Mounting system of ring-shaped member, and mounting method of ring-shaped member

Abstract

To provide a mounting system of a ring-shaped member and a mounting method of the ring-shaped member which can appropriately mount the ring-shaped member by a general-purpose robot.SOLUTION: A mounting system 1 mounts a ring-shaped member such as an O ring 8 on a groove part 51 of a workpiece 5 using a robot 2, and executes processing of arranging the workpiece 5 at a start position in a state of being inclined in a minor axis direction, processing of moving the workpiece 5 in a vertical direction until the groove part 51 is at the position of the ring-shaped member, processing of moving the workpiece 5 outward in the minor axis direction, processing of changing an attitude of the workpiece 5 in a direction along a vertical direction after movement, processing of moving the workpiece 5 inward along the minor axis direction to a central position of the ring-shaped member, and processing of moving the workpiece 5 in a direction separated from a holding tool 7, and mounting the ring-shaped member on the whole groove part 51.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a ring-shaped member mounting system and a ring-shaped member mounting method for mounting an elastic ring-shaped member on a workpiece using a robot. [Background technology]

[0002] Conventionally, when attaching a ring-shaped member such as an O-ring to a workpiece, the work is sometimes automated by using a dedicated device equipped with a special mechanism for expanding and contracting the ring-shaped member, as in Patent Document 1. However, the cost of introducing such a dedicated device is high, and in so-called low-volume, high-mix manufacturing sites, workers often perform the work manually, and the reality is that automation of the work has not been realized. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6973839 Summary of the Invention [Problem to be solved by the invention]

[0004] Now, if the task of attaching ring-shaped members could be accomplished using a robot capable of general-purpose operations, it would be possible to reduce the introduction cost and automate the task even in a manufacturing site for small-lot, high-mix production. Note that a robot capable of general-purpose operations means one that can perform a desired operation by being taught, such as a vertically articulated so-called 6-axis or 7-axis robot or a horizontally articulated so-called 4-axis robot.

[0005] However, because the ring-shaped member is an elastic body and will deform due to external forces or its own weight, it is difficult to attach the ring-shaped member to the workpiece by the movement of a robot, and automation of the work has not been realized.

[0006] The present disclosure has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a ring-shaped member mounting system and an O-ring mounting method that can properly mount a ring-shaped member using a general-purpose robot. [Means for solving the problem]

[0007] A ring-shaped member mounting system according to one aspect of the present disclosure is a system for mounting an elastic ring-shaped member to a workpiece using a robot, and includes a robot that grips a workpiece having a groove formed on its outer periphery for mounting the ring-shaped member, and a control device that controls the operation of the robot. The ring-shaped member is held at a predetermined holding position in a state in which it is deformed into an elongated hole shape by a holder that holds the ring-shaped member from its inner periphery with two supports, and the direction along the minor axis of the ring-shaped member held at the holding position is defined as the minor axis direction, the direction along the major axis is defined as the major axis direction, and the direction perpendicular to the minor axis direction and the major axis direction is defined as the vertical direction. The control device executes the following processes: placing the workpiece in a tilted state in one of the short axis directions at a starting position where the workpiece is vertically spaced from the ring-shaped member and where the tip portion facing the ring-shaped member is within the range of the inner circumference of the ring-shaped member when viewed vertically; moving the workpiece placed at the starting position to an attachment position where the groove portion on the tilted side is the position of the ring-shaped member when held in the holding position; moving the workpiece moved to the attachment position outward along the short axis direction toward the tilted side; changing the posture of the workpiece moved outward to a direction along the vertical direction; moving the workpiece oriented vertically inward along the short axis direction to the center position of the ring-shaped member when held in the holding position; and moving the workpiece moved inward in a direction away from the holder to attach the ring-shaped member to the entire groove portion. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a mounting system according to an embodiment; [Diagram 2] FIG. 1 is a diagram showing an example of a workpiece shape; [Diagram 3] FIG. 1 is a diagram showing an example of a supply mode of a workpiece; [Figure 4] FIG. 2 is a diagram showing a typical shape and holding mode of an O-ring, which is an example of a ring-shaped member; [Diagram 5] FIG. 2 is a schematic diagram showing an example of the structure of a holder; [Figure 6] FIG. 2 is a diagram showing a schematic configuration example of a support member; [Figure 7] Flow of the mounting process [Figure 8] Diagram explaining the positional relationship between the workpiece and the O-ring in the initial state [Figure 9] Diagram 1 explaining how to install the O-ring [Figure 10] Diagram 2 explaining how to install the O-ring [Figure 11] Diagram 3 explaining how to install the O-ring [Figure 12] Diagram 4 explaining how to install the O-ring [Figure 13] Schematic diagram of other examples of workpiece shapes DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] As shown in Fig. 1, the mounting system 1 includes a robot 2 and a control device 3 that controls the robot 2. In this embodiment, the robot 2 is a so-called six-axis vertical articulated robot. However, the robot 2 may be a so-called seven-axis robot. Since such robots 2 are widely used in industrial applications, a detailed description will be omitted, but the robot 2 can perform various operations by changing its posture based on commands from the control device 3.

[0010] A hand 4 is attached to the end of the robot 2. The hand 4 is configured to grip a workpiece 5 with, for example, a plurality of claws, and is appropriately selected depending on the shape and size of the workpiece 5. The gripping operation of the hand 4 is controlled by the control device 3. This mounting system 1 grasps and tilts a workpiece 5 placed on a supply tray 6 with a hand 4 (A1), moves the grasped workpiece 5 toward a ring-shaped member such as an O-ring 8 held by a holder 7 (A2), mounts the O-ring 8 on the workpiece 5 by moving the workpiece 5 away from the holder 7 (A3), and places the workpiece 5 with the O-ring 8 mounted on a predetermined mounting location (A4).

[0011] In this mounting system 1, the O-ring 8 is mounted on the workpiece 5 by the elasticity of the robot 2 and the operation of the robot 2 as the posture of the robot 2 changes. Therefore, the mounting system 1 is not provided with a special mechanism for expanding or contracting the O-ring 8. The operation of the robot 2 is taught in advance by a teaching device (not shown) or by so-called direct teaching, in which the operator directly instructs the posture of the robot 2.

[0012] As shown in FIG. 2 as an example, the work 5 is formed in a generally cylindrical shape, and a groove 51 for mounting an O-ring 8 is formed on its outer circumferential surface. In the present embodiment, the groove 51 is formed at a position that is a distance L1 from the end of the work 5 on the lower side in the figure, with a width of L2 and a depth of L3. The width (L2) and depth (L3) of the groove 51 may be appropriately set according to the size of the O-ring 8. Hereinafter, the center of the work 5 is referred to as the central axis (J), and the end surface on the lower side in the figure is referred to as the lower end surface. In addition, the center of the opening of the groove 51, that is, the position L1+(L2 / 2) from the lower end surface along the outer circumferential surface, is referred to as the center (MP) of the groove 51.

[0013] In this embodiment, the lower end surface of the work 5 is provided with a hole 52 for positioning the work 5 at a predetermined position on the supply tray 6. As shown in FIG. 3, the work 5 is supplied in a state where it is positioned at a predetermined position on the supply tray 6 by inserting a protrusion 61 formed on the upper surface of the supply tray 6 into the hole 52. At this time, the supply tray 6 is placed at a predetermined position on the workbench, for example, and the position of the work 5 is determined thereby. Note that the manner in which the work 5 is placed is not limited to this, and other configurations may be used, such as a box-shaped structure with a grid-like partition provided inside, with the work 5 being placed at a predetermined position within the grid.

[0014] The O-ring 8 is an elastic body made of rubber such as nitrile rubber, fluororubber, ethylene propylene rubber, styrene butadiene rubber, etc. However, the material of the O-ring 8 is not limited to those exemplified here, and any elastic body, or more strictly speaking, any body having an elongation rate that allows it to be stretched and attached to the O-ring 8, can be an applicable subject of the mounting system 1.

[0015] Now, when no external force is applied to O-ring 8, as shown in the unloaded state in Fig. 4, its inner diameter is D10, its outer shape is D11, and its wire diameter is D12. On the other hand, as shown in the held state, when O-ring 8 is held by holder 7, it is deformed into a generally oblong hole shape having short parts 81 and long parts 82. If the direction along the short axis in this held state is the short axis direction and the direction along the long axis is the long axis direction, then O-ring 8 has an inner diameter in the short axis direction of D13 and an inner diameter in the long axis direction of D14.

[0016] The O-ring 8 is held in a state where the inner diameter (D14) in the long axis direction is at least larger than the diameter (D1) of the workpiece 5. Hereinafter, the inner circumferential side of the O-ring 8 in the held state is referred to as the inner range (R). Hereinafter, the direction perpendicular to the short axis direction and the long axis direction is referred to as the vertical direction, and in this embodiment, the X-axis direction and the short axis direction in the control coordinate system of the robot 2 are made to coincide with each other, the Y-axis direction and the long axis direction are made to coincide with each other, and the Z-axis direction and the vertical direction are made to coincide with each other. However, it is not necessary to coincide the control coordinate systems, and it is sufficient to grasp the short axis direction, long axis direction, vertical direction, and holding center relative to the control coordinate system.

[0017] Now, as shown in a plan view in FIG. 5 as a specific holding state, the O-ring 8 is supported from its inner periphery by two support members 9, and is held by the holder 7 in a state in which it is deformed into an oblong hole shape. Note that only the support members 9 are shown in the plan view in FIG. 5. The holding center (CP), which is the center of the O-ring 8 in the short axis direction, long axis direction, and vertical direction in this holding state, is expressed as CP=(Px, Py, Pz) in a three-dimensional control coordinate system. Hereinafter, a virtual line passing through the holding center (CP) and extending in the vertical direction is referred to as the center line (CL) indicating the center of the O-ring 8 in the holding state. Also, the position of the O-ring 8 in the vertical direction is the center position of the wire diameter of the O-ring 8.

[0018] As shown in a front view, the holder 7 includes a rail member 10 fixed to a predetermined position on a workbench, two adjustable blocks 11 attached on the rail member 10 so that their positions in the longitudinal direction can be changed and disposed at symmetrical positions on either side of a center line (CL), and support members 9 fixed to each of the adjustable blocks 11. The holder 7 can accommodate various types of O-rings 8 by changing the distance between the adjustable blocks 11 depending on the type of O-ring 8.

[0019] As shown in Fig. 6, the support member 9 is formed in a shape in which a support post 92 for supporting the O-ring 8 extends from a roughly square block-shaped main body 91. In this embodiment, the support member 9 is formed of a silicone material, with the main body 91 and the support post 92 integrally formed. The main body 91 has a fixing step 93 formed on the mounting surface side with the variable block 11, and a screw hole 94 for fixing to the variable block 11. The main body 91 is supported by the variable block 11 at the fixing step 93 and is fixed in a state of contact with the side surface of the variable block 11. As a result, the support member 9 is accurately positioned with respect to the variable block 11.

[0020] As shown in a plan view, the support pillars 92 are formed in a generally cylindrical shape, and a part of the cylindrical shape is further extended upward to form a support portion 95 that actually supports the O-ring 8. Therefore, the support pillars 92 are formed with a support step portion 96 capable of supporting the O-ring 8 from below at the boundary with the support portion 95. In other words, the holder 7 supports the O-ring 8 from the inner periphery side with each support portion 95, and also supports the O-ring 8 from below with each support step portion 96.

[0021] Therefore, the O-ring 8 is appropriately positioned by being held by the holder 7. In addition, the holder 7 is configured to attach the support member 9 to the adjustable block 11, so that when a different type of workpiece 5 or O-ring 8 is to be worked on, it is only necessary to change the support member 9, making the configuration suitable for work on a wide variety of items.

[0022] The length of the support pillar 92 in the vertical direction from the main body 91 is L21, the length of the support portion 95 is L22, and the width of the support portion 95 in the minor axis direction is L23. At this time, the length (L21) of the support pillar 92 is set to be equal to or greater than the length (L1) from the lower end surface of the work 5 to the groove portion 51, and the width (L23) of the support portion 95 is set so as to approximately match the inner diameter (D13) of the O-ring 8 in the minor axis direction in the holding state. Also, as shown in FIG. 5, the distance (L24) between the support pillars 92 is set so as to approximately match the inner diameter (D14) of the O-ring 8 in the major axis direction in the holding state. Note that the actual dimensions may be set appropriately according to the shape of the work 5.

[0023] Next, a specific process flow for mounting the O-ring 8 on the workpiece 5 will be described with reference to Fig. 7. Although each process shown in Fig. 7 is executed by the control device 3, the mounting system 1 will be mainly described here. Also, at the start of each process, it is assumed that the workpiece 5 is placed at a predetermined position on the supply tray 6, the O-ring 8 is held by the holder 7, and preparations for mounting the workpiece 5 are complete.

[0024] 7, when preparation for the work is completed, the mounting system 1 performs the mounting process shown in Fig. 7, gripping the workpiece 5 from a predetermined position (S1), moving the gripped workpiece 5 to a start position vertically spaced apart from the O-ring 8 (S2), and tilting the workpiece 5 (S3). Note that the processes of steps S2 and S3 may be performed in any order, or steps S2 and S3 may be performed in parallel to tilt the workpiece 5 while moving it to the start position.

[0025] When the processing up to step S3 is completed, the workpiece 5 is placed in a state inclined in the minor axis direction at a position vertically spaced from the O-ring 8 as shown in Fig. 8. Hereinafter, the state in which the workpiece 5 is placed at the start position will be referred to as the start state, but first, the parts and their positions that are important when attaching the O-ring 8 will be defined based on Fig. 8. Note that, for the sake of simplicity of explanation, the robot 2 is omitted from Figs. 8 to 12, and only the vicinity of the support part 95 is shown in Figs. 8 and 9.

[0026] 8 shows a side view seen in the direction of arrow VIII in FIG. 5, with the left-right direction corresponding to the short axis direction and the up-down direction corresponding to the vertical direction. This is because, as described below, in this embodiment, the basic operation of the robot 2 is to move the workpiece 5 in the short axis direction and the vertical direction. Therefore, in the following, in order to make it easier to understand the comparison with the operation of the robot 2, the short axis direction will be referred to as the horizontal direction, the position of each part in the horizontal direction will be referred to as the horizontal position and illustrated with a vertical dashed line, and the position of each part in the vertical direction will be referred to as the vertical position and illustrated with a horizontal dashed line.

[0027] The horizontal position of the holding center (CP) of the O-ring 8 is PxO, the vertical position is PzO, and the horizontal position of one of the longitudinal parts 82 is PxL. In this case, the horizontal position (PxO) coincides with the center line (CL) of the O-ring 8. The horizontal position (PxL) of the longitudinal part 82 indicates the horizontal position of the longitudinal part 82 on the side on which the workpiece 5 is inclined, that is, the right side in FIG. 8. The direction moving away from the center line (CL) along the horizontal direction to the right side of the workpiece 5 in the figure where it is inclined is defined as outward, and the direction approaching the center line (CL) along the horizontal direction is defined as inward.

[0028] The workpiece 5 is in a state where its central axis (J) is inclined with respect to the center line (CL) of the O-ring 8. In this case, the inclination angle (θ) of the workpiece 5 may be set appropriately depending on the shape and size of the workpiece 5. Although not shown in the drawings, the workpiece 5 in the starting state is disposed so that the center of the workpiece 5 coincides with the center line (CL) when viewed from the front. Therefore, when the workpiece 5 is moved from the state shown in FIG. 8 in a direction approaching the O-ring 8, the workpiece 5 is disposed so that it can be inserted between the supports 92.

[0029] The workpiece 5 is arranged so that the tip portion (FP) closest to the O-ring 8 in the tilted state is within the inner range (R) of the O-ring 8 when viewed from the vertical direction. In the case of FIG. 8, the workpiece 5 is shown in a state where it is intentionally shifted slightly to the right for the purpose of explanation, but in this embodiment, it is actually arranged in a state where the horizontal position (PxF) of the tip portion (FP) and the horizontal position (PxO) of the O-ring 8 coincide with each other as shown in FIG. 9 described later. Note that if the tip portion (FP) is arranged to be within the inner range (R), it is possible for the mounting system 1 to mount the O-ring 8. Also, the distance between the workpiece 5 and the O-ring 8 in the starting state may be set appropriately.

[0030] Furthermore, once the inclination angle (θ) of the workpiece 5 is determined, the horizontal position (PxM) of the groove center (MP) of the groove portion 51 on the inclined side and the horizontal position (PxR) of the rear end portion (RP) on the opposite side of the front end portion (FP) on the lower end surface of the workpiece 5 are also determined. Furthermore, once the vertical position (PzF) of the front end portion (FP) is determined, the vertical position (PzM) of the groove center (MP) and the vertical position (PzR) of the rear end portion (RP) are also determined. The horizontal and vertical positions are indicators for indicating the position of the part, and will move accordingly if the position of the workpiece 5 changes as shown in FIG. 9 described later.

[0031] Now, in a state where the workpiece 5 is placed at the starting position, the horizontal position (PxF) of the tip portion and the horizontal position (PxO) of the O-ring 8 are in a state where they are roughly aligned, as shown as the starting state in Fig. 9. Also, the center of the workpiece 5 in the longitudinal direction is in a state where it is roughly aligned with the center of the O-ring 8 that is held in the shape of an elongated hole. Note that the state where they are roughly aligned means that it is sufficient if the workpiece 5 is within a range where it can be inserted between the two supports 92 when the workpiece 5 is moved in the vertical direction as described later.

[0032] Then, the mounting system 1 moves the work 5 to the mounting position (S4), as shown in Fig. 7. This mounting position is a position where the vertical position (PzM) of the groove 51 and the vertical position (PzO) of the O-ring 8 generally coincide with each other, as shown in Fig. 9 as the time when the work 5 reaches the mounting position. Note that the generally coincident positions refer to a range where the vertical position (PzO) of the O-ring 8 overlaps with the opening of the groove 51.

[0033] At this time, the mounting system 1 moves the workpiece 5 vertically to the mounting position, and there is no change in the horizontal positional relationship between the horizontal position (PxF) of the tip and the horizontal position (PxO) of the O-ring 8. In this case, the movement distance of the workpiece 5 from the start position to the mounting position is the shortest, and therefore the movement is completed in the shortest time.

[0034] 10, the O-ring 8 is stretched downward and to the right by the workpiece 5 during vertical movement, and a restoring force is generated in the O-ring 8 to return to the held state as indicated by arrow F1. Therefore, when the workpiece 5 reaches the mounting position, the restoring force causes the O-ring 8 to enter the groove 51, and the O-ring 8 is mounted on the side of the groove 51 to which the workpiece 5 has been moved. Note that the holder 7 is not shown in FIG. 10 and in FIGS. 11 and 12 described below for the sake of simplicity.

[0035] Next, the mounting system 1 moves the workpiece 5 outward along the short axis direction (S5). At this time, as shown in Fig. 9 as after horizontal movement, the mounting system 1 horizontally moves the workpiece 5 so that the vertical position (PzM) of the groove portion 51 does not change, and moves the workpiece 5 horizontally until the horizontal position (PxR) of the rear end portion is within the inner range (R) of the O-ring 8. This makes it possible to prevent the rear end portion from contacting the O-ring 8 or pushing down the O-ring 8 when the attitude of the workpiece 5 is changed to a vertical direction as described later, and suppresses the generation of a restoring force in an unintended direction, thereby reducing the occurrence of mounting errors.

[0036] Furthermore, the operation of moving the workpiece 5 horizontally has another technical significance. As shown in Fig. 11, during vertical movement, the O-ring 8 is stretched downward and to the right by the workpiece 5, so a restoring force (F1) is generated in the O-ring 8. At this time, depending on the magnitude of the restoring force, the shape of the workpiece 5, or the shape of the groove 51, it is possible that the O-ring 8 may exceed the groove 51 as shown when it reaches the mounting position. If the attitude of the workpiece 5 is changed in this state, the O-ring 8 may not be mounted in the groove 51.

[0037] In contrast, if the workpiece 5 is moved horizontally after reaching the mounting position, an inward restoring force indicated by arrow F2 is generated during the horizontal movement, and the O-ring 8 is mounted in the groove 51 after the horizontal movement. In this way, the operation of moving the workpiece 5 horizontally after reaching the mounting position has the technical significance of improving the reliability of mounting the O-ring 8 in the groove 51.

[0038] After moving the workpiece 5 horizontally, the mounting system 1 changes the posture of the workpiece 5 (S6). In this embodiment, the mounting system 1 changes the posture of the workpiece 5 so that the central axis (J) of the workpiece 5 is aligned in the vertical direction. Note that the state aligned in the vertical direction may be within a range in which the central axis (J) can be considered to be aligned approximately in the vertical direction, and a certain degree of angular deviation from the vertical direction is permitted.

[0039] At this time, the workpiece 5 is in a state in which the O-ring 8 is attached to the groove 51 on the right side of the figure, as shown after the posture change in Fig. 9. Also, the workpiece 5 is in a state in which the vertical position (PzM) of the groove 51 and the vertical position (PzO) of the O-ring 8 are aligned on the left side of the figure, that is, the O-ring 8 can be attached to the groove 51 on the left side of the figure.

[0040] Therefore, the mounting system 1 moves the work 5, whose posture has been changed, inward (S7). At this time, the mounting system 1 moves the work 5 horizontally until the central axis (J) of the work 5 and the central position (PxO) of the O-ring 8 coincide with each other, as shown in FIG. 9 after the center is moved. As a result, the O-ring 8 is mounted in the groove 51 on the right side and the left side of the work 5 in the figure. The O-ring 8 is also in a state of shrinking toward the center. At this point, the O-ring 8 is not mounted in the groove 51 on the front side and the back side of the work 5 in the figure because the support 92 exists.

[0041] Next, the mounting system 1 moves the workpiece 5 in a direction away from the holder 7 (S8). At this time, the mounting system 1 moves the workpiece 5 in the vertical direction to move it away from the holder 7, as shown in Fig. 9 as after vertical movement. Note that it is sufficient to move the workpiece 5 within a range that can be regarded as roughly along the vertical direction.

[0042] By moving the workpiece 5, the O-ring 8, caught in the groove portion 51, is pulled upward in the figure and comes off the support 92. Then, the O-ring 8 contracts and is attached to the groove portion 51 at the front side and the back side of the workpiece 5 in the figure. That is, the O-ring 8 is attached to the groove portion 51 around the entire circumference of the groove portion 51.

[0043] Thereafter, the mounting system 1 places the workpiece 5 with the O-ring 8 mounted on it in a predetermined location (S9), and if there is another workpiece 5 to be worked on (S10: YES), the mounting system 1 proceeds to step S1 and mounts the O-ring 8 on the next workpiece 5. On the other hand, if there is no other workpiece 5 to be worked on (S10: NO), the mounting system 1 ends the process.

[0044] In this manner, the mounting system 1 makes it possible to mount the O-ring 8 held by the holder 7 by the operation of the robot 2, which changes the position and posture of the workpiece 5.

[0045] According to the embodiment described above, the following effects can be obtained. The mounting system 1 is a system for mounting an elastic ring-shaped member such as an O-ring 8 on a workpiece 5 using a robot 2, and includes the robot 2 that grips the workpiece 5 having a groove 51 formed on the outer periphery thereof for mounting the O-ring 8, and a control device 3 that controls the operation of the robot 2. At this time, the O-ring 8 is held at a predetermined holding position in a state in which it is deformed into an elongated hole shape by a holder 7 that holds the O-ring 8 from the inner periphery side with two supports 92. In addition, the direction along the minor axis of the O-ring 8 held at the holding position is the minor axis direction, the direction along the major axis is the major axis direction, and the direction perpendicular to the minor axis direction and the major axis direction is the vertical direction.

[0046] Then, the control device 3 executes the following processes: placing the workpiece 5 in a tilted state in one of the short axis directions at a starting position where the workpiece 5 is vertically spaced from the O-ring 8 and where the tip portion on the O-ring 8 side is within the range of the inner circumference side of the O-ring 8 when viewed vertically; moving the workpiece 5 placed at the starting position to an attachment position where the groove portion 51 on the tilted side is the position of the O-ring 8 when held in the holding position; moving the workpiece 5 moved to the attachment position outward toward the tilted side along the short axis direction; changing the posture of the workpiece 5 moved outward to a direction along the vertical direction; moving the workpiece 5 oriented vertically inward along the short axis direction to the center position of the O-ring 8 when held in the holding position; and moving the workpiece 5 moved inward in a direction away from the holder 7 to attach the O-ring 8 to the entire groove portion 51.

[0047] As a result, the robot 2 can be used to attach the elastic O-ring 8 to the workpiece 5. At this time, the O-ring 8 can be attached by the operation of the robot 2, utilizing the elasticity of the O-ring 8, and therefore there is no need to use a dedicated device. In addition, since the robot 2 capable of general-purpose operations is used, various types of workpieces 5 and O-rings 8 can be used as work objects, and a quick response can be made even when the work object is changed. Therefore, automation of the attachment work of the O-ring 8 can be realized even in so-called high-mix, low-volume manufacturing sites.

[0048] Furthermore, the control device 3 of the mounting system 1 moves the workpiece 5 vertically when moving the workpiece 5 to the mounting position. This makes it possible to minimize the amount of movement of the workpiece 5, i.e., the operation time of the robot 2, and improve the cycle time, thereby improving the efficiency of the work.

[0049] Furthermore, when moving the workpiece 5 outward, the control unit of the mounting system 1 moves the workpiece 5 to a position where the rear end portion, which is the opposite side to the front end portion, is within the range of the inner circumference of the O-ring 8 when held at the holding position. This makes it possible to prevent the rear end portion from contacting the O-ring 8 or pressing down the O-ring 8 when the attitude of the workpiece 5 is changed, thereby reducing the occurrence of mounting errors.

[0050] In addition, the method of installing the O-ring 8 includes the steps of placing the workpiece 5 inclined in one of the short axis directions at a start position where the workpiece 5 is vertically spaced from the O-ring 8 and where the tip portion on the O-ring 8 side is within the range of the inner circumference side of the O-ring 8 when viewed from the vertical direction; moving the workpiece 5 placed at the start position to an installation position where the groove portion 51 on the inclined side is the position of the O-ring 8 when held in the holding position; moving the workpiece 5 moved to the installation position outward toward the inclined side along the short axis direction; changing the posture of the workpiece 5 moved outward to a direction along the vertical direction; moving the workpiece 5 oriented vertically inward along the short axis direction to the center position of the O-ring 8 when held in the holding position; and moving the workpiece 5 moved inward in a direction away from the holder 7 to install the O-ring 8 in the entire groove portion 51.

[0051] With this mounting method as well, it is possible to obtain various effects similar to those of the mounting system 1, and it is possible to realize automation of the mounting work of the O-rings 8 even in so-called low-volume, high-mix manufacturing sites.

[0052] In the embodiment, a configuration has been exemplified in which the process of moving the workpiece 5 outward and the process of changing the orientation of the workpiece 5 to a vertical direction are executed separately, but it is also possible to execute these processes in parallel and change the orientation of the workpiece 5 to a vertical direction while moving it outward. This can shorten the cycle time and improve the work efficiency.

[0053] In the embodiment, the configuration in which the workpiece 5 is moved vertically to the mounting position has been exemplified, but when the workpiece 5 is moved to the mounting position, the workpiece 5 can be moved vertically and in the short axis direction so that the position of the groove portion 51 in the short axis direction coincides with the position of the O-ring 8 in a state in which it is held at the holding position. Specifically, as shown in Fig. 12, the mounting system 1 moves the workpiece 5 from the start state toward the O-ring 8 as indicated by the dashed arrow, and during the movement, as indicated as part 1, the workpiece 5 reaches the inner periphery of the O-ring 8, for example, when the vertical position (PzF) of the tip portion coincides with the vertical position (PzO) of the O-ring 8.

[0054] Next, as shown in movement part 2, the mounting system 1 also moves horizontally as indicated by the dashed arrow so that the horizontal position (PxM) of the groove portion 51 coincides with the horizontal position (PxL) of the longitudinal portion 82 of the O-ring 8 before reaching the mounting position, and the workpiece 5 can be moved so that the groove portion 51 covers the O-ring 8 approximately from directly above as shown at the time the mounting position is reached.

[0055] This allows the O-ring 8 to be attached even in cases where, for example, the size of the work 5, the shape and position of the groove 51, or the limit of the elongation rate of the O-ring 8 may prevent the O-ring 8 from being attached to the groove 51 when moved only in the vertical direction. Also, for example, as shown in Fig. 13 as another shape example 1, the O-ring 8 can be attached to the desired groove 51 even in cases where a convex portion 53 is formed between the bottom side of the work 5 in the figure and the groove 51 and the O-ring 8 may get caught, or as shown in another shape example 2, the work 5 has a plurality of grooves 51A and 51B formed therein and it is desired to attach the O-ring 8 to, for example, the second groove 51B from the bottom side in the figure.

[0056] In the embodiment, the configuration in which the O-ring 8 is mounted by the operation of the robot 2 has been exemplified, but it is also possible to use a hand 4 capable of tilting the workpiece 5, and to combine the operation of the hand 4 with the operation of the robot 2. Even with such a configuration, it is possible to obtain various effects similar to those of the mounting system 1. It is also possible to mount the O-ring 8 using a horizontally articulated four-axis robot.

[0057] In the embodiment, an O-ring 8 is shown as an example of a ring-shaped member, but the above-mentioned mounting system 1 and mounting method can be applied to the mounting of elastic members formed into a ring shape, such as rubber bands, rubber belts or rubber rings made by molding flat rubber material into a ring shape, gear belts with grooves formed on the inner and outer circumferences of a belt-like shape, and flat rubber rings.

[0058] In the embodiment, the operation of the robot 2 has been described, but the completion of preparations for attaching the workpiece 5 can be notified, for example, by the worker operating a switch connected to the control device 3, or by a sensor or the like detecting that the workpiece 5 has been supplied to the specified position and notifying the control device 3. This can be selected as appropriate depending on the situation on site, etc.

[0059] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure. [Explanation of symbols]

[0060] In the drawings, 1 indicates a mounting system, 2 indicates a robot, 3 indicates a control device, 5 indicates a workpiece, 7 indicates a holder, 8 indicates an O-ring, 51 indicates a groove portion, and 92 indicates a support column.

Claims

1. A system for attaching an elastic ring-shaped member to a workpiece using a robot, comprising: a robot that holds a workpiece having a groove formed on an outer periphery thereof into which the ring-shaped member is to be attached; A control device for controlling the operation of the robot, the ring-shaped member is held at a predetermined holding position in a state where it is deformed into an elongated hole shape by a holder that holds the ring-shaped member from an inner circumferential side with two supports, When the ring-shaped member is held at the holding position, the direction along the short axis of the ring-shaped member is defined as the short axis direction, the direction along the long axis of the ring-shaped member is defined as the long axis direction, and the direction perpendicular to the short axis direction and the long axis direction is defined as the vertical direction. The control device includes: A process of placing the workpiece in a state inclined in one minor axis direction at a start position where the tip portion of the workpiece is vertically spaced from the ring-shaped member and is located on the ring-shaped member side within a range on the inner periphery side of the ring-shaped member when viewed in the vertical direction; A process of moving the workpiece placed at the start position to a mounting position, which is a position of the ring-shaped member when the workpiece is held at the holding position, with the groove portion on the inclined side being moved to the mounting position; A process of moving the workpiece moved to the mounting position outward toward the inclined side along the minor axis; A process of changing the orientation of the workpiece that has been moved outward to a vertical orientation; a process of moving the workpiece, whose orientation has been changed to a vertical direction, inwardly along a minor axis direction to a center position of the ring-shaped member while the workpiece is held at the holding position; a process of moving the workpiece that has been moved inward in a direction away from the holder, and fitting the ring-shaped member to the entire groove portion; A mounting system for a ring-shaped member that performs the above.

2. 2. The ring-shaped member mounting system according to claim 1, wherein the control device moves the workpiece in a vertical direction when moving the workpiece to the mounting position.

3. The ring-shaped member mounting system of claim 1, wherein when the control device moves the workpiece to the mounting position, the control device moves the workpiece vertically and in the short axis direction toward the ring-shaped member, and matches the position of the groove in the short axis direction with the position of the ring-shaped member when held at the holding position.

4. The ring-shaped member mounting system of claim 1, wherein the control device, when moving the work outward, moves the rear end portion, which is opposite the front end portion, to a position within the inner circumference of the ring-shaped member when held in the holding position.

5. The ring-shaped member mounting system of claim 1, wherein the control device executes in parallel a process of moving the work outward and a process of changing the orientation of the work to a vertical direction, and changes the orientation of the work to a vertical direction while moving the work outward.

6. A method for attaching an elastic ring-shaped member to a workpiece using a robot, comprising the steps of: The ring-shaped member is held at a predetermined holding position in a state where it is deformed into an elongated hole shape. If the direction along the short axis of the ring-shaped member in the held state is the short axis direction, the direction along the long axis is the long axis direction, and the direction perpendicular to the short axis direction and the long axis direction is the vertical direction, then: a step of placing the workpiece at a start position that is vertically spaced from the ring-shaped member and whose tip portion that is on the ring-shaped member side is within a range of the inner periphery side of the ring-shaped member when viewed from the vertical direction, while being tilted in one minor axis direction; a step of moving the workpiece arranged at the starting position to a mounting position where the groove portion on the inclined side is a position of the ring-shaped member when the workpiece is held at the holding position; moving the workpiece moved to the mounting position outward toward a tilted side along a minor axis; changing the orientation of the workpiece that has been moved outward to a vertical orientation; moving the workpiece, oriented vertically, inwardly along a minor axis direction to a center position of the ring-shaped member while the workpiece is held at the holding position; a step of moving the workpiece that has been moved inward in a direction away from the holder, and fitting the ring-shaped member to the entire groove portion; A method for attaching a ring-shaped member comprising the steps of:

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