), the gripping member (30) and the cylinder The cylindrical soft body (10) so that the axis (A1) of the tip (11) of the cylindrical soft body (10) is inclined to one side and the other with respect to the axis (A2) of the mounting portion (20). The cylindrical soft body (10) is attached to the attachment portion (20) by being moved toward the attachment portion (20) by the moving mechanism (50) while being oscillated by the oscillation mechanism (40). How to attach a cylindrical soft object.
PCT/JP2017/003633 2017-02-01 2017-02-01 Device and method for attaching cylindrical soft object WO2018142513A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018565145A JP6709860B2 (en) 2017-02-01 2017-02-01 Cylindrical soft object mounting device and mounting method
PCT/JP2017/003633 WO2018142513A1 (en) 2017-02-01 2017-02-01 Device and method for attaching cylindrical soft object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/003633 WO2018142513A1 (en) 2017-02-01 2017-02-01 Device and method for attaching cylindrical soft object

Publications (1)

Publication Number Publication Date
WO2018142513A1 true WO2018142513A1 (en) 2018-08-09

Family

ID=63039411

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/003633 WO2018142513A1 (en) 2017-02-01 2017-02-01 Device and method for attaching cylindrical soft object

Country Status (2)

Country Link
JP (1) JP6709860B2 (en)
WO (1) WO2018142513A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020015097A (en) * 2018-07-23 2020-01-30 株式会社Ｆｕｊｉ Control system of assembly robot and control method of the same
JP2020192617A (en) * 2019-05-24 2020-12-03 株式会社ジェイテクト Fitting device and fitting method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0435063Y2 (en) * 1987-01-12 1992-08-20
JPH07108427A (en) * 1993-10-07 1995-04-25 Kanto Giken Kk Soft hose insertion and assembly method and device
JP2000301420A (en) * 1999-04-16 2000-10-31 Churyo Eng Kk Fitting and inserting device for hose
JP2002370129A (en) * 2001-06-12 2002-12-24 Denso Corp Hose assembling method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0435063Y2 (en) * 1987-01-12 1992-08-20
JPH07108427A (en) * 1993-10-07 1995-04-25 Kanto Giken Kk Soft hose insertion and assembly method and device
JP2000301420A (en) * 1999-04-16 2000-10-31 Churyo Eng Kk Fitting and inserting device for hose
JP2002370129A (en) * 2001-06-12 2002-12-24 Denso Corp Hose assembling method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020015097A (en) * 2018-07-23 2020-01-30 株式会社Ｆｕｊｉ Control system of assembly robot and control method of the same
JP7096726B2 (en) 2018-07-23 2022-07-06 株式会社Fuji Control system for assembly robot and its control method
JP2020192617A (en) * 2019-05-24 2020-12-03 株式会社ジェイテクト Fitting device and fitting method
JP7322509B2 (en) 2019-05-24 2023-08-08 株式会社ジェイテクト Assembly device and assembly method

Also Published As

Publication number Publication date
JPWO2018142513A1 (en) 2019-11-07
JP6709860B2 (en) 2020-06-17

Similar Documents

Publication Publication Date Title
JP7141500B2 (en) surgical robot
US10591029B2 (en) Apparatus for advancement along a predetermined curved trajectory and a method for operation thereof
WO2018142513A1 (en) Device and method for attaching cylindrical soft object
JP2005131173A (en) Externally mounted channel for endoscope
JPWO2017006377A1 (en) Surgical robot
JP2006159305A (en) Filament body guide device for robot and robot provided with filament body guide device
JP6711066B2 (en) Robot, gear device, and method for manufacturing flexible gear
CN107260311B (en) Instrument transmission assembly, surgical instrument of surgical robot and surgical robot
JP6373288B2 (en) Hand mechanism
US20190329004A1 (en) Flexible catheter using wires
KR101800075B1 (en) Biopsy forceps with function of steering head
JP3069109B2 (en) Endoscope device
JP2021183261A (en) Shaft for in vivo recovery mechanism, and in vivo recovery mechanism
CN106455914A (en) Guide apparatus and surgery system
JP2015131308A (en) Mandrel device for tube bending processing and bending processing method of tube
US20140331818A1 (en) Flexible tubular shaft
KR101237893B1 (en) Surgical joint, surgical tool, and apparatus
WO2016158279A1 (en) Robot hand and joint unit
JP2018187744A (en) Wire operation device and wire restraint method
JP2008036675A (en) Bending apparatus
JPH0342122A (en) Method, device and bending mandrel for bending multi-layered pipe
WO2021166217A1 (en) Forceps device
CN104434016A (en) Laparoscopic two-dimensional bending controllable choledochoscope clamp
JP2010088639A (en) Treatment instrument for endoscope
JP7365519B1 (en) Work jig

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17895190

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018565145

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17895190

Country of ref document: EP

Kind code of ref document: A1