JP6530689B2 - Ring member assembly device - Google Patents

Description

  The present invention relates to a ring-shaped member assembling device.

  Patent Document 1 discloses a technique for sucking and adsorbing an O-ring by a nozzle and mounting the O-ring in a recess formed in a work. For example, the ring-shaped seal suction nozzle 100 disclosed in FIGS. 5 and 6 of Patent Document 1 has its movement controlled by the universal assembly machine 10, and the O-ring S held at the tip of the nozzle works together with the main body 105 It is inserted into a cylindrical O-ring mounting recess W1 formed in W. After the O-ring S is carried into the O-ring mounting recess W1, the holding of the O-ring S is released, and the O-ring S is mounted in the ring-shaped mounting groove W2 in the bottom surface. According to such a configuration, automatic attachment of the O-ring S to the work W becomes possible.

JP 2012-24892 A

  The workpiece W disclosed in Patent Document 1 is configured such that the O-ring mounting recess W1 is formed in a step-like shape, and a first diameter of the inner region of the O-ring mounting recess W1 is large on the opening side (shallow region). A hole is formed. A second hole smaller in diameter than the first hole is in communication with a deeper side (a deeper area) than the first hole. That is, the first hole with a small diameter and the second hole with a large diameter are formed in a step-like manner. And the 2nd hole provided in the back side of the depth direction serves as the accommodation field of O ring S. When the O-ring S is assembled to such a work W, if the position of the ring-shaped seal suction nozzle 100 with respect to the O-ring mounting recess W1 is shifted in the moving process, the held O-ring S is attached to the O-ring There is a risk of contacting the step portion of the recess W1, that is, the open end of the second hole.

  As described above, in the assembling apparatus for assembling the ring-shaped member such as the O-ring to the object, the contact of the ring-shaped member caused by the positional deviation at the time of assembling becomes a problem. It is more likely to occur as the distance between the wall and the adjacent wall decreases. And such a contact needs to be avoided since it is likely to cause damage to the ring-like member.

  The present invention has been made in view of the above-described circumstances, and provides a ring-shaped member assembling apparatus that makes it difficult to bring the ring-shaped member into contact with the object in the moving process when assembling the ring-shaped member to the object. As an issue to be solved.

  In the ring-shaped member assembling device of the present invention, the distance between the housing portion in which the arrangement portion for arranging the ring-shaped member is formed and the arrangement portion in the first plane direction orthogonal to the depth direction of the housing portion is A target object having a convex portion or a reference portion having a hole portion defined at a constant interval is set as an assembly target. The ring-shaped member assembling apparatus includes an inserting portion inserted into the accommodating portion, and the inserting portion extends toward the accommodating portion, and has a holding portion configured to hold the ring-shaped member at a holding position on the tip end side. Further, the ring-shaped member assembling device includes a convex portion or a hole portion connected to the holding portion and extending in the direction in which the insertion portion extends, and the holding portion in the second planar direction orthogonal to the direction in which the insertion portion extends. It has a positioning part with a fixed distance from the holding position. Furthermore, the ring-shaped member assembling device maintains the insertion portion and the positioning portion while maintaining at least the positional relationship in which the depth direction of the accommodation portion and the extending direction of the insertion portion are aligned when inserting at least the insertion portion into the accommodation portion. It has a moving part moved in the direction in which the insertion part extends.

  In this ring-shaped member assembling apparatus, when the insertion portion holding the ring-shaped member is inserted into the storage portion of the object by the moving portion, the positional relationship in which the depth direction of the storage portion and the extension direction of the insertion portion are aligned And move the insertion portion and the positioning portion in the direction in which the insertion portion extends. With this configuration, the ring-shaped member held by the insertion portion is fed into the accommodation portion while moving along the depth direction of the accommodation portion. In the object, the distance between the reference portion and the placement portion is kept constant in the plane direction orthogonal to the depth direction of the accommodation portion, and in the ring-shaped member assembling device, the plane orthogonal to the extending direction of the insertion portion In the direction, the distance between the holding position of the ring-shaped member and the positioning portion is kept at the above-mentioned constant distance. Therefore, when the object is moved in a positional relationship in which the depth direction of the object and the direction in which the insertion portion extends are aligned, and the positioning portion and the reference portion fit together, the placement portion (ring member And the holding position of the ring-shaped member in the insertion portion are aligned with high accuracy. Therefore, the ring-like member held in the insertion part is moved to the placement part without largely shifting with respect to the placement part, and particularly in the area near the placement part, the ring-like member is a wall in the housing part It becomes difficult to touch parts etc.

  Therefore, the ring-shaped member is not easily in contact with the object in the moving process of assembling the ring-shaped member to the object, and damage and the like caused by such contact can be effectively prevented. The hole in the present invention may have a structure in which the bottom is present in the hole, or may have a structure in which the bottom is not present in the hole. Further, the hole portion in the present invention is a concept including a concave configuration, and any configuration in which the hole portion is recessed is included in the hole portion in the present invention. Moreover, the convex part said by this invention should just be a convex state, and the protrusion shape is not limited.

  The ring-shaped member assembling device of the present invention comprises a controlled portion having a hole or a protrusion on the side opposite to the opening side of the storage portion, and a locked portion having one or more holes or a protrusion. It is also possible to hold an object on which the Then, in the ring-shaped member assembling device, the restriction portion fitted with the controlled portion and the one or more locking portions fitted with the locked portion are respectively formed on the surface side holding the object. You may have a holding stand. In this configuration, it is preferable that the locking portion of the holder be fitted to the locked portion of the object in a state in which the positional deviation is allowed.

  According to this configuration, the object can be held by the holder in a position regulated state to a certain extent before the insertion portion holding the ring-like member is moved into the container of the object, If the position is specified, the positions of the housing portion and the reference portion are determined with a certain degree of accuracy. For this reason, the moving unit moves the insertion unit and the positioning unit to a position where the housing unit and the reference unit are assumed to be present, whereby the insertion start operation of the insertion unit to the housing unit and the fitting of the positioning unit to the reference unit It is easy to start the start operation of Furthermore, the to-be-locked portion of the object is fitted to the locking portion of the holding base in a state where the positional deviation is allowed. For this reason, even if there is a slight displacement before fitting the positioning part of the assembling apparatus to the reference part of the object, when these are fitted, on the holding table, the reference part and the positioning part are aligned. The position of the object of is corrected.

  In this manner, fitting of the positioning unit to the reference unit can be easily started accurately, and when the fitting is completed, the alignment between the reference unit and the positioning unit, and the holding position and arrangement unit of the ring-shaped member associated therewith Alignment with is made correctly.

  In the object to which the ring-shaped member is assembled by the ring-shaped member assembling device of the present invention, the reference hole extending in the depth direction may be configured as the reference portion. The object has a first hole formed with a first diameter, and a second hole formed at a second diameter smaller than the first diameter and formed at a position deeper than the first hole. The part may continue in a step-like manner in the depth direction. Furthermore, the storage portion may be configured such that the placement portion is provided at a position deeper than the end portion on the first hole side in the second hole portion. On the other hand, in the ring-shaped member assembling apparatus targeting such an object, the positioning portion has an outer peripheral surface extending along the direction in which the insertion portion extends, and is fitted into the reference hole during movement by the moving portion. You may provide the fixing | fixed part put together and fixed. Furthermore, the positioning portion may have an outer peripheral surface inclined with respect to the direction in which the fixing portion extends, and may include a tapered portion formed in a tapered shape on the projecting side of the insertion portion relative to the fixing portion. Then, in the ring-shaped member assembling device, when the moving portion moves the insertion portion and the positioning portion, the insertion portion is inserted in the state where the tapered portion is inserted into the reference hole and the fixing portion is not inserted into the reference hole. It is preferable that the ring-shaped member held by the ring be positioned outside the second hole. The ring-shaped member assembling device may be configured to move the ring-shaped member held by the insertion portion into the second hole after the fixing portion and the reference hole are fitted.

  When the reference portion of the object is configured as a reference hole extending in the depth direction as described above, if the positioning portion has a tapered configuration, the tip end side is inserted when the positioning portion is fitted to the reference hole. This makes it easy to start the fitting operation of both parts well. For example, even if the center of the positioning portion is slightly offset in the lateral direction from the center of the reference hole at the time of insertion, the tapered portion on the tip side easily enters the reference hole formed in the object. The fitting operation with the reference hole starts stably.

  Further, in the ring-shaped member assembling apparatus described above, the ring-shaped member held in the insertion portion is inserted from the second hole in a state where the tapered portion is inserted into the reference hole and the fixed portion is not inserted into the reference hole. Is also the outside position. When the tapered portion is inserted into the reference hole and the fixing portion is not inserted into the reference hole, insertion of the positioning portion into the reference hole is started, but the positioning portion is completely against the reference hole It is in the unaligned state. As described above, when the positioning portion can be displaced relative to the reference hole, if the ring-shaped member is positioned on the side of the first hole having a relatively large diameter, the ring-shaped member resulting from the displacement can be obtained. This makes it easy to reduce the contact with the inner wall.

  Then, the insertion of the positioning portion with respect to the reference hole further proceeds, and after the fixing portion and the reference hole are fitted, the ring-shaped member held by the insertion portion is moved into the second hole. With such a configuration, the ring-shaped member can be fed into the second hole in a state where the positioning portion is accurately aligned with the reference hole. Therefore, even if the second hole has a small diameter, the ring-shaped member can be fed in with the position adjusted with high accuracy to the second hole, and the step of the end of the second hole or the second It becomes easy to prevent that a ring-shaped member contacts a hole.

FIG. 2 is a perspective view showing a part of the ring-shaped member assembling device of Embodiment 1 together with an object. It is the perspective view which looked at a part and target object of the ring-shaped member assembly apparatus of Embodiment 1 from the direction different from FIG. It is a top view which shows a part of ring-shaped member assembly apparatus of Embodiment 1 with a target object. It is sectional drawing (the 1) which shows a part of ring-shaped member assembly apparatus of Embodiment 1 with a target object. It is sectional drawing (the 2) which shows a part of ring-shaped member assembly apparatus of Embodiment 1 with a target object. It is sectional drawing (the 3) which shows a part of ring-shaped member assembly apparatus of Embodiment 1 with a target object. It is a bottom view which shows roughly the insertion part of the ring-shaped member assembly apparatus of Embodiment 1. FIG. FIG. 8A is a bottom view schematically showing a state in which the O-ring is held by the insertion portion of the ring-shaped member assembling device of the first embodiment. FIG. 8B is a bottom view schematically showing a state when holding of the O-ring is released in the insertion portion of the ring-shaped member assembling device of the first embodiment. It is a perspective view which shows a part of ring-shaped member assembly apparatus of Embodiment 2 with a target object. It is the perspective view which looked at a part and target object of the ring-shaped member assembly apparatus of Embodiment 2 from the direction different from FIG. It is a top view which shows a part of ring-shaped member assembly apparatus of Embodiment 2 with a target object. It is sectional drawing (the 1) which shows a part of ring-shaped member assembly apparatus of Embodiment 2 with a target object. It is sectional drawing (the 2) which shows a part of ring-shaped member assembly apparatus of Embodiment 2 with a target object. It is sectional drawing (the 3) which shows a part of ring-shaped member assembly apparatus of Embodiment 2 with a target object. It is sectional drawing which shows a part of ring-shaped member assembly apparatus of Embodiment 3 with a target object.

First Embodiment
Embodiment 1 which is an example embodying the ring-shaped member assembling device of the present invention will be described with reference to the drawings.

First, with reference to FIG. 1 etc., the outline | summary, application, etc. of the ring-shaped member assembly apparatus 1 (only henceforth the assembly apparatus 1) of Embodiment 1 are demonstrated.
The assembling apparatus 1 shown in FIG. 1 uses a workpiece 180 provided with a concave receiving portion 182 in which the placement portion 186A is formed as an assembly target. The assembling apparatus 1 is configured as an O-ring assembling apparatus for assembling the O-ring 90 to the arrangement portion 186A inside the work 180 by the transfer device 2.

  When assembling the O-ring 90, for example, the assembling device 1 holds the O-ring 90 by the holding device 12 as shown in FIGS. Then, as the operation of the apparatus moving unit 16 moves the holding device 12 as shown in the operation in FIGS. 4 to 6, the O-ring 90 is inserted into the housing portion 182 of the workpiece 180. Then, as shown in FIG. 6, the holding device 12 releases the holding of the O-ring 90 in a state where the O-ring 90 reaches the vicinity of the placement portion 186A provided in the housing portion 182. 4 to 6, the cross section of the holding device 12 is simply shown, and the detailed structure is not shown or omitted.

Next, features of the work 180 will be described.
The workpiece 180 shown in FIG. 1 corresponds to an example of an object on which the O-ring 90 is assembled. The work 180 is configured as a case body made of, for example, a metal material, and includes a concave housing portion 182 and a plurality of through holes 192A, 192B, 192C. The housing portion 182 is configured as a hole which is recessed in the thickness direction of the workpiece 180 and whose upper end is open. In the following description, the depth direction of the housing portion 182 is the vertical direction of the workpiece 180, the opening side of the housing portion 182 is the upper side of the workpiece 180, and the bottom side of the housing portion 182 is the bottom side of the workpiece 180. Do. In FIG. 4, the up-down direction of the workpiece 180 is conceptually shown by an arrow F1.

  As shown in FIG. 1, the housing portion 182 includes a first hole 184 having a first diameter and a second hole 186 having a second diameter smaller than the first diameter. . As shown in FIG. 4, the first hole portion 184 has an inner wall portion having a circular shape in plan view with an opening portion formed in the upper surface portion 180A of the work 180 as an end portion. It is formed at a predetermined depth h1. The inner wall surface of the first hole portion 184 is a cylindrical surface centered on an imaginary central axis G1 extending in the thickness direction of the workpiece 100, and the side surface (peripheral surface) of a right circular cylinder having a radius r1 and a height h1. The shape is substantially the same as

  The second hole portion 186 is formed at a position deeper than the first hole portion 184 in the housing portion 182, and continues in a step-like manner with the first hole portion 184 below the first hole portion 184. The second hole 186 has a step portion 185 formed at the lower end of the first hole 184 as an end portion, and an inner wall portion having a circular shape in plan view is formed. The depth h2 of the The inner wall surface of the second hole 186 is a cylindrical surface centered on an imaginary central axis G2 extending in the thickness direction of the workpiece 100, and the side surface (peripheral surface) of a straight cylinder having a radius r2 and a height h2 It has the same shape as. The radius r2 of the inner wall surface of the second hole portion 186 is smaller than the radius r1 of the inner wall surface of the first hole portion 184, and the first hole 186 at the deep side in the accommodation portion 182 is the shallower The diameter is smaller than the hole 184. Further, as shown in FIG. 4, the central axis of the inner wall surface (cylindrical surface) of the second hole portion 186 is located on the extension of the central axis G1 of the inner wall surface (cylindrical surface) of the first hole portion 184. There is. In the following, the central axes of the first hole 184 and the second hole 186 will be described as the common central axis G1.

  An arrangement portion 186A for arranging the O-ring 90 is configured by the lower side portion of the inner peripheral portion of the second hole portion 186 and the bottom portion of the second hole portion 186. As described above, in the workpiece 180, the housing portion 182 is configured such that the placement portion 186A is provided at a position deeper than the end portion (that is, the upper end portion) on the second hole portion 186 side. .

  As shown in FIG. 1, in the workpiece 180, through holes 192A, 192B, and 192C are formed around the housing portion 182 from the upper surface 180A to the lower surface 180B (FIG. 2) of the workpiece 180. The through holes 192A, 192B, and 192C have an inner wall with a circular shape in plan view, with the opening formed in the upper surface 180A of the workpiece 180 as an end. The inner wall surface of each of the through holes 192A, 192B and 192C has, for example, the same shape as the side surface (peripheral surface) of a right circular cylinder having a radius r3 and a height h3, and the direction of the central axis of these inner wall surfaces is It coincides with the thickness direction of the workpiece 180. FIG. 4 shows the configuration of the through hole portion 192B among them, and the direction of the central axis G3 which is the center of the inner wall surface (inner peripheral surface) of the through hole portion 192B coincides with the thickness direction of the work 180, It is parallel to the central axis G1 of the first hole 184 and the second hole 186. Further, the diameters of the through holes 192A, 192B, and 192C shown in FIG. 1 are smaller than any of the diameters of the first hole 184 and the second hole 186 that constitute the accommodation portion 182.

  Further, among the plurality of through holes 192A, 192B, 192C, one through hole 192B is a reference hole into which a positioning pin 14 described later is inserted when the O-ring 90 is assembled. In the example of FIG. 4, a through hole 192B serving as a reference hole continues from the upper surface 180A to the lower surface 180B in a form of extending in the depth direction of the housing portion 182 in the workpiece 180. Then, as shown in FIG. 3, in the first plane direction orthogonal to the depth direction of the housing portion 182, the distance L1 between the through hole portion 192B and the arrangement portion 186A is set to a constant distance X. Specifically, the center of the circular opening in a plan view circular formed at the upper end of the through hole 192B shown in FIG. 4 and the center of the circular bottom in a plan view circular formed at the lower end of the second hole 186 The distance L1 (FIG. 3) in the first plane direction of the above is set at a constant interval X. In the configuration of FIG. 4, the central axis G1 of the inner circumferential surface (cylindrical surface) of the second hole 186 constituting the placement portion 186A and the central axial line G3 of the inner circumferential surface (cylindrical surface) of the through hole 192B are parallel. The plane direction orthogonal to the central axes G1 and G3 is the first plane direction. The distance L1 between the central axis G1 and the central axis G3 shown in FIG.

  Among the plurality of through holes 192A, 192B, 192C shown in FIG. 1, the through hole 192A functions as a restricted portion, and fits with a protruding portion 84A described later corresponding to the restricting portion, and is moved by the protruding portion 84A. Are regulated. The through hole portion 192B functions as a locked portion, and is configured to be fitted to a later-described protruding portion 85A corresponding to the locking portion. Specifically, as shown in FIG. 2, both of the through holes 192A and 192B are holes formed in the lower surface 180B opposite to the opening side of the housing 182 (FIG. 1). There is. Further, the inner peripheral surface of each of the through holes 192A and 192B is also configured as a cylindrical surface, and the direction of the central axis is perpendicular to the surface of the lower surface 180B. The regulation of the through holes 192A and 192B by the protrusions 84A and 85A will be described later.

Next, the details of the ring-shaped member assembling device 1 will be described.
The assembling apparatus 1 shown in FIG. 1 mainly includes a holding table 80 for holding the workpiece 180 as a holding object, and a transfer device 2 for moving the O-ring 90 while holding it. Then, in a state where the holding table 80 holds the work 180, the transfer device 2 holds the O-ring 90, inserts it into the accommodation portion 182, and assembles the O-ring 90.

First, the details of the holding stand 80 for holding the work 180 will be described.
The holding table 80 has a base 82 whose upper surface is formed as a flat surface, and a plurality of convex support portions 84 and 85 integrally formed with the base 82 so as to protrude from the upper surface 82A of the base 82. , 86. Furthermore, the support portion 84 is a contact portion 84B that supports the lower surface portion 180B of the workpiece 180 above the upper surface portion 82A of the base 82, and a projection that protrudes above the contact surface of the contact portion 84B. A unit 84A is provided. Similarly, the support portion 85 projects upward from the contact surface of the contact portion 85B supporting the lower surface portion 180B of the workpiece 180 above the upper surface portion 82A of the base 82 and the contact surface of the contact portion 85B. A protrusion 85A is provided. The support portion 86 includes an abutment portion 86B that supports the lower surface portion 180B of the workpiece 180 above the upper surface portion 82A of the base 82.

  Each of the contact surfaces of the contact portions 84B, 85B, 86B is a flat surface in the planar direction orthogonal to the projecting direction of the protrusions 84A, 85A. Further, any of the contact surfaces of the contact portions 84B, 85B, 86B is formed in parallel with the surface of the upper surface portion 82A and at a predetermined distance from the upper surface portion 82A. That is, the contact surfaces of the contact parts 84B, 85B, 86B are located on the same imaginary plane, and the height H1 from the upper surface part 82A is the same. As described above, the workpiece 180 is supported by the contact surfaces of the same height disposed at a plurality of positions, and the depth direction of the housing portion 182 in the workpiece 180 and the projecting direction of the projecting portions 84A and 85A are parallel to each other. It is aligned with.

  The protruding portion 84A is a portion inserted from the lower side into the through hole portion 192A of the work 180, and the protruding portion 85A is a portion inserted from the lower side into the through hole portion 192B of the work 180. The projecting portion 84A includes a cylindrical surface portion 84D whose outer surface is formed as a cylindrical surface, and the tip end side of the cylindrical surface portion 84D is configured to be smaller in diameter than the cylindrical surface portion 84D and gradually smaller in diameter toward the tip. The curved surface portion 84E having the following structure is formed. The diameter of the cylindrical surface portion 84D of the projecting portion 84A is substantially the same as the diameter of the through hole portion 192A into which the projecting portion 84A is inserted. For this reason, in a state in which the protruding portion 84A is inserted into the through hole portion 192A, the cylindrical surface portion 84D and the inner circumferential surface of the through hole portion 192A are fitted so as to be in contact with each other.

  The projecting portion 85A includes a cylindrical surface portion 85D whose outer surface is formed as a cylindrical surface, and the tip end side of the cylindrical surface portion 85D is configured to be smaller in diameter than the cylindrical surface portion 85D and gradually smaller in diameter toward the tip. The curved surface portion 85E is formed. The diameter of the cylindrical surface portion 85D of the protruding portion 85A is smaller than the diameter of the cylindrical surface portion 85D of the protruding portion 84A described above, and smaller than the diameter of the through hole portion 192B into which the protruding portion 85A is inserted. Therefore, in the state where the projecting portion 85A is inserted into the through hole portion 192B, a gap is generated between the cylindrical surface portion 85D and the inner peripheral surface of the through hole portion 192B, and the projecting portion 85A is within the through hole portion 192B. Movement is allowed.

Next, details of the transfer device 2 will be described.
As shown in FIG. 4, the transfer device 2 integrally moves the holding device 12 capable of holding the O-ring 90, the positioning pin 14 coupled to the holding device 12, and the holding device 12 and the positioning pin 14. And a moving unit 16.

  As shown in FIG. 4, the holding device 12 includes an insertion portion 20 which is inserted into the housing portion 182 according to the movement operation of the apparatus moving portion 16, and the insertion portion 20 is directed to the housing portion 182 of the central axis G 2. It extends in the direction. A chuck 22 shown in FIGS. 2 and 7 is provided on the tip end side of the insertion portion 20, and the O-ring 90 is held at a holding position determined by the chuck 22. As shown in FIG. 7, the chuck 22 has a configuration in which a plurality of gripping members 23, 24, 25 having a curved shape in a bottom view are annularly disposed along the circumferential direction. On the outer peripheral edge of the lower end face of the chuck 22, an annular groove-like grip 22A is formed, to which the O-ring 90 (FIG. 8A) is adsorbed. Stepped portions 23A, 24A, 25A are formed at positions above the tip end surface of the chuck 22 in each of the gripping members 23, 24, 25 and these stepped portions 23A, 24A, 25A are the gripping portions 22A. . The stepped portions 23A, 24A, 25A are arc-shaped steps along a circle centered on a central axis G2 which is a central position of the chuck 22.

  The stepped portion 23A of the gripping member 23 has a bottom surface 23C facing downward, and an outer peripheral portion configured as a curved surface in the circumferential direction centering on the central axis G2 in the form of falling from the bottom surface 23C. And 23B. Similarly, the stepped portion 24A of the gripping member 24 is configured to have a bottom surface 24C facing downward and a curved surface in the circumferential direction centering on the central axis G2 in the form of falling from the bottom surface 24C. And an outer peripheral portion 24B. Similarly, the stepped portion 25A of the gripping member 25 has a bottom surface 25C facing the lower side, and has a form of falling from the bottom surface 25C, and the outer surface is formed as a curved surface in the circumferential direction about the central axis G2. And an outer peripheral portion 25B. Each surface of the bottom portions 23C, 24C, and 25C is a flat surface having the same height, and the central axis G2 is a surface in the planar direction. A plurality of openings 28 for suctioning the O-rings 90 are provided in the bottom surface portions 23C, 24C, and 25C in a row in the circumferential direction.

  The three gripping members of the chuck 22 are drivable by an actuator (not shown) such as an air cylinder. In the chuck 22, as shown in FIG. 8A, the three gripping members 23, 24 and 25 are arranged at regular intervals in the circumferential direction when the actuator is driven, and relatively apart from the central axis G1. It will be in the 1st state arrange | positioned. Further, at the time of driving the actuator, as shown in FIG. 8B, the three gripping members 23, 24 and 25 are disposed without spacing in the circumferential direction, and are in a second state relatively close to the central axis G2. It becomes. The configuration of the actuator is not particularly limited as long as the three gripping members 23, 24 and 25 can be changed to the first state and the second state as described above, and other driving sources other than the air cylinder may be used. It may be used.

  When the actuator is switched to the first state as shown in FIG. 8A, the chuck 22 is in the open state. In this state, for example, the diameter of the outer peripheral portions 23B, 24B, 25B of the step portions 23A, 24A, 25A, that is, the diameter of the imaginary cylindrical surface passing through the surfaces of the outer peripheral portions 23B, 24B, 25B in this state is O The inner diameter of the ring 90 is substantially the same. Therefore, when the chuck 22 is opened and the O-ring 90 is held as shown in FIG. 8A, the outer peripheries 23B, 24B, 25B are the inner periphery of the O-ring 90 so as not to break the shape of the O-ring 90. It abuts on the surface and holds the O-ring 90 by frictional force. Furthermore, when holding the O-ring 90 as shown in FIG. 8A, the O-ring 90 is adsorbed to the bottom portions 23C, 24C, 25C by sucking air from the plurality of openings 28. In the inside of the insertion portion 20, a flow path of air is configured to communicate with the respective openings 28. Then, the air in the flow path is sucked by a vacuum pump (not shown) to generate suction force toward the bottoms 23C, 24C, 25C in the vicinity of the plurality of openings 28. Further, it is possible to switch between the state where the suction force is generated and the state where the suction force is not generated by turning on and off the operation of the vacuum pump.

  As shown in FIGS. 4 and 8A, the radial width of the bottom portions 23C, 24C, 25C in the gripping members 23, 24, 25 is smaller than the diameter of the O-ring 90, and the outer peripheral portion The heights of 23 B, 24 B and 25 B are smaller than the diameter of the O-ring 90. Therefore, when the insertion portion 20 holding the O-ring 90 is viewed from the lower side as shown in FIG. 8A, the outer edge of the insertion portion 20 is fitted inside the outer edge of the O-ring 90. Further, as shown in FIG. 4, the outer surface of the O-ring 90 is at a lower position than the tip surface of the insertion portion 20.

  Further, in the second state shown in FIG. 8B, the chuck 22 is in a closed state, and the outer peripheral portions 23B, 24B, 25B of the step portions 23A, 24A, 25A are separated from the inner peripheral surface of the O-ring 90. For this reason, a frictional force does not occur between the outer peripheral portions 23B, 24B, 25B and the inner peripheral surface of the O-ring 90. Further, as shown in FIG. 8B, the openings 28 formed in the bottoms 23C, 24C, 25C of the step parts 23A, 24A, 25A are disposed at positions away from the O-ring 90. Therefore, the suction force in the vicinity of the opening 28 does not reach the O-ring. As described above, since the force for gripping the O-ring 90 in the gripping portion 22A is greatly reduced, the O-ring 90 is disengaged from the gripping portion 22A.

  The positioning pin 14 is coupled to the holding device 12 configured in this manner as shown in FIG. The positioning pin 14 corresponds to an example of the positioning portion, and is a pin having a convex shape along the direction in which the insertion portion 20 extends. As shown in FIGS. 5 and 6, the O-ring 90 is accommodated in the housing portion 182. It is a portion to be inserted into the through hole 192B when entering.

  As shown in FIG. 4, the positioning pin 14 is tapered on the protruding side of the insertion portion 20 relative to the fixing portion 40 and the fixing portion 40 which is fitted and fixed to the through hole portion 192B during movement by the device moving portion 16. And is formed as a convex portion having a tapered portion 42 formed thereon. The outer peripheral surface of the fixing portion 40 is a cylindrical surface centered on a central axis G4 which extends in the direction in which the insertion portion 20 extends and which is parallel to the central axis G2 of the insertion portion 20. The direction of the central axis G4 corresponds to the direction in which the positioning pin 14 protrudes. The tapered portion 42 is a portion extending in the direction of the central axis G4 on the tip end side of the fixed portion 40, and a portion where the tip is located on the central axis G4. The tapered portion 42 is a portion where the shape of the cut surface in the direction orthogonal to the central axis G4 is circular, the diameter at the boundary position with the fixed portion 40 is the largest, and the diameter decreases toward the tip. It has become. The outer peripheral surface of the tapered portion 42 is a surface inclined with respect to the direction in which the fixing portion 40 extends, that is, the direction of the central axis G4.

  In the transfer device 2, the distance between the holding position of the O-ring 90 by the holding device 12 and the positioning pin 14 in the second plane direction orthogonal to the direction of the central axis G2, which is the extending direction of the insertion portion 20, is constant. There is. The second plane direction is also a direction in which the positioning pin 14 protrudes, that is, a plane direction orthogonal to the direction of the central axis G4. The holding position of the O-ring 90 by the holding device 12 is the position of the O-ring 90 in the holding state shown in FIGS. 4 and 8A. And distance L2 (Drawing 3) of central axis G2 which is a central position of O ring 90 in a grasping state shown in Drawing 4 and Drawing 8 (A), and central axis G4 which is a central position of positioning pin 14 is constant. It is an interval X. In FIG. 3, the position of the central axis G2 (FIG. 4) coincides with the position of the central axis G1, and the position of the central axis G4 (FIG. 4) coincides with the position of the central axis G2.

Next, the assembling operation of the O-ring 90 by the assembling device 1 will be described.
First, before assembling the O-ring 90 by the transfer device 2, the work 180 is disposed at a predetermined position of the holding stand 80 shown in FIG. Specifically, the protrusions 84A and 85A formed on the upper surface side of the holding table 80 are respectively inserted into the through holes 192A and 192B, and the workpiece 180 is brought into contact with the contact surfaces of the contact portions 84B, 85B and 86B. The work 180 is placed on the holding table 80 in a supported form. Thereby, the posture of the work 180 is maintained in a state where the depth direction of the housing portion 182 in the work 180 and the protruding direction of the protruding portions 84A, 85A are aligned, and the protruding portions 84A, 85A maintain the work 180 in the lateral direction. Regulate large movements. As described above, the protrusion 84A and the through hole 192A are fitted with almost no gap, and the protrusion 85A and the through hole 192B are fitted with a slight gap. In other words, the protrusion 85A fits with the through hole 192B of the work 180 in a state where a slight positional deviation is allowed, and the work 180 has the center axis G5 of the through hole 192A with respect to the holding base 80 (see FIG. Some pivoting about FIG. 3) is permitted.

  On the other hand, in the transfer device 2 shown in FIG. 2, first, an operation of gripping the O-ring 90 with the chuck 22 is performed. Specifically, the chuck 22 is closed by an actuator (not shown), and the holding device 12 is moved to an O-ring supply device (not shown) by the device moving unit 16 shown in FIG. Then, the O-ring 90 supplied by the O-ring supply device is positioned outside the outer peripheral portions 23B, 24B, 25B of the gripping members 23, 24, 25. The relationship between the O-ring 90 and the chuck 22 at this time is similar to that shown in FIG. 8 (B). Then, the chuck 22 is opened by an actuator (not shown) and a suction force is generated in the vicinity of the opening 28 by suction by a vacuum pump (not shown). As a result, as shown in FIG. 8A, the outer peripheral portions 23B, 24B and 25B of the gripping members 23, 24 and 25 contact the inner peripheral surface of the O-ring 90 and through the opening 28 (FIG. 8B). The o-ring 90 is aspirated. In this manner, the O-ring 90 is held by suction near the distal end of the insertion portion 20.

  Next, as shown in FIGS. 4 and 8A, an operation is performed to assemble the O-ring 90 held by the chuck 22 into the housing portion 182 of the workpiece 180. Specifically, the holding device 12 is moved by the apparatus moving unit 16, and the insertion unit 20 including the chuck 22 is advanced into the accommodation unit 182. The apparatus moving unit 16 corresponds to an example of the moving unit, and when inserting the insertion unit 20 into the storage unit 182 as shown in FIGS. 4 and 5, the depth direction (direction of the central axis G1) of the workpiece 180 and the insertion are inserted. The positional relationship is maintained with the direction in which the portion 20 extends (the direction of the central axis G2). Then, the apparatus moving unit 16 moves the insertion unit 20 and the positioning pin 14 in the direction in which the insertion unit 20 extends, that is, the direction of the central axis G2, while maintaining this positional relationship. During this movement, first, the insertion into the first hole 184 by the insertion portion 20 starts, and then the positioning pin 14 is fitted into the through hole 192B as shown in FIG. 5, and then as shown in FIG. The O-ring 90 held by the insertion unit 20 moves to the placement unit 186A.

  Specifically, when the apparatus moving unit 16 moves the insertion unit 20 and the positioning pin 14 from the state of FIG. 4, first, the tapered portion 42 is inserted into the through hole 192B. Then, as shown in FIG. 5, the fixing portion 40 starts insertion into the through hole portion 192B, and thereafter, the O ring 90 held by the insertion portion 20 as shown in FIG. The second hole 186 is to be entered.

  That is, in the state before the time when the fixing portion 40 starts the insertion into the through hole portion 192B (the fixing portion 40 before the time point of FIG. 5 is not inserted into the through hole portion 192B), the insertion portion The O-ring 90 held at 20 is disposed at a position outside the second hole 186. As shown in FIG. 5, after the fixing portion 40 and the through-hole portion 192B start fitting and the second hole portion 186 and the insertion portion 20 are aligned with high accuracy, the O-ring 90 is inserted together with the insertion portion 20. It moves into the second hole 186. Finally, as shown in FIG. 6, the O-ring 90 moves to a position in contact with the bottom surface of the second hole 186. Then, in this state, suction by a vacuum pump (not shown) is stopped, and the actuator is driven to bring the chuck 22 into the closed state shown in FIG. 8 (B). As a result, the O-ring 90 is detached from the chuck 22 and the O-ring 90 is assembled to the arrangement portion 186A formed in the vicinity of the bottom of the second hole 186.

  As described above, when inserting the insertion portion 20 holding the O-ring 90 into the housing portion 182 by the apparatus moving portion 16, the assembling apparatus 1 as shown in FIGS. And the extending direction of the insertion portion 20 are maintained in the same positional relationship. The assembly device 1 moves the insertion portion 20 and the positioning pin 14 in the direction in which the insertion portion 20 extends, that is, in the direction of the central axis G2, while maintaining this positional relationship. By this operation, the O-ring 90 held by the insertion portion 20 is fed into the housing portion 182 while moving along the depth direction of the housing portion 182.

  Then, in the process of inserting the insertion portion 20 into the housing portion 182, the assembling apparatus 1 fits the positioning pin 14 and the through hole portion 192B before moving the held O-ring 90 to the placement portion 186A. Thereby, the workpiece 180 to be assembled and the unit in which the insertion portion 20 and the positioning pin 14 are integrated are aligned with high accuracy.

  In the work 180, the spacing L1 (FIG. 3) between the through hole 192B and the placement portion 186A is maintained at a constant spacing X in the planar direction orthogonal to the depth direction of the housing portion 182. On the other hand, in the assembling apparatus 1, the spacing L2 (FIG. 3) between the holding position of the O-ring 90 and the positioning pin 14 in the planar direction orthogonal to the extending direction of the insertion portion 20 is maintained at the constant spacing X. For this reason, when the positioning pin 14 and the through hole 192B are fitted as shown in FIG. 5, the placement portion 186A provided in the housing portion 182 and the insertion portion are moved in the positional relationship as shown in FIG. The holding position of the O-ring 90 at 20 is aligned with high accuracy. Therefore, the O-ring 90 held by the insertion portion 20 is moved to the placement portion 186A without largely displacing the placement portion 186A, and the O-ring 90 is especially in an area near the placement portion 186A. It becomes difficult to contact the wall etc. in the accommodating part 182.

  Therefore, the O-ring 90 is difficult to contact with the workpiece 180 in the moving process of assembling the O-ring 90 to the workpiece 180, and damage or the like of the O-ring 90 due to such contact can be effectively prevented.

  In addition, the assembling apparatus 1 moves the workpiece 180 to a certain extent as shown in FIG. 4 before moving the insertion portion 20 holding the O-ring 90 into the housing portion 182 of the workpiece 180 as shown in FIGS. It can hold | maintain by the holding stand 80 in a regulation state. And if the position of the holding stand 80 is specified, the position of the accommodating part 182 and the through-hole part 192B will become settled with a certain degree of precision. Therefore, the apparatus moving unit 16 can move the insertion unit 20 and the positioning pin 14 to a position where the housing portion 182 and the through hole portion 192B are assumed to be present. As a result, the insertion start operation of the insertion portion 20 with respect to the housing portion 182 and the start operation of the fitting of the positioning pin 14 with respect to the through hole portion 192B can be accurately started.

  Furthermore, the through-hole portion 192B of the work 180 is fitted to the projecting portion 85A of the holding table 80 in a state where positional deviation is allowed. For this reason, even if there is a slight displacement before fitting the positioning pin 14 into the through hole 192B, when these are fitted, the holding table 80 aligns the through hole 192B with the positioning pin 14 The position of the workpiece 180 is corrected.

  Thus, the fitting of the positioning pin 14 to the through hole 192B can be easily started accurately. Then, when the fitting is completed, the alignment between the through hole 192B and the positioning pin 14 and the alignment between the holding position of the O-ring 90 and the placement portion 186A accordingly can be made.

  In addition, the assembling apparatus 1 sets the workpiece 180 whose reference portion is configured as the through hole portion 192B extending in the depth direction as a target of assembling. When such a workpiece 180 is targeted, if the positioning pin 14 has a tapered configuration, the tip end side is easily inserted when fitting the positioning pin 14 to the through hole 192B, and the fitting operation of both parts is It becomes easy to start well. For example, even if the center of the positioning pin 14 is slightly deviated in the lateral direction from the center of the through hole 192B at the time of insertion, the tapered portion 42 on the tip side easily enters the through hole 192B formed in the workpiece 180. Therefore, the fitting operation between the positioning pin 14 and the through hole portion 192B stably starts.

  Furthermore, in the assembling apparatus 1, the O-ring 90 held by the insertion portion 20 is not inserted in the state where the fixing portion 40 is not inserted into the through hole portion 192B even though the tapered portion 42 is inserted into the through hole portion 192B. It is a structure which becomes a position outside the two holes 186. When the tapered portion 42 is inserted into the through hole portion 192B and the fixing portion 40 is not inserted into the through hole portion 192B, although the insertion of the positioning pin 14 is started, the positioning pin 14 is inserted into the through hole portion 192B. Completely aligned. As described above, when the positioning pin 14 can be displaced relative to the through hole 192B, if the O ring 90 is positioned on the side of the first hole 184 having a relatively large diameter, the displacement is caused. The contact between the O-ring 90 and the inner wall portion can be easily suppressed.

  Then, after the insertion of the positioning pin 14 into the through hole portion 192B proceeds further and the fixing portion 40 and the through hole portion 192B are fitted as shown in FIG. 5, the O ring 90 held by the insertion portion 20 is the second Move into hole 186. With such a configuration, the O-ring 90 can be fed into the second hole 186 in a state where the positioning pin 14 is accurately aligned with the through hole 192B. Therefore, even if the diameter of the second hole 186 is small, the O-ring 90 can be fed in with highly accurate position adjustment with respect to the second hole 186, and the step of the end of the second hole 186 Also, it is easy to prevent the O-ring 90 from being strongly in contact with the inner wall surface of the second hole 186.

Second Embodiment
Next, a second embodiment will be described with reference to the drawings.
The ring-shaped member assembling apparatus 201 (hereinafter also referred to as the assembling apparatus 201) of the second embodiment shown in FIGS. 9 and 10 has the same configuration as the ring-shaped member assembling apparatus 1 of the first embodiment. ing. Therefore, about the structure same as the assembling apparatus 1, the same code | symbol as this is attached | subjected and detailed description is abbreviate | omitted.

  The assembling apparatus 201 assembles the same work 180 as the work 180 used in the first embodiment, and the holding table 80 having the same shape as the holding table 80 used in the first embodiment makes the work 180 the same as the first embodiment. In the holding structure (see FIGS. 11 and 12). Then, the O-ring 92 is assembled to the work 180 by the transfer device 202 shown in FIG.

  Also in the assembling apparatus 201 of the second embodiment, the through-hole portion 192A of the workpiece 180 corresponds to an example of the controlled portion, and the projecting portion 84A of the holding base 80 corresponds to an example of the restricting portion. Further, the through-hole portion 192B of the work 180 corresponds to an example of the engaged portion, and the projecting portion 85A of the holding base 80 corresponds to an example of the engaging portion. Furthermore, the through hole portion 192B corresponds to an example of the reference hole portion and the reference portion. As shown in FIG. 12, one protrusion 85 </ b> A fits with the through hole 192 </ b> B in a state where positional deviation is allowed. Also in this configuration, the protrusion 84A and the through hole 192A are fitted with almost no gap, and the work 180 is slightly rotated about the central axis G5 (FIG. 11) of the through hole 192A with respect to the holding table 80. Motion is acceptable.

  As shown in FIG. 12, in the workpiece 180 as well, the through holes 192 </ b> B to be the reference holes extend in the depth direction of the housing portion 182. Also in FIG. 12, the depth direction of the housing portion 182 is the direction of the central axis G1, and the direction of the through hole portion 192B is the direction of the central axis G3. Also in this example, the housing portion 182 is configured with the first hole portion 184 configured with the first diameter, and the second diameter smaller than the diameter of the first hole portion 184, and also has a diameter larger than that of the first hole portion 184. A second hole 186 formed at a deep position continues in a step-like manner in the depth direction. And arrangement part 186B is provided in a deeper position than an end by the side of the 1st hole 184 in the 2nd hole 186. However, the arrangement portion 186B for arranging the O-ring 92 (FIG. 10) in the work 180 is a portion on the lower end side of the outer peripheral portion of the cylindrical portion 187 provided to project near the center of the second hole 186 A bottom surface portion of the two hole portion 186 is configured. That is, in the second embodiment, the O-ring 92 is attached to the proximal end of the cylindrical portion 187 in the workpiece 180 (see FIG. 14).

  The assembling apparatus 201 shown in FIG. 9 is an O-ring assembling apparatus which assembles such a work 180 and assembles the O-ring 92 (FIG. 10) to the arrangement portion 186B inside the work 180 by the transfer apparatus 202. It is configured. When assembling the O-ring 92, the assembling device 201 holds the O-ring 92 by the holding device 212 as shown in FIG. Then, the O-ring 92 is inserted into the housing portion 182 of the work 180 by moving the holding device 212 by the device moving unit 216 (FIG. 12), as described in the operation in FIGS. Then, the holding device 212 releases the holding of the O-ring 92 in a state where the O-ring 92 reaches the vicinity of the placement portion 186B provided in the housing portion 182 as shown in FIG. 14. 12-14, the cross section of the holding | maintenance apparatus 212 is simply shown, and illustration of the detailed structure is abbreviate | omitted.

  The holding device 212 shown in FIG. 9 corresponds to an example of the holding portion, and includes an insertion portion 220 which is inserted into the housing portion 182 of the workpiece 180. As shown in FIG. 12, the insertion portion 220 extends in the direction of the central axis G2 and holds the O-ring 92 at the holding position on the distal end side. As shown in FIG. 10 and FIG. 11, a chuck 222 provided with three gripping members 223, 224 and 225 is provided at the tip of the insertion portion 220. The gripping members 223, 224, 225 are gripped by an actuator (not shown) having an air cylinder or the like as a driving source, as shown in FIGS. 10 and 11, at a gripping position approaching the central axis G2 and a non-gripping position away from the central axis G2. Can be switched to When the gripping members 223, 224, 225 are switched to the gripping positions shown in FIGS. 10 and 11, the gripping members 223, 224, 225 contact the outer peripheral portion of the O-ring 92, and the O-ring 92 is gripped. Further, in the gripping state, air is sucked through unshown opening portions formed in the gripping members 223, 224, 225 by a vacuum pump or the like (not shown). As a result, the O-ring 92 is attracted to and held by the gripping members 223, 224, 225.

  The positioning pin 214 shown in FIG. 9 corresponds to an example of the positioning portion, and is formed in a convex shape along a direction in which the insertion portion 220 extends while being connected to the holding device 212. As shown in FIG. 12, the positioning pin 214 is tapered on the protruding side of the insertion portion 220 relative to the fixing portion 240 and the fixing portion 240, which are fixed by being fitted into and fixed to the through hole 192 B when moving by the apparatus moving portion 216. And is formed as a convex portion provided with a tapered portion 242 formed thereon. The outer peripheral surface of the fixing portion 240 is a surface extending along the direction in which the insertion portion 220 extends, and specifically, it becomes a cylindrical surface centered on a central axis G4 parallel to the central axis G2 of the insertion portion 220 There is. The direction of the central axis G4 corresponds to the protruding direction of the positioning pin 214. The tapered portion 242 is a portion that extends in the direction of the central axis G4 on the distal end side relative to the fixed portion 240, and a portion where the distal end portion is located on the central axis G4. The outer peripheral surface of the tapered portion 242 is a surface inclined with respect to the direction in which the fixing portion 240 extends, that is, the direction of the central axis G4.

  In the first plane direction orthogonal to the depth direction of the housing portion 182, the distance L1 (FIG. 11) between the through hole portion 192B and the arrangement portion 186B is set to a constant distance X. Specifically, the first planar direction of the center of the circular opening in a plan view circular formed at the upper end of the through hole 192B and the center of the cylindrical portion 187 formed in the housing 182 shown in FIG. The distance L1 (FIG. 11) is set at a constant interval X. In the configuration of FIG. 12, the central axis G1 coincides with the central axis of the outer peripheral surface of the cylindrical portion 187 constituting the placement portion 186B, and the central axial line of the central axis G1 and the inner peripheral surface (cylindrical surface) of the through hole 192B. It is parallel to G3. The plane direction orthogonal to the central axes G1 and G3 is the first plane direction, and the distance L1 (FIG. 11) between the central axis G1 and the central axis G3 is a constant interval X.

  In the transfer device 202, the planar direction orthogonal to the direction of the central axis G2 which is the extending direction of the insertion portion 220 corresponds to the second planar direction. The second plane direction is also a direction in which the positioning pin 214 protrudes, that is, a plane direction orthogonal to the direction of the central axis G4. Further, in the second planar direction, the distance between the holding position of the O-ring 92 by the holding device 212 and the positioning pin 214 is constant. The holding position of the O-ring 92 by the holding device 212 is the position of the O-ring 92 in the gripping state shown in FIGS. The distance L2 (FIG. 11) between the central axis G2 at the central position of the O-ring 92 in the gripping state shown in FIG. 12 and the central axis G4 at the central position of the positioning pin 214 is a constant distance X. . In FIG. 11, the position of the central axis G2 (FIG. 4) coincides with the position of the central axis G1, and the position of the central axis G4 (FIG. 4) coincides with the position of the central axis G2.

  When the O-ring 92 is assembled to the work 180 by the assembling apparatus 201 configured as described above, first, the holding device 212 is moved to the supply position of the O-ring 92 by the device moving unit 216 shown in FIG. The chuck 222 holds it. Thereafter, as shown in FIG. 12, the depth direction of the workpiece 180 (the direction of the central axis G1) and the direction in which the insertion portion 220 extends (the direction of the central axis G2) are maintained in an aligned positional relationship. Then, the apparatus moving unit 216 moves the insertion portion 220 and the positioning pin 214 in the direction in which the insertion portion 220 extends, that is, in the direction of the central axis G2, while maintaining this positional relationship. During this movement, the insertion into the first hole 184 by the insertion portion 220 starts first, and then the positioning pin 214 is fitted into the through hole 192B as shown in FIG. 13, and then as shown in FIG. The O-ring 92 held by the insertion portion 220 moves to the placement portion 186B. Specifically, when the apparatus moving portion 216 moves the insertion portion 220 and the positioning pin 214 from the state of FIG. 12, first, the tapered portion 242 is inserted into the through hole portion 192B. Then, as shown in FIG. 13, the insertion of the fixing portion 240 into the through hole portion 192B is started, and thereafter, the O ring 92 held in the insertion portion 220 as shown in FIG. It enters into the second hole 186.

  In this configuration, the O-ring 92 held by the insertion portion 220 is disposed at a position outside the second hole portion 186 before the fixing portion 240 starts the insertion into the through hole portion 192B. Ru. More specifically, in a state in which only the tapered portion 242 is inserted into the through hole portion 192B and the fixing portion 240 is not inserted into the through hole portion 192B, the O ring 92 is positioned above the upper end portion of the cylindrical portion 187 . That is, the cylindrical portion 187 is not inserted into the O-ring 92. Then, as shown in FIG. 13, the fixing portion 240 and the through hole portion 192B start fitting, and after the O ring 92 and the cylindrical portion 187 are aligned with high accuracy, the O ring 92 is in the region of the cylindrical portion 187. The cylinder portion 187 is inserted into the O-ring 92. Finally, as shown in FIG. 14, the O-ring 92 is moved to a position in contact with the bottom of the second hole 186. Then, in this state, suction and holding of the O-ring 92 in the chuck 222 (FIGS. 10 and 11) are released. As a result, the O-ring 92 is detached from the chuck 222, and the O-ring 92 is assembled to the arrangement portion 186B configured near the bottom of the second hole 186.

Embodiment 3
Next, a third embodiment will be described with reference to the drawings.
The assembling apparatus 1 according to the third embodiment has a point that the work 180 is provided with the projecting shaft portion 196, a point that the holding base 80 is provided with the supporting portion 88 for supporting the vicinity of the shaft 196, and the supporting portion 84 is omitted. The second embodiment is the same as the assembling apparatus 1 of the first embodiment except for the second embodiment. Therefore, about the same composition as assembling device 1 of Embodiment 1 except these, the same numerals as assembling device 1 of Embodiment 1 are attached, and detailed explanation is omitted.

  In the assembling apparatus 1 of FIG. 15, the shaft portion 196 plays the role of a controlled portion instead of the through hole portion 192A of the first embodiment. Also, the hole 88A plays the role of the restricting portion instead of the protrusion 84A. The projecting portion 85A functions as a locking portion as in the first embodiment, and the through hole portion 192B functions as a locked portion as in the first embodiment.

  In the configuration of FIG. 15, the outer peripheral surface of the shaft portion 196 is configured as a cylindrical surface, and the central axis of the cylindrical surface coincides with the central axis G1 of the housing portion 182. The support portion 88 supports the lower surface portion 180B of the work 180 by the support surface 88B of height H1, and the hole portion 88A formed in the support surface 88B is fitted to the shaft portion 196. The inner peripheral surface of the hole 88A is a cylindrical surface having substantially the same diameter as the outer peripheral surface of the shaft 196, and in the state of FIG. 15, the hole 88A and the shaft 196 are fitted with almost no gap. It has become. Because of this configuration, the workpiece 180 can be slightly rotated relative to the holder 80 about the central axis G1. Specifically, even in the configuration of FIG. 15, since the protrusion 85A and the through hole 192B are fitted with a slight gap, the rotation of the work 180 is permitted by the gap.

  Even with the above configuration, the workpiece 180 can be held by the holding table 80 in the same manner as in the first embodiment. Then, by the assembling operation similar to that of the first embodiment, the O-ring 90 can be assembled to the arrangement portion 186A while aligning the work 180 which can be rotated with high accuracy.

The present invention is not limited to the embodiments described above with reference to the drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In the first to third embodiments, the reference portion is configured as the hole, but the reference portion may be configured as the convex portion. In this case, the positioning portion may be configured in a concave shape that can be fitted to the convex portion of the reference portion.
(2) In the first and third embodiments, the O-ring 90 is illustrated as an example of the ring-shaped member, and in the second embodiment, the O-ring 92 is illustrated. However, the ring-shaped member is not limited to the O-ring. And other known ring-shaped members.
(3) The assembling apparatus may be configured to include all of the holding device 12 and the positioning pin 14 of the first embodiment and the holding device 212 and the positioning pin 214 of the second embodiment. In this case, the device moving unit 16 for moving the holding device 12 and the positioning pin 14 and the device moving unit 216 for moving the holding device 212 and the positioning pin 214 may be the same device or different devices. Good.
(4) Although the to-be-locked part which has one hole part (through-hole part 192B) was illustrated in Embodiment 1-3, one or more hole parts or protrusion parts should just be included. That is, the locked portion may be configured by the plurality of holes, the locked portion may be configured by the plurality of protrusions, and the locked portion may be configured by the holes and the protrusions. . The locking portion may be configured to fit with the locked portion, and when the locked portion is constituted by a plurality of holes or projections, the locking portions can be fitted to each other. A plurality of components may be provided in the configuration.
(5) In the first to third embodiments, the positioning unit on the side of the assembling apparatus has a projection, and the reference unit on the object side has a hole so that they can be fitted. It is not limited. For example, the positioning portion may be provided with a recess, and the reference portion may be provided with a protrusion, and these may be fitted.

  DESCRIPTION OF SYMBOLS 1, 201 ... Ring-shaped member assembling apparatus, 12, 212 ... Holding apparatus (holding part) 14, 214 ... Positioning pin (positioning part) 16, 216 ... Apparatus moving part (moving part), 20, 220 ... Insertion Parts, 40, 240 ... fixed parts, 42, 242 ... tapered parts, 80 ... holders, 84 A ... protruding parts (regulating parts), 85 A ... protruding parts (locking parts), 90, 92 ... O-rings (ring shaped members , 180: work (object), 182: accommodation portion, 184: first hole portion, 186: second hole portion, 186A, 186B: arrangement portion, 192A: through hole portion (regulated portion), 192B: penetrating Hole (reference part, reference hole, locked part)

Claims (3)

A convex portion or a convex portion whose interval between the accommodation portion in which the disposition portion for disposing the ring-like member is formed and the disposition portion in the first plane direction orthogonal to the depth direction of the accommodation portion is fixed The insertion portion is inserted into the storage portion of the object having the reference portion having the hole portion, the insertion portion extends toward the storage portion, and holds the ring-shaped member at the holding position on the distal end side. A holding unit having a configuration;
A distance between the holding portion and the holding position in a second planar direction that is connected to the holding portion and extends in a direction in which the insertion portion extends, and in a second plane direction orthogonal to the direction in which the insertion portion extends A positioning portion where the fixed interval is
The insertion portion and the positioning portion are maintained while maintaining the positional relationship in which the depth direction of the accommodation portion and the direction in which the insertion portion extends are aligned when inserting at least the insertion portion into the accommodation portion. A moving unit that moves in a direction in which the
I have a,
An object to be held is a target object in which a controlled portion having a hole or a protrusion on the side opposite to the opening side of the storage portion and a locked portion having one or more holes or a protrusion are formed. And a holding portion formed on the side of the surface for holding the object, wherein the restriction portion fitted to the restricted portion and the one or more locking portions fitted to the engaged portion are formed. ,
The ring-shaped member assembling device characterized in that the locking portion of the holding table is fitted to the locked portion of the object in a state where positional deviation is allowed . A convex portion or a convex portion whose interval between the accommodation portion in which the disposition portion for disposing the ring-like member is formed and the disposition portion in the first plane direction orthogonal to the depth direction of the accommodation portion is fixed The insertion portion is inserted into the storage portion of the object having the reference portion having the hole portion, the insertion portion extends toward the storage portion, and holds the ring-shaped member at the holding position on the distal end side. A holding unit having a configuration;
A distance between the holding portion and the holding position in a second planar direction that is connected to the holding portion and extends in a direction in which the insertion portion extends, and in a second plane direction orthogonal to the direction in which the insertion portion extends A positioning portion where the fixed interval is
The insertion portion and the positioning portion are maintained while maintaining the positional relationship in which the depth direction of the accommodation portion and the direction in which the insertion portion extends are aligned when inserting at least the insertion portion into the accommodation portion. A moving unit that moves in a direction in which the
Have
The reference hole extending in the depth direction is formed as the reference portion, and the first hole formed by the first diameter and the second diameter smaller than the first diameter are formed. A second hole formed at a position deeper than one hole continues in a step-like manner in the depth direction, and the placement portion is formed at a position deeper than the end on the first hole side in the second hole. Setting the target object of which the housing portion is configured in a form provided with the ring-shaped member,
The positioning portion has an outer peripheral surface extending along a direction in which the insertion portion extends, and a fixing portion which is fitted and fixed to the reference hole during movement by the moving portion, and a direction in which the fixing portion extends And an outer peripheral surface inclined with respect to the inner surface, and a tapered portion formed in a tapered shape on the protruding side of the insertion portion relative to the fixed portion,
When the moving portion moves the insertion portion and the positioning portion, the tapered portion is inserted into the reference hole portion and the fixing portion is not inserted into the reference hole portion, and is thus held by the insertion portion. The ring-shaped member is positioned outside the second hole, and the ring-shaped member held in the insertion portion is fitted into the second hole after the fixing portion and the reference hole are fitted. A ring-shaped member assembling device characterized in that it is configured to move . The reference hole extending in the depth direction is formed as the reference portion, and the first hole formed by the first diameter and the second diameter smaller than the first diameter are formed. A second hole formed at a position deeper than one hole continues in a step-like manner in the depth direction, and the placement portion is formed at a position deeper than the end on the first hole side in the second hole. Setting the target object of which the housing portion is configured in a form provided with the ring-shaped member,
The positioning portion has an outer peripheral surface extending along a direction in which the insertion portion extends, and a fixing portion which is fitted and fixed to the reference hole during movement by the moving portion, and a direction in which the fixing portion extends And an outer peripheral surface inclined with respect to the inner surface, and a tapered portion formed in a tapered shape on the protruding side of the insertion portion relative to the fixed portion,
When the moving portion moves the insertion portion and the positioning portion, the tapered portion is inserted into the reference hole portion and the fixing portion is not inserted into the reference hole portion, and is thus held by the insertion portion. The ring-shaped member is positioned outside the second hole, and the ring-shaped member held in the insertion portion is fitted into the second hole after the fixing portion and the reference hole are fitted. ring-shaped member assembling apparatus according to claim 1, characterized in that the structure to be moved.

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